CN109531541A - A kind of truss robot clamping device - Google Patents
A kind of truss robot clamping device Download PDFInfo
- Publication number
- CN109531541A CN109531541A CN201811434157.XA CN201811434157A CN109531541A CN 109531541 A CN109531541 A CN 109531541A CN 201811434157 A CN201811434157 A CN 201811434157A CN 109531541 A CN109531541 A CN 109531541A
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- China
- Prior art keywords
- longitudinal
- transversal stretching
- block
- cylinder
- clamping device
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- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of truss robot clamping device, is related to clamping device field, comprising: a frame, a flange, a transversal stretching mechanism, transversal stretching mechanism include two attachment beams, transversal stretching cylinder, are equipped with transversal stretching cylinder between two attachment beams；Longitudinal bracing component, longitudinal bracing component include two longitudinal stocks, connection baffle, and two longitudinal stocks are fixed on two columns of rectangle short side side to horizontal alignment up and down, are vertically fixed connection baffle between the two sides of two longitudinal stocks；Longitudinal extension grabbing assembly, longitudinal extension grabbing assembly includes crawl a block, a longitudinal extension cylinder, crawl block is slidably mounted on longitudinal stock on the outside of column, crawl block upper and lower side slides through two longitudinal stocks respectively, longitudinal extension cylinder is fixed on the column middle between two longitudinal stocks, and longitudinal extension cylinder is horizontally connected with crawl block.The application provides a kind of truss robot clamping device, and clamping type of goods range is wide, can meet actual production requirement.
Description
Technical field
The present invention relates to clamping device fields, and in particular to a kind of truss robot clamping device.
Background technique
Truss robot is also referred to as Cartesian robot and planer-type robot.In industrial application, it can be realized automatic
Control, repeatable programming, between multi-functional, multivariant, freedom of motion at space right-angle relationship, multiduty behaviour
Make machine.Can carry an object, operational instrument, to complete various operations.Workshop is widely used in grab transfer object
Part.Currently, common truss robot is more planer type structure, i.e., it is flat to be respectively slidably mounted in two for a crossbeam both ends
In capable supporting beam, grasping jig is installed in crossbeam bottom side, in this way, crossbeam is moved along supporting beam after grasping jig crawl object, from
And object is transferred to another location from a position.
In recent years, with the rapid growth of domestic automobile industry, domestic assembly line manufacturer is also grown rapidly, work
The application of industry robot makes worker get rid of dull duplicate manual labor during large-scale production, improves building ring
Border, while product quality is improved, therefore become the inevitable choice of enterprise automation transformation, truss robot is highly reliable with its
Property, high speed, heavy load, big stroke, low cost the features such as, have unique advantage in material transferring field；Make in actual production
In industry, it will appear the components of various sizes on single automobile assembly line, wherein it is no lack of the biggish components of some volumes, however
The clamping device of existing truss robot often fix by structure, and the type of goods of transfer is limited, narrow application range.
Summary of the invention
In order to solve defect existing for the clamping device of above-mentioned truss robot in the prior art, the application provides a kind of purlin
Frame robot clamping device, clamping type of goods range is wide, can meet actual production requirement.
In order to realize that above-mentioned technical effect, the specific technical solution of the present invention are as follows:
A kind of truss robot clamping device, comprising:
One frame, the frame include four columns, sliding block, linear guide, crossbeam, and four columns are vertically distributed
It is respectively fixed with the sliding block above rectangular each apex angle, each column, two sliding blocks positioned at rectangle long side side
Top slidably connects a linear guide, and horizontal connection has two crossbeams between two linear guides；
One is fixed on above the crossbeam with the flange of truss robot connection, the flange, and the flange center is set
There is the alignment circular hole for connecting with truss robot, the alignment circular is equipped with multiple connecting holes；
One transversal stretching mechanism, the transversal stretching mechanism include two attachment beams, transversal stretching cylinder, two attachment beams
It is fixed between two columns of rectangle short side side, the transversal stretching gas is equipped between two attachment beams
The telescopic direction of cylinder, the transversal stretching cylinder is parallel with linear guide；
Two longitudinal bracing components, the longitudinal bracing component include two longitudinal stocks, connection baffle, two longitudinal stocks
Runs through and be fixed on two columns of rectangle short side side to upper and lower horizontal alignment, the two of two longitudinal stocks
Connection baffle is vertically fixed between side；
Four longitudinal extension grabbing assemblies, the longitudinal extension grabbing assembly include crawl a block, a longitudinal extension cylinder, institute
It states on longitudinal stock that crawl block is slidably mounted on the outside of the column, the crawl block upper and lower side slides through respectively
Two longitudinal stocks arranged side by side, the lower horizontal of the crawl block are fixed with supporting block outstanding, the longitudinal extension gas down
Cylinder is fixed on the column middle between two longitudinal stocks, and the longitudinal extension cylinder is horizontally connected with the crawl block.
It further, further include buffer, the both ends of each linear guide are fixedly installed with buffer, the buffering
Device includes mounting base and horizontal buffer bar, and the horizontal buffer bar can be with the shoe contact.When column is in transversal stretching cylinder
Promotion under when being flared out, when reaching outermost extreme position, can it is steady by the effect of buffer, safely stop
Under.
It further, further include a control cabinet, the control cabinet, which is bolted, to be installed on a crossbeam, described
Solenoid valve, control valve are equipped in control cabinet, the solenoid valve is connected by gas circuit and the transversal stretching cylinder, longitudinal extension cylinder
It connects, the control valve is connect with solenoid signal.By control cabinet, we control clamping device work with can realizing auto-programming
Make, realizes intelligent, automatically working.
Further, the height of the transversal stretching cylinder is lower than the horizontal depth of beam.By the height of transversal stretching cylinder
Degree is designed as lower than the horizontal depth of beam, is in order to avoid touching when transversal stretching cylinder operation with crossbeam, to influence just
Chang Zuoye.
Further, hollow out among the crawl block.The design of the crawl block of hollow out, alleviates the weight of integral retaining device
Amount, reduces truss robot energy consumption and improves the stability of its integral support.
A kind of working principle of truss robot clamping device:
When this clamping device is installed on truss robot, first on the basis of the alignment circular hole of flange with truss robot
Docking, then connect by connecting hole with truss robot；Before clamping article, staff treats clamping article volume and sees
It examines, then crawl block can be pushed to be slided along longitudinal stock outward or inside to adjust with longitudinal side by longitudinal extension cylinder
Two crawl the distance between blocks, then drive column to draw close by transversal stretching cylinder so that crawl block slowly close to up to
Article is clenched, the supporting block that block bottom end is grabbed when holding article supports article, while grabbing block medial surface close to article
Surface.
According to above-mentioned technical proposal, compared with prior art, the present invention its longitudinal stock by long length, crawl block
And transversal stretching cylinder is, it can be achieved that clamp the article of large scale, large volume, then pass through longitudinal extension cylinder, it can be achieved that crawl block
The adjustment of spacing clamps the size of article, range greatly improves.
Detailed description of the invention
Below by specific embodiment combination attached drawing to being originally described in further detail.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the one side schematic diagram of Fig. 1；
Fig. 3 is the another side schematic diagram of Fig. 1；
Fig. 4 is an elevational schematic view of Fig. 1；
Wherein, 1, column；2, sliding block；3, linear guide；4, crossbeam；5, flange；51, it is directed at circular hole；52, connecting hole；6,
Attachment beam；7, transversal stretching cylinder；8, longitudinal stock；9, baffle is connected；10, block is grabbed；11, longitudinal extension cylinder；12, it supports
Block；13, buffer；131, mounting base；132, horizontal buffer bar；14, control cabinet.
Specific embodiment
To keep the purposes, technical schemes and advantages of present embodiment clearer, below in conjunction in present embodiment
The technical solution in present embodiment is clearly and completely described in attached drawing, it is clear that described embodiment is sheet one
Some embodiments, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, the range of this protection is belonged to.
In the description of the present invention, it is to be understood that, term " upper end ", " lower end ", " tail end ", " left and right ", " upper and lower "
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally and simplifies
Description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, the terms such as term " installation ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
Embodiment
A kind of truss robot clamping device, comprising:
As shown in Figure 1 and Figure 2, a frame, the frame include four columns 1, sliding block 2, linear guide 3, crossbeam 4, and four
The column 1 is vertically distributed in rectangular each apex angle, is respectively fixed with the sliding block 2 above each column 1, is located at length
A linear guide 3 is slidably connected above two sliding blocks 2 of rectangular long side side, level connects between two linear guides 3
It is connected to two crossbeams 4.
As Figure 1 and Figure 4, one with the flange 5 of truss robot connection, the flange 5 is fixed on the crossbeam 4
Side, 5 center of flange are equipped with the alignment circular hole 51 for connecting with truss robot, are equipped with around the alignment circular hole 51 more
A connecting hole 52.
As shown in Fig. 2, a transversal stretching mechanism, the transversal stretching mechanism includes two attachment beams 6, transversal stretching cylinder 7,
Two attachment beams 6 are fixed between two columns 1 of rectangle short side side, are equipped between two attachment beams 6
The telescopic direction of the transversal stretching cylinder 7, the transversal stretching cylinder 7 is parallel with linear guide 3, the transversal stretching cylinder
7 height is lower than the height of the crossbeam 4.
As shown in Figure 1, two longitudinal bracing components, the longitudinal bracing component includes two longitudinal stocks 8, connection baffle 9, two
Runs through and be fixed on two columns 1 of rectangle short side side, two institutes to longitudinal direction about 8 horizontal alignment of stock
It states and is vertically fixed connection baffle 9 between the two sides of longitudinal stock 8.
As shown in Figure 1 and Figure 2, four longitudinal extension grabbing assembly, the longitudinal extension grabbing assembly include one crawl block 10,
One longitudinal extension cylinder 11, the crawl block 10 is slidably mounted on longitudinal stock 8 in 1 outside of column, described to grab
10 upper and lower side of block is taken to slide through two longitudinal stocks 8 arranged side by side up and down respectively, the lower horizontal of the crawl block 10 is fixed
There is supporting block 12 outstanding, the longitudinal extension cylinder 11 is fixed on 1 middle of column between two longitudinal stocks 8, described vertical
The crawl block 10, the intermediate hollow out of the crawl block 10 are horizontally connected with to telescopic cylinder 11.
As shown in Figure 1, Figure 3, this clamping device further includes buffer 13, the fixed peace in the both ends of each linear guide 3
Equipped with buffer 13, the buffer 13 includes mounting base 131 and horizontal buffer bar 132, and the horizontal buffer bar 132 can be with institute
State the contact of sliding block 2.
In addition as Figure 1 and Figure 4, the invention also includes a control cabinet 14, the control cabinet 14 is bolted installation
In on a crossbeam 4, it is equipped with solenoid valve, control valve (not shown) in the control cabinet 14, the solenoid valve passes through gas circuit
It is connect with the transversal stretching cylinder 7, longitudinal extension cylinder 11, the control valve is connect with solenoid signal.
The working principle of the invention:
When this clamping device is installed on truss robot, first on the basis of the alignment circular hole 51 of flange 5 with truss machine
Device people docking, then connect by connecting hole 52 with truss robot；Before clamping article, staff treats clamping article volume
It is observed, then crawl block 10 can be pushed to be slided along longitudinal stock 8 outward or inside to adjust by longitudinal extension cylinder 11
Then section drives column 1 to draw close, so that grabbing with the distance between the two crawl blocks 10 of longitudinal side by transversal stretching cylinder 7
Take block 10 slowly close to until clenching article, the supporting block 12 that 10 bottom end of block is grabbed when holding article supports article, together
When grab 10 medial surface of block close to article surface.
Use above specific case is merely used to help understand this to being originally illustrated, not to limit this.For
This person of ordinary skill in the field can also make several simple deductions, deformation or replacement according to this thought.
Claims (5)
1. a kind of truss robot clamping device characterized by comprising
One frame, the frame include four columns, sliding block, linear guide, crossbeam, and four columns are vertically distributed in length
Rectangular each apex angle, each column top is respectively fixed with the sliding block, above two sliding blocks of rectangle long side side
A linear guide is slidably connected, horizontal connection there are two crossbeams between two linear guides；
One is fixed on above the crossbeam with the flange of truss robot connection, the flange, and the flange center, which is equipped with, to be used
In the alignment circular hole connecting with truss robot, the alignment circular is equipped with multiple connecting holes；
One transversal stretching mechanism, the transversal stretching mechanism include two attachment beams, transversal stretching cylinder, and two attachment beams are fixed
Between two columns for being located at rectangle short side side, the transversal stretching cylinder, institute are equipped between two attachment beams
The telescopic direction for stating transversal stretching cylinder is parallel with linear guide；
Two longitudinal bracing components, the longitudinal bracing component include two longitudinal stocks, connection baffle, above and below two longitudinal stocks
Run through to horizontal alignment and be fixed on two columns of rectangle short side side, the two sides of two longitudinal stocks it
Between be vertically fixed connection baffle；
Four longitudinal extension grabbing assemblies, the longitudinal extension grabbing assembly includes crawl a block, a longitudinal extension cylinder, described to grab
On the longitudinal stock for taking block to be slidably mounted on the outside of the column, the crawl block upper and lower side slides through up and down simultaneously respectively
The longitudinal stock of the two of column, the lower horizontal of the crawl block are fixed with supporting block outstanding, and the longitudinal extension cylinder is solid
Column middle between two longitudinal stocks, the longitudinal extension cylinder are horizontally connected with the crawl block.
2. a kind of truss robot clamping device as described in claim 1, which is characterized in that it further include buffer, each institute
The both ends for stating linear guide are fixedly installed with buffer, and the buffer includes mounting base and horizontal buffer bar, the level
Buffer bar can be with the shoe contact.
3. a kind of truss robot clamping device as claimed in claim 2, which is characterized in that further include a control cabinet, institute
It states control cabinet and is bolted and be installed on a crossbeam, solenoid valve, control valve, the electromagnetism are equipped in the control cabinet
Valve is connect by gas circuit with the transversal stretching cylinder, longitudinal extension cylinder, and the control valve is connect with solenoid signal.
4. a kind of truss robot clamping device as described in claim 1, which is characterized in that the transversal stretching cylinder
Height is lower than the horizontal depth of beam.
5. a kind of truss robot clamping device according to any one of claims 1 to 4, which is characterized in that described to grab
Take hollow out among block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811434157.XA CN109531541A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811434157.XA CN109531541A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531541A true CN109531541A (en) | 2019-03-29 |
Family
ID=65850727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811434157.XA Pending CN109531541A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531541A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844108A (en) * | 2020-08-20 | 2020-10-30 | 上海金自天正信息技术有限公司 | Wedge type self-locking gripping device and method matched with six-axis robot for use |
| CN113059729A (en) * | 2021-03-23 | 2021-07-02 | 合肥壹物新材料科技股份有限公司 | A supplementary robot that snatchs for EPO packaging products production and processing |
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| WO2018171620A1 (en) * | 2017-03-23 | 2018-09-27 | 大连富地重工机械制造有限公司 | Mechanical arm apparatus, and stacking equipment and stacking method |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN108820869A (en) * | 2018-05-28 | 2018-11-16 | 安徽安元智能科技有限公司 | Rotor blanking grabbing device |
| CN209665359U (en) * | 2018-11-28 | 2019-11-22 | 嘉兴博信机器人科技有限公司 | A kind of truss robot clamping device |
-
2018
- 2018-11-28 CN CN201811434157.XA patent/CN109531541A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018171620A1 (en) * | 2017-03-23 | 2018-09-27 | 大连富地重工机械制造有限公司 | Mechanical arm apparatus, and stacking equipment and stacking method |
| CN107651449A (en) * | 2017-10-11 | 2018-02-02 | 中建材凯盛机器人（上海）有限公司 | Dynamic measurement handgrip and its method with space two-freedom Telescopic |
| CN108274451A (en) * | 2018-03-20 | 2018-07-13 | 湖北乾奥建设工程有限公司 | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator and operating method |
| CN108820869A (en) * | 2018-05-28 | 2018-11-16 | 安徽安元智能科技有限公司 | Rotor blanking grabbing device |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN209665359U (en) * | 2018-11-28 | 2019-11-22 | 嘉兴博信机器人科技有限公司 | A kind of truss robot clamping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844108A (en) * | 2020-08-20 | 2020-10-30 | 上海金自天正信息技术有限公司 | Wedge type self-locking gripping device and method matched with six-axis robot for use |
| CN111844108B (en) * | 2020-08-20 | 2023-12-26 | 上海金自天正信息技术有限公司 | Wedge type self-locking grabbing device and method matched with six-axis robot |
| CN113059729A (en) * | 2021-03-23 | 2021-07-02 | 合肥壹物新材料科技股份有限公司 | A supplementary robot that snatchs for EPO packaging products production and processing |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Yuexin Inventor before: Wu Yuexin Inventor before: Deng Zhimin |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210225 Address after: 201600 4th floor, building 5, No.518, Xinzhuan Road, Xinqiao Town, Songjiang District, Shanghai Applicant after: Shanghai Boxin Yihui Intelligent Technology Co.,Ltd. Address before: 314100 1st floor, building 2, No.18 liangchuang Road, ganyao Town, Jiashan County, Jiaxing City, Zhejiang Province Applicant before: JIAXING BOXIN ROBOT TECHNOLOGY Co.,Ltd. |
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| SE01 | Entry into force of request for substantive examination |