CN109397279A - A kind of robot clamp adjusting direction with automatic row's object - Google Patents
A kind of robot clamp adjusting direction with automatic row's object Download PDFInfo
- Publication number
- CN109397279A CN109397279A CN201811335739.2A CN201811335739A CN109397279A CN 109397279 A CN109397279 A CN 109397279A CN 201811335739 A CN201811335739 A CN 201811335739A CN 109397279 A CN109397279 A CN 109397279A
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- China
- Prior art keywords
- arm
- workpiece
- mechanical arm
- guide rail
- rotation axis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot clamps that direction is adjusted with automatic row's object, it is related to robot clamp technical field, including connecting flange and second mechanical arm, first mechanical arm is provided on the right side of the connecting flange, and the inner right side of first mechanical arm is mounted with the first rotation axis, the second mechanical arm is embedded in the right side of the first rotation axis, the beneficial effects of the present invention are: being rotated in second mechanical arm by third mechanical arm along the second rotation axis, it then can be by the elevated height of the workpiece grabbed, and second mechanical arm can rotate in first mechanical arm along the first rotation axis, can then workpiece be driven to be rotated, the direction of placement location required for workpiece is turned to, without being rotated or being moved by entire robot, the amplitude for avoiding the Amplitude Ratio second mechanical arm of revolute from rotating is big, cause Workpiece generation activity or falls off during changing direction, thus more stable after being crawled workpiece.
Description
Technical field
The present invention relates to robot clamp technical field, specially a kind of robot folder that direction is adjusted with automatic row's object
Tool.
Background technique
With the rapid development of robot technology, industrial robot is widely used to every field, makees in logistics stacking
In industry, using robot grabbing workpiece automatic stacking, labor intensity can be reduced, improves stacking efficiency, now, industrial robot exists
China's industrial circle using more and more extensive, universal with robot, the movement of robot and its handgrip is inflexible, by
To many limitations, especially it is difficult to play due advantage in the application level of stacking and carrying industry.
A kind of robot clamp handgrip disclosed in Chinese invention patent application prospectus CN104772766 A,
Although the contact roller of the robot clamp handgrip is coated with elastic material, while increasing clamping force in clamping workpiece,
Also it is can effectively protect workpiece appearance, avoids workpiece damage, the clamping face of handgrip clamp end of the present invention is set as cambered surface, and clamping face is
The design of cambered surface is suitable for pair so that the clamping face of the fixture handgrip and round pipe workpiece or there is cambered surface workpiece to match
The workpiece of above-mentioned shape carries out firm clamping, and when clamping face is set as cambered surface, the upper surface of clamping face is arranged in under in contact roller
End face to improve the clamping force of cambered surface clamping face, but reduces, and contact roller appears in workpiece with the contact area of workpiece
The phenomenon that upper rotation is skidded, causes grabbed workpiece to split away off.
Summary of the invention
The purpose of the present invention is to provide a kind of robot clamps that direction is adjusted with automatic row's object, to solve above-mentioned back
A kind of robot clamp disclosed in Chinese invention patent application prospectus CN104772766 A proposed in scape technology
Although the contact roller of handgrip, the robot clamp handgrip is coated with elastic material, increase clamping force in clamping workpiece
Meanwhile it also being can effectively protect workpiece appearance, workpiece damage is avoided, the clamping face of handgrip clamp end of the present invention is set as cambered surface, folder
The design that face is cambered surface is held so that the clamping face of the fixture handgrip and round pipe workpiece or there is cambered surface workpiece to match, it is suitable
Firm clamping is carried out for the workpiece to above-mentioned shape, when clamping face is set as cambered surface, the upper end of clamping face is arranged in contact roller
Face and lower end surface to improve the clamping force of cambered surface clamping face, but reduce, and contact roller will appear with the contact area of workpiece
The problem of rotating the phenomenon that skidding on workpiece, grabbed workpiece caused to split away off.
To achieve the above object, the invention provides the following technical scheme: a kind of machine for adjusting direction with automatic row's object
People's fixture, including connecting flange and second mechanical arm are provided with first mechanical arm on the right side of the connecting flange, and first is mechanical
The inner right side of arm is mounted with the first rotation axis, and the second mechanical arm is embedded in the right side of the first rotation axis, and second is mechanical
The upper end of arm is connected with the first electric pushrod, and the positive right side of face of the second mechanical arm is equipped with the second rotation axis, and second turn
The back side of moving axis is fixed with third mechanical arm, and the positive lower end of the third mechanical arm is provided with shaft, and the back side edge of shaft
Embedded with balance attachment base, the lower end of the balance attachment base is mounted with winding case, is connected with steel in the middle part of the lower end of the winding case
Chain, and the inside two sides for winding case are equipped with fixed plate, the fixed plate is fixed with first close to one end of winding case center line
Rotary shaft, and the first rotary shaft is provided with reel close to one end of winding case center line, the upper end of the second mechanical arm is left
Side is mounted with support arm, and the right side lower end of support arm is inlaid with the first guide rail.
Preferably, the third mechanical arm constitutes rotational structure, and the second machine by the second rotation axis and second mechanical arm
Tool arm constitutes rotational structure by the first rotation axis and first mechanical arm.
Preferably, the balance attachment base is internally connected with the second guide rail, between the steel chain and reel is fixed
Connection, and reel constitutes rotational structure by the first rotary shaft and fixed plate.
Preferably, the outer wall of second guide rail is equipped with the first cylinder, and the lower end of the steel chain is fixed with the first linking
Plate, the winding case constitute slide construction by the first cylinder and the second guide rail, are living between the second guide rail and the first guide rail
Dynamic connection, and the diameter of the second guide rail is equal with the diameter of the first guide rail.
Preferably, the lower end of first engagement plate is provided with the second rotary shaft, and the lower end of the second rotary shaft is mounted with
Second engagement plate, second engagement plate constitute rotational structure, and the first engagement plate by the second rotary shaft and the first engagement plate
It is to be fixedly connected between steel chain.
Preferably, the inside two sides of second engagement plate are inlaid with connection bolt, and the lower end connection of the second engagement plate
There is clamping control cabinet, the clamping control cabinet is connected by connection bolt with the second engagement plate, and clamping control cabinet is in rectangle
Shape structure.
Preferably, the lower end two sides of the clamping control cabinet are equipped with the first clip arm, and the upper end of the first clip arm is solid
Surely there is the second cylinder, second cylinder is internally provided with third guide rail, and first clip arm is arranged successively to be controlled in clamping
The lower end surrounding of case processed, and the first clip arm constitutes slide construction by the second cylinder and third guide rail.
Preferably, the lower end of first clip arm is mounted with the second clip arm, and the upper end of the second clip arm is inlaid with
Third rotation axis, the inside left of first clip arm is connected with the 4th guide rail, and the front upper portion of the 4th guide rail is equipped with
Third cylinder, the width of second clip arm is less than the width of the first clip arm, and the second clip arm passes through third rotation axis
Rotational structure is constituted with the first clip arm.
Preferably, linking arm is fixed on the left of the third cylinder, and the left side lower end of linking arm is provided with the second electricity
Dynamic push rod, the positive lower end of the linking arm is mounted with the 4th rotation axis, and the back side of the 4th rotation axis is inlaid with supporting plate, described
The pointed structure in the right side of supporting plate, supporting plate constitute rotational structure by the 4th rotation axis and linking arm, and linking arm passes through the
Three cylinders and the 4th guide rail constitute slide construction.
Compared with prior art, the beneficial effects of the present invention are:
1, the robot clamp that there is automatic row's object to adjust direction passes through third mechanical arm along the second rotation axis in the second machine
It is rotated on tool arm, then can be by the elevated height of the workpiece grabbed, and second mechanical arm can exist along the first rotation axis
It is rotated in first mechanical arm, then workpiece can be driven to be rotated, the direction of placement location required for workpiece is turned to, without
It needs to be rotated or moved by entire robot, the amplitude for avoiding the Amplitude Ratio second mechanical arm of revolute from rotating
Greatly, workpiece is caused generation activity or to fall off during changing direction, thus more stable after being crawled workpiece.
2, the robot clamp that there is automatic row's object to adjust direction is connected along the first rotary shaft in balance by reel
The inside of joint chair is rotated, so that it may which the winding and extension for controlling steel chain, the range that decline the clamping parts of bottom end can increase
Greatly, then can clamping to the workpiece of deeper inside, and workpiece holding can also be placed on higher position, while steel
The winding and extension of chain drive workpiece to carry out raising and lowering, during making workpiece raising and lowering, may remain in same
On straight line, avoids mechanical arm rotation that workpiece is driven to rise, rise during causing workpiece to rise in camber line, to guarantee workpiece
It keeps stablizing during raising and lowering.
3, the robot clamp that there is automatic row's object to adjust direction is arranged in balance attachment base by the second guide rail
Portion, when third mechanical arm rotate rise and it is when in a horizontal state, then the second guide rail can match with the first guide rail and connect, just
The workpiece that the first cylinder can be made to drive lower section is slided from the second guide rail on the first guide rail, so that it may needed for being transported to workpiece
The workpiece grabbed is transported to by the surface for wanting placement location automatically this makes it possible in the state that robot does not move
The place of required placement avoids passing through robot movement to convey to workpiece, causes in moving process, generate workpiece
It shakes, is split away off from fixture, to guarantee that workpiece keeps stablizing during conveying.
4, this has the robot clamp in automatic row's object adjusting direction can be along the second rotary shaft by the second engagement plate
Rotated in the first engagement plate lower end, so that it may drive grabbed workpiece to be turned to, then can workpiece is placed or
When on the position placed required for being added to, can the placement orientation to workpiece control is adjusted, stablize workpiece and consolidate
It is placed on corresponding position, or is closely superimposed upon on the workpiece of lower end, occur toppling over after effectively workpiece being prevented to be placed shows
As.
5, the robot clamp that there is automatic row's object to adjust direction passes through, and rotation connection bolt can will clamp control cabinet
It is disassembled from the second engagement plate, it is convenient that repair and replacement are carried out to clamping control cabinet, or can be convenient in the second engagement plate
The clamping position of larger specification is replaced in lower end, so that the robot clamp be allow to press from both sides the workpiece of bigger specification
It takes, greatly promotes the use scope of the robot clamp.
6, the robot clamp that there is automatic row's object to adjust direction is utilized respectively the second cylinder by the first clip arm and exists
It is slided on third guide rail, then the space length between four the first clip arms is decreased or increased, so that it may face workpiece from four
It is clamped or loosens, workpiece is clamped by way of level sliding, four clip arms pass through rotation to substitution in the past
Come the mode clamped, make the first clip arm so vertically downward, increases with the contact area of workpiece, so that it may by workpiece holding
It is stronger, and various sizes of workpiece can be clamped in certain range, and will not upper end edges and corners to workpiece
Cause extrusion abrasion.
7, this has the robot clamp in automatic row's object adjusting direction can be along third rotation axis by the second clip arm
It is rotated in the lower end of the first clip arm, then the second clip arm vertically downward, and can form one between the first clip arm
Fixed radian, when to rectangular-shaped workpiece, when clamping, the second clip arm can increase the clamping area of entire fixture, when
To when having the workpiece of arcwall face to clamp, the second clip arm can be turned on arcwall face, prevent the workpiece of arcwall face from
It is split away off on first clip arm, so that the fixture be enable to clamp workpiece of different shapes.
8, there is automatic row's object, which to adjust the robot clamp in direction, for this can use third cylinder along the by linking arm
Four guide rail slide downwards, and supporting plate can be rotated along the 4th rotation axis in the lower end of linking arm, be in Relative vertical with linking arm
State, so that it may which, when tentatively picking up workpiece, linking arm and supporting plate decline hold supporting plate by the lower end of workpiece, such work
Part is picked up and during transported, can be kept more balancing and stablizing, be prevented workpiece by self gravity reason,
Slide downward on first clip arm causes the workpiece picked up to split away off from fixture.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for the robot clamp that direction is adjusted with automatic row's object of the present invention.
Fig. 2 is a kind of right view structural representation of winding case for the robot clamp that direction is adjusted with automatic row's object of the present invention
Figure.
Fig. 3 is that a kind of clamping control cabinet internal structure for the robot clamp for adjusting direction with automatic row's object of the present invention is shown
It is intended to.
Fig. 4 is that a kind of first clip arm of the robot clamp for adjusting direction with automatic row's object of the present invention is right to be shown depending on structure
It is intended to.
Fig. 5 is that a kind of first clip arm internal structure of the robot clamp for adjusting direction with automatic row's object of the present invention is shown
It is intended to.
Fig. 6 is the present invention a kind of the second guide rail and the first guide rail phase of the robot clamp that direction is adjusted with automatic row's object
Connection status structural schematic diagram.
In figure: 1, connecting flange；2, first mechanical arm；3, the first rotation axis；4, second mechanical arm；5, it first electronic pushes away
Bar；6, the second rotation axis；7, third mechanical arm；8, shaft；9, attachment base is balanced；10, case is wound；11, steel chain；12, fixed plate；
13, the first rotary shaft；14, reel；15, support arm；16, the first guide rail；17, the second guide rail；18, the first cylinder；19, first
Engagement plate；20, the second rotary shaft；21, the second engagement plate；22, bolt is connected；23, control cabinet is clamped；24, the first clip arm；
25, third guide rail；26, the second cylinder；27, the second clip arm；28, third rotation axis；29, the 4th guide rail；30, third cylinder；
31, linking arm；32, the second electric pushrod；33, the 4th rotation axis；34, supporting plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention, in addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Fig. 1-6 is please referred to, the present invention provides a kind of technical solution: a kind of robot folder adjusting direction with automatic row's object
Tool, including connecting flange 1, first mechanical arm 2, the first rotation axis 3, second mechanical arm 4, the first electric pushrod 5, the second rotation axis
6, third mechanical arm 7, shaft 8, balance attachment base 9, winding case 10, steel chain 11, fixed plate 12, the first rotary shaft 13, reel
14, support arm 15, the first guide rail 16, the second guide rail 17, the first cylinder 18, the first engagement plate 19, the second rotary shaft 20, second rank
Fishplate bar 21, connection bolt 22, clamping control cabinet 23, the first clip arm 24, third guide rail 25, the second cylinder 26, the second clip arm
27, third rotation axis 28, the 4th guide rail 29, third cylinder 30, linking arm 31, the second electric pushrod 32,33 and of the 4th rotation axis
Supporting plate 34, the right side of connecting flange 1 is provided with first mechanical arm 2, and the inner right side of first mechanical arm 2 is mounted with the first rotation
Axis 3, second mechanical arm 4 is embedded in the right side of the first rotation axis 3, and the upper end of second mechanical arm 4 is connected with the first electric pushrod
5, the positive right side of face of second mechanical arm 4 is equipped with the second rotation axis 6, and the back side of the second rotation axis 6 is fixed with third mechanical arm
7, third mechanical arm 7 constitutes rotational structure by the second rotation axis 6 and second mechanical arm 4, and second mechanical arm 4 passes through first turn
Moving axis 3 and first mechanical arm 2 constitute rotational structure, and third mechanical arm 7 rotates in second mechanical arm 4 along the second rotation axis 6,
Then can be by the elevated height of the workpiece grabbed, and second mechanical arm 4 can be along the first rotation axis 3 in first mechanical arm
It is rotated on 2, then workpiece can be driven to be rotated, the direction of placement location required for workpiece is turned to, without relying on
Entire robot is rotated or is moved, and the amplitude for avoiding the Amplitude Ratio second mechanical arm 4 of revolute from rotating is big, causes
Workpiece generation activity or falls off during changing direction, thus more stable after being crawled workpiece；
The positive lower end of third mechanical arm 7 is provided with shaft 8, and the back side of shaft 8 is inlaid with balance attachment base 9, balance connection
Seat 9 is internally connected with the second guide rail 17, is fixedly connected between steel chain 11 and reel 14, and reel 14 passes through the first rotation
Shaft 13 and fixed plate 12 constitute rotational structure, and reel 14 is carried out along the first rotary shaft 13 in the inside of balance attachment base 9
Rotation, so that it may which the winding and extension for controlling steel chain 11, the range that decline the clamping parts of bottom end can increase, then can be to more
The workpiece of depths clamp, and workpiece holding can also be placed on higher position, at the same the winding of steel chain 11 with
Extend and workpiece is driven to carry out raising and lowering, during making workpiece raising and lowering, may remain on same straight line, avoid
Mechanical arm rotation drive workpiece rise, cause workpiece rise during in camber line rise, thus guarantee workpiece rise and under
It keeps stablizing during drop, the lower end of balance attachment base 9 is mounted with winding case 10, winds and is connected with steel in the middle part of the lower end of case 10
Chain 11, and the inside two sides for winding case 10 are equipped with fixed plate 12, fixed plate 12 is fixed close to one end of winding 10 center line of case
There is the first rotary shaft 13, and the first rotary shaft 13 is provided with reel 14 close to one end of winding 10 center line of case, second is mechanical
It is mounted with support arm 15 on the left of the upper end of arm 4, and the right side lower end of support arm 15 is inlaid with the first guide rail 16, the second guide rail 17
Outer wall is equipped with the first cylinder 18, and the lower end of steel chain 11 is fixed with the first engagement plate 19, winding case 10 by the first cylinder 18 with
Second guide rail 17 constitutes slide construction, is flexibly connected between the second guide rail 17 and the first guide rail 16, and the second guide rail 17
Diameter is equal with the diameter of the first guide rail 16, and the inside of balance attachment base 9 is arranged in the second guide rail 17, when 7 turns of third mechanical arm
Dynamic to rise and when in a horizontal state, then the second guide rail 17 can match with the first guide rail 16 and connect, it will be able to make the first gas
Cylinder 18 drives the workpiece of lower section to slide from the second guide rail 17 on the first guide rail 16, so that it may which workpiece is transported to required placement
The workpiece grabbed is transported to required by the surface of position automatically this makes it possible in the state that robot does not move
The place of placement avoids passing through robot movement to convey to workpiece, causes in moving process, workpiece is made to generate shaking,
It is split away off from fixture, to guarantee that workpiece keeps stablizing during conveying；
The lower end of first engagement plate 19 is provided with the second rotary shaft 20, and the lower end of the second rotary shaft 20 is mounted with the second engagement plate
21, the second engagement plate 21 constitutes rotational structure, and the first engagement plate 19 and steel by the second rotary shaft 20 and the first engagement plate 19
To be fixedly connected between chain 11, the second engagement plate 21 can be turned along the second rotary shaft 20 in 19 lower end of the first engagement plate
It is dynamic, so that it may to drive grabbed workpiece to be turned to, then the position that can be placed required for workpiece is placed or is added to
When upper, can the placement orientation to workpiece control is adjusted, make workpiece stablize it is firm be placed on corresponding position, or it is close
The phenomenon that being superimposed upon on the workpiece of lower end, toppling over after effectively workpiece being prevented to be placed, the inside two of the second engagement plate 21
Side is inlaid with connection bolt 22, and the lower end of the second engagement plate 21 is connected with clamping control cabinet 23, and clamping control cabinet 23 passes through company
Connecting bolt 22 is connected with the second engagement plate 21, and clamps the rectangular structure of control cabinet 23, and rotation connection bolt 22 can incite somebody to action
Clamping control cabinet 23 is disassembled from the second engagement plate 21, convenient to carry out repair and replacement to clamping control cabinet 23, or can be square
Just the clamping position of larger specification is replaced in the lower end of the second engagement plate 21, to allow the robot clamp to bigger
The workpiece of specification is clamped, and the use scope of the robot clamp is greatly promoted, the lower end two sides peace of clamping control cabinet 23
Upper end equipped with the first clip arm 24, and the first clip arm 24 is fixed with the second cylinder 26, and the second cylinder 26 is internally provided with
Third guide rail 25, the first clip arm 24 is arranged successively in the lower end surrounding of clamping control cabinet 23, and the first clip arm 24 passes through the
Two cylinders 26 constitute slide construction with third guide rail 25, and the first clip arm 24 is utilized respectively the second cylinder 26 on third guide rail 25
Sliding, then be decreased or increased the space length between four the first clip arms 24, so that it may be clamped from four in face of workpiece
Or loosen, workpiece is clamped by way of level sliding, the substitution past, four clip arms were clamped by rotating
Mode makes the first clip arm 24 vertically downward in this way, increases with the contact area of workpiece, so that it may by the more firm of workpiece holding
Gu and various sizes of workpiece can be clamped in certain range, and will not the upper end edges and corners to workpiece cause to squeeze
Pressure abrasion；
The lower end of first clip arm 24 is mounted with the second clip arm 27, and the upper end of the second clip arm 27 is inlaid with third rotation axis
28, the inside left of the first clip arm 24 is connected with the 4th guide rail 29, and the front upper portion of the 4th guide rail 29 is equipped with third gas
Cylinder 30, the width of the second clip arm 27 is less than the width of the first clip arm 24, and the second clip arm 27 passes through third rotation axis 28
Rotational structure is constituted with the first clip arm 24, the second clip arm 27 can be along third rotation axis 28 under the first clip arm 24
End rotation, then the second clip arm 27 vertically downward, and can form certain radian between the first clip arm 24, when right
When clamp of rectangular-shaped workpiece, the second clip arm 27 can increase the clamping area of entire fixture, when to there is arcwall face
Workpiece when being clamped, the second clip arm 27 can turn on arcwall face, prevent the workpiece of arcwall face from the first fixture
It is split away off on arm 24, so that the fixture be enable to clamp workpiece of different shapes, the left side of third cylinder 30 is fixed
There is linking arm 31, and the left side lower end of linking arm 31 is provided with the second electric pushrod 32, the positive lower end of linking arm 31 is mounted with
4th rotation axis 33, and the back side of the 4th rotation axis 33 is inlaid with supporting plate 34, the pointed structure in the right side of supporting plate 34, supporting plate 34
Rotational structure is constituted by the 4th rotation axis 33 and linking arm 31, and linking arm 31 passes through 29 structure of third cylinder 30 and the 4th guide rail
At slide construction, linking arm 31 can use third cylinder 30 along 29 slide downward of the 4th guide rail, and supporting plate 34 can be along
4th rotation axis 33 is rotated in the lower end of linking arm 31, is in relative verticality with linking arm 31, so that it may workpiece is preliminary
When picking up, linking arm 31 and supporting plate 34 decline, and hold supporting plate 34 by the lower end of workpiece, such workpiece is picked up and conveyed
During, it can keep more balancing and stablizing, prevent workpiece by self gravity reason, on the first clip arm 24 downwards
Sliding, causes the workpiece picked up to split away off from fixture.
The working principle of the present embodiment: there is automatic row's object to adjust the robot clamp in direction for this, pass through connection method first
Entire robot clamp is mounted in robot by orchid 1, is opened the driving motor on the right side of 2 lower end of first mechanical arm, is made the driving
Motor drives the first rotation axis 3 to be moved forward or rearward by the first rotation axis 3, and clamping control cabinet 23 is made to be in required clamping work
The surface of part, then the driving motor of winding 10 inner right side of case is opened, which is driven by the first rotary shaft 13 and is received
Reel 14 rotates, then steel chain 11 starts slowly to extend, and declines clamping control cabinet 23, until the first clip arm 24 and second
Four face contacts of clip arm 27 and workpiece, open the second cylinder 26, and the second cylinder 26 drives the first clip arm 24 in third guide rail
The 25 center position sliding to clamping control cabinet 23, then four the first clip arms 24 are close to each other, so that it may by the four sides of workpiece
It clamps, workpiece is clamped by way of level sliding, the substitution side that four clip arms are clamped by rotating in the past
Formula makes the first clip arm 24 vertically downward in this way, increases with the contact area of workpiece, so that it may by the more firm of workpiece holding
Gu and various sizes of workpiece can be clamped in certain range, and will not the upper end edges and corners to workpiece cause to squeeze
Pressure abrasion, and the second clip arm 27 follow the first clip arm 24 slide, thus the lower end of the first clip arm 24 to workpiece carry out into
One step clamps, if clamping to the workpiece for having arcwall face, then opens the driving electricity on the right side of 24 inner bottom of the first clip arm
Machine, the driving motor drive the rotation of the second clip arm 27 by third rotation axis 28, and the second clip arm 27 can turn to arc
On face, prevent the workpiece of arcwall face from splitting away off from the first clip arm 24, to enable the fixture to of different shapes
Workpiece is clamped, and after workpiece is clamped, control reel 14 is rotated backward, and is started to wind steel chain 11, is then driven the work of clamping
Part rises, and when workpiece has a certain distance with ground, opens third cylinder 30, third cylinder 30 drives linking arm 31 the 4th
29 slide downward of guide rail when sliding into least significant end, opens the second electric pushrod 32, the second electric pushrod 32 starts to extend, to support
The left-hand end of plate 34 is pushed, and rotates supporting plate 34 along the 4th rotation axis 33, then the 4th rotation axis 33 is in linking arm 31
Relative vertical shape, then control third cylinder 30 along 29 upward sliding of the 4th guide rail, then supporting plate 34 is contacted with the bottom of workpiece, just
Workpiece can be held, such workpiece is picked up and during transported, can be kept more balancing and stablizing, be prevented
For workpiece by self gravity reason, the slide downward on the first clip arm 24 causes the workpiece picked up to split away off from fixture,
It controls reel 14 again to continue to wind steel chain 11, the winding and extension of steel chain 11 drive workpiece to carry out raising and lowering, make workpiece
It during raising and lowering, may remain on same straight line, avoid mechanical arm rotation that workpiece is driven to rise, cause on workpiece
Rise during rising in camber line, to guarantee that workpiece keeps stablizing during raising and lowering, rises to certain altitude
Afterwards, then the first electric pushrod 5 is opened, the first electric pushrod 5 is shunk, and is pulled the upper end of third mechanical arm 7, is made 7 edge of third mechanical arm
The second rotation axis 6 rotated in second mechanical arm 4, until be in a horizontal state, and balance attachment base 9 by self gravity and center of gravity
Always downward reason is rotated along shaft 8 automatically, at this point, the second guide rail 17 and the first guide rail 16 inside balance attachment base 9
It is docked to together, opens the first cylinder 18, the first cylinder 18 drives the workpiece of lower section from the second guide rail 17 on the first guide rail 16
Sliding, so that it may which the surface of placement location required for being transported to workpiece, this makes it possible to the states not moved in robot
Under, the place placed required for being automatically transported to the workpiece grabbed, avoid passing through robot it is mobile come workpiece is carried out it is defeated
It send, causes in moving process, so that workpiece is generated shaking, split away off from fixture, to guarantee workpiece during conveying
It keeps stablizing, until workpiece be in the surface of required placement location or workpiece, then controls workpiece decline, in advance control supporting plate 34
It rotates, is separated with the bottom of workpiece, then open the driving motor of 19 upper center of the first engagement plate along the 4th rotation axis 33, it should
Driving motor by the second rotary shaft 20 drive workpiece rotated, workpiece is turned to, then can by workpiece place or
When on the position placed required for being added to, can the placement orientation to workpiece control is adjusted, stablize workpiece and consolidate
It is placed on corresponding position, or is closely superimposed upon on the workpiece of lower end, occur toppling over after effectively workpiece being prevented to be placed shows
As.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (9)
1. a kind of robot clamp that direction is adjusted with automatic row's object, including connecting flange (1) and second mechanical arm (4),
It is characterized in that: being provided with first mechanical arm (2) on the right side of the connecting flange (1), and the inner right side peace of first mechanical arm (2)
It is equipped with the first rotation axis (3), the second mechanical arm (4) is embedded in the right side of the first rotation axis (3), and second mechanical arm (4)
Upper end be connected with the first electric pushrod (5), the positive right side of face of the second mechanical arm (4) is equipped with the second rotation axis (6), and
The back side of second rotation axis (6) is fixed with third mechanical arm (7), and the positive lower end of the third mechanical arm (7) is provided with shaft
(8), and the back side of shaft (8) is inlaid with balance attachment base (9), and the lower end of balance attachment base (9) is mounted with winding case
(10), it is connected with steel chain (11) in the middle part of the lower end of winding case (10), and the inside two sides for winding case (10) are equipped with fixation
Plate (12), the fixed plate (12) are fixed with the first rotary shaft (13) close to one end of winding case (10) center line, and the first rotation
Shaft (13) is provided with reel (14) close to one end of winding case (10) center line, and the upper end of the second mechanical arm (4) is left
Side is mounted with support arm (15), and the right side lower end of support arm (15) is inlaid with the first guide rail (16).
2. a kind of robot clamp for adjusting direction with automatic row's object according to claim 1, it is characterised in that: described
Third mechanical arm (7) constitutes rotational structure by the second rotation axis (6) and second mechanical arm (4), and second mechanical arm (4) passes through
First rotation axis (3) and first mechanical arm (2) constitute rotational structure.
3. a kind of robot clamp for adjusting direction with automatic row's object according to claim 1, it is characterised in that: described
Balance attachment base (9) is internally connected with the second guide rail (17), is fixedly connected between the steel chain (11) and reel (14),
And reel (14) constitutes rotational structure by the first rotary shaft (13) and fixed plate (12).
4. a kind of robot clamp for adjusting direction with automatic row's object according to claim 3, it is characterised in that: described
The outer wall of second guide rail (17) is equipped with the first cylinder (18), and the lower end of the steel chain (11) is fixed with the first engagement plate (19),
The winding case (10) constitutes slide construction, the second guide rail (17) and first by the first cylinder (18) and the second guide rail (17)
To be flexibly connected between guide rail (16), and the diameter of the second guide rail (17) is equal with the diameter of the first guide rail (16).
5. a kind of robot clamp for adjusting direction with automatic row's object according to claim 4, it is characterised in that: described
The lower end of first engagement plate (19) is provided with the second rotary shaft (20), and the lower end of the second rotary shaft (20) is mounted with the second linking
Plate (21), second engagement plate (21) constitute rotational structure by the second rotary shaft (20) and the first engagement plate (19), and the
It is to be fixedly connected between one engagement plate (19) and steel chain (11).
6. a kind of robot clamp for adjusting direction with automatic row's object according to claim 5, it is characterised in that: described
The inside two sides of second engagement plate (21) are inlaid with connection bolt (22), and the lower end of the second engagement plate (21) is connected with clamping control
Case (23) processed, the clamping control cabinet (23) are connected by connecting bolt (22) with the second engagement plate (21), and clamp control
Case (23) rectangular structure.
7. a kind of robot clamp for adjusting direction with automatic row's object according to claim 6, it is characterised in that: described
The lower end two sides of clamping control cabinet (23) are equipped with the first clip arm (24), and the upper end of the first clip arm (24) is fixed with second
Cylinder (26), second cylinder (26) are internally provided with third guide rail (25), and first clip arm (24) is arranged successively
In the lower end surrounding of clamping control cabinet (23), and the first clip arm (24) is made up of the second cylinder (26) and third guide rail (25)
Slide construction.
8. a kind of robot clamp for adjusting direction with automatic row's object according to claim 7, it is characterised in that: described
The lower end of first clip arm (24) is mounted with the second clip arm (27), and the upper end of the second clip arm (27) is inlaid with third rotation
Axis (28), the inside left of first clip arm (24) are connected with the 4th guide rail (29), and on the front of the 4th guide rail (29)
End is equipped with third cylinder (30), the width of second clip arm (27) less than the first clip arm (24) width, and second
Clip arm (27) constitutes rotational structure by third rotation axis (28) and the first clip arm (24).
9. a kind of robot clamp for adjusting direction with automatic row's object according to claim 8, it is characterised in that: described
It is fixed on the left of third cylinder (30) linking arm (31), and the left side lower end of linking arm (31) is provided with the second electric pushrod
(32), the positive lower end of the linking arm (31) is mounted with the 4th rotation axis (33), and the back side of the 4th rotation axis (33) is inlayed
Have supporting plate (34), the pointed structure in right side of the supporting plate (34), supporting plate (34) passes through the 4th rotation axis (33) and linking arm
(31) rotational structure is constituted, and linking arm (31) constitutes slide construction by third cylinder (30) and the 4th guide rail (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335739.2A CN109397279A (en) | 2018-11-11 | 2018-11-11 | A kind of robot clamp adjusting direction with automatic row's object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335739.2A CN109397279A (en) | 2018-11-11 | 2018-11-11 | A kind of robot clamp adjusting direction with automatic row's object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109397279A true CN109397279A (en) | 2019-03-01 |
Family
ID=65472911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811335739.2A Withdrawn CN109397279A (en) | 2018-11-11 | 2018-11-11 | A kind of robot clamp adjusting direction with automatic row's object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109397279A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385975A (en) * | 2021-06-10 | 2021-09-14 | 青海高等职业技术学院(海东市中等职业技术学校) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
| CN113478472A (en) * | 2021-07-30 | 2021-10-08 | 重庆电子工程职业学院 | Industrial mechanical arm |
| CN113524238A (en) * | 2021-06-22 | 2021-10-22 | 安徽理工大学 | Industrial robot based on thing networking |
| CN113800246A (en) * | 2021-07-16 | 2021-12-17 | 厦门良一食品有限公司 | Automatic sea sedge feeding machine |
| CN114029989A (en) * | 2021-12-10 | 2022-02-11 | 深圳市锐邦德精密部件有限公司 | Mechanical arm used in cooperation with numerical control lathe |
-
2018
- 2018-11-11 CN CN201811335739.2A patent/CN109397279A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385975A (en) * | 2021-06-10 | 2021-09-14 | 青海高等职业技术学院(海东市中等职业技术学校) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
| CN113385975B (en) * | 2021-06-10 | 2022-10-14 | 青海高等职业技术学院(海东市中等职业技术学校) | Feeding and discharging industrial robot combined with numerical control machine tool and feeding and discharging system |
| CN113524238A (en) * | 2021-06-22 | 2021-10-22 | 安徽理工大学 | Industrial robot based on thing networking |
| CN113800246A (en) * | 2021-07-16 | 2021-12-17 | 厦门良一食品有限公司 | Automatic sea sedge feeding machine |
| CN113800246B (en) * | 2021-07-16 | 2023-12-22 | 厦门良一食品有限公司 | Automatic sea sedge feeder |
| CN113478472A (en) * | 2021-07-30 | 2021-10-08 | 重庆电子工程职业学院 | Industrial mechanical arm |
| CN114029989A (en) * | 2021-12-10 | 2022-02-11 | 深圳市锐邦德精密部件有限公司 | Mechanical arm used in cooperation with numerical control lathe |
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Application publication date: 20190301 |
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