CN110125963A - Robot clamping jaw carrying mechanism - Google Patents
Robot clamping jaw carrying mechanism Download PDFInfo
- Publication number
- CN110125963A CN110125963A CN201910530774.8A CN201910530774A CN110125963A CN 110125963 A CN110125963 A CN 110125963A CN 201910530774 A CN201910530774 A CN 201910530774A CN 110125963 A CN110125963 A CN 110125963A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- support frame
- groups
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot clamping jaw carrying mechanisms, including support frame (1), connecting flange (2), two groups of clamping jaw units (3), servo drive (4), the connecting flange (2) is fixed on support frame (1), two groups of clamping jaw units (3) are slidably arranged on support frame (1), two groups of clamping jaw units (3) by servo drive (4) driving both along support frame (1) close to or far from, clamping jaw unit (3) described in every group includes at least one clip claw assembly (5), the clip claw assembly (5) includes clamping cylinder (51), two clamping jaws (52), the clamping cylinder (51) drives one of clamping jaw (52) to move to close/direction far from another clamping jaw (52).The present invention is low in cost, same type workpiece product that can be different with gripping width size.
Description
Technical field
The present invention relates to a kind of robot clamping jaw carrying mechanisms, belong to pharmaceuticals industry automatic field；It mainly can be to each
The workpiece of kind of size is accurately positioned, quick-clamping, carrying.
Background technique
The fast development of China's automatic technology has covered answering for every field, especially industrial automation technology
With, have been carried out substantially industrial production be fully automated or partial automation.It can effectively save industrial production manpower money
This investment, reduces cost, improves efficiency, also significantly reduce the intensity of labourer, reduce Labor Risk.But in medicine
The freeze dryer field for automating industry, especially pharmaceuticals industry, due to environmental requirement height, plate layer material is special, and deformation is big, sealing
Property it is strong, be all manual handling so currently used, cooperation simple tooling operation.Because operating environment requirement is stringenter, no
But low efficiency, yield also cannot be guaranteed.
In recent years, it just begins trying to carry using robot, be operated instead of common laborer, gone back while improving quality
Yield is improved, is reduced costs.In robot handling process, it is required to part to be shipped of changing a job according to requiring tool locating,
So that robot is steady during operation, efficient, guarantee to improve lean production while yield.
Same type of workpiece product is typically due to a variety of different sizes, different size is embodied in the width of workpiece product
Spend different, and the thickness of same workpiece product is consistent.Since width has differences, need to be equipped with corresponding frock clamp,
Cost is caused to waste；Different frock clamps are positioned and fixed, wastes time, reduces production efficiency.
Summary of the invention
To overcome disadvantages mentioned above, the purpose of the present invention is to provide it is a kind of it is low in cost, same workpiece product can be clamped
The robot clamping jaw carrying mechanism of different width dimensions specification.
In order to reach the goals above, the technical solution adopted by the present invention is that: a kind of robot clamping jaw carrying mechanism, including branch
Support, connecting flange, the connecting flange is fixed on the support frame, further includes two groups of clamping jaw units, servo drives, described
Two groups of clamping jaw units are slidably arranged on support frame, and two groups of clamping jaw units are by both servo drive drivings along support frame
Close to or far from clamping jaw unit described in every group includes at least one clip claw assembly, and the clip claw assembly includes clamping cylinder, two
Clamping jaw, the clamping cylinder drive one of clamping jaw to move to close/direction far from another clamping jaw.
The beneficial effect of robot clamping jaw carrying mechanism of the present invention is, using servo drive, servo drive
The rotational travel of servo motor is controllable, can then adjust the distance between two groups of clamping jaw units, then enables the carrying mechanism
The workpiece of different width dimensions suitable for same workpiece product, clamping cylinder is to realize two clamping jaws to thickness of workpiece direction
It is clamped.The application is not necessarily to the size difference according to different workpieces, is equipped with corresponding frock clamp, solves cost waste
Problem.Different frock clamps can be positioned and be fixed, improve production efficiency；Repetition replacement conveying clamp is avoided simultaneously
Tool, reduces landed cost, improves handling efficiency.
Preferably, two groups of clamping jaw units are slidably arranged on support frame by lead screw assembly, the servo-drive dress
It sets through the screw synchronous rotation in two lead screw assemblies of driving, two groups of clamping jaw units is then driven to synchronize opposite or reversed cunning
It is dynamic.Two groups of clamping jaw units of the application are using the sliding of opposite or synchronous backward is synchronized, conducive to the both ends for clamping workpiece.
Preferably, the screw thread of two lead screws is symmetrical arranged, and driven umbrella tooth is provided on two lead screws, described
Active umbrella tooth is provided at the output shaft of the servo motor of servo drive, the active umbrella tooth is engaged with driven umbrella tooth.This
Application drives two driven umbrella tooths by active umbrella tooth jointly, two screw synchronous rotations is then driven, due to the spiral shell on lead screw
Line is symmetrical arranged, and two groups of clamping jaw units is then made to synchronize opposite or reverse slide.
Preferably, the servo drive further includes speed reducer, and the servo motor is connect with speed reducer, the active
Umbrella tooth is arranged on the output shaft of speed reducer.Axle sleeve can also be set on the output shaft of speed reducer, and active umbrella tooth is arranged in axis
It puts on.Conducive to the installation of umbrella tooth.
Preferably, clamping jaw unit described in every group includes clamping jaw bracket, and the sliding block of the clamping jaw bracket and lead screw assembly is fixed
Connection, the clamping cylinder are rotatably connected on clamping jaw bracket, are rotatably connected to horizontal on the clamping jaw bracket and quickly press from both sides, institute
The telescopic rod end for stating clamping cylinder is quickly pressed from both sides by horizontal to be connect with one of clamping jaw.The telescopic rod end of clamping cylinder
The one of clamping jaw of connection is quickly pressed from both sides by horizontal, and two clamping jaws is enabled quickly to tighten clamping or opening, it can horizontal
The upper and lower end face of Quick holding part also can quickly unclamp workpiece.Due to the setting that horizontal is quickly pressed from both sides, clamping cylinder is not necessarily to
It is vertically arranged, reduce the occupied area in longitudinal direction (clamping cylinder telescopic rod conduct direction)；In addition, horizontal quickly has automatically
The function of locking, workpiece lock motionless Yi Dan be clamped.It will not be fallen because the vibration of work end leads to not tight.
Preferably, there are two the clip claw assembly settings, clamping jaw bracket both ends are located at.That is, the robot clamping jaw is removed
Fortune mechanism be arranged altogether there are four clip claw assembly, respectively correspond four corners of workpiece, can smoothly clamp workpiece.
Preferably, anti-slip layer is provided on the corresponding end face of described two clamping jaws.Prevent workpiece from two clamping jaw workpiece
It skids off.
Detailed description of the invention
Fig. 1 is the perspective view of the present embodiment first angle；
Fig. 2 is the perspective view of the present embodiment second angle；
Fig. 3 is that servo drive and lead screw assembly cooperate perspective view in the present embodiment.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to shown in attached drawing 1,2, a kind of robot clamping jaw carrying mechanism of the present embodiment, including support frame 1, connecting flange
2, two groups of clamping jaw units 3 and servo drive 4, connecting flange 2 are fixed on support frame 1, and two groups of slidings of clamping jaw unit 3 are set
It sets on support frame 1, two groups of clamping jaw units 3 are by both drivings of servo drive 4 along support frame 1 close to or far from every group of folder
Pawl unit 3 includes at least one clip claw assembly 5, and clip claw assembly 5 includes 51, two clamping jaws 52 of clamping cylinder, and clamping cylinder 51 drives
One of clamping jaw 52 is moved to move to close/direction far from another clamping jaw 52.
Two groups of clamping jaw units 3 close to or far from, can be the driving of servo drive 4 wherein one group of clamping jaw unit 3 to
Another group of driving of clamping jaw unit 3 or in which one group of clamping jaw unit 3 are slided to the direction far from another group of clamping jaw unit 3, are then pressed from both sides
It holds, unclamp workpiece.Being also possible to servo drive 4 drives two groups of clamping jaw units 3 simultaneously to middle slip, or simultaneously to both ends
Sliding then clamps, unclamps workpiece.The clamping that the present embodiment is considered conducive to workpiece then selects while to middle slip or simultaneously
It is slided to both ends.Realize that the structure of this function can be used such as flowering structure: two groups of clamping jaw units 3 are set by the sliding of lead screw assembly 6
It sets on support frame 1, servo drive 4 is rotated synchronously by the lead screw 61 in two lead screw assemblies 6 of driving, then drives two
Group clamping jaw unit 3 synchronizes opposite or reverse slide.Lead screw assembly 6 is the prior art, it includes there is screwed lead screw 61, with
The sliding block 63 that lead screw 61 is threadedly coupled, sliding block 63 then connect clamping jaw unit 3.
The servo motor 41 of servo drive 4 is that two lead screw assemblies are then driven by such as flowering structure in the present embodiment
Lead screw 61 in 6 rotates synchronously: the screw thread of two lead screws 61 is symmetrical arranged, as shown in figure 3, be provided on two lead screws 61 from
Umbrella tooth 62 is moved, active umbrella tooth 7, active umbrella tooth 7 and driven umbrella are provided at the output shaft of the servo motor 41 of servo drive 4
Tooth 62 engages.Active umbrella tooth 7 is driven by servo motor 41, then drives driven umbrella tooth 62, driven umbrella tooth 62 then lead screw 61
Rotation then makes the sliding block 63 on lead screw 61 opposite or counter motion since the screw thread of two lead screws 61 is symmetrical arranged.
In addition, servo drive 4 further includes speed reducer 42, servo motor is connect with speed reducer 42, and active umbrella tooth 7 is arranged
On the output shaft of speed reducer 42.Axle sleeve can also be set on the output shaft of speed reducer, and active umbrella tooth is arranged on axle sleeve.Benefit
In the installation of umbrella tooth.
Every group of clamping jaw unit 3 in the present embodiment includes clamping jaw bracket 31, the sliding block 63 of clamping jaw bracket 31 and lead screw assembly 6
Be fixedly connected, two clamping jaws 52 close to or far from clamping cylinder 51 being notified directly to act on, but the row of clamping cylinder 51
Diameter direction needs sufficiently large space, and in order to improve this problem, the clamping cylinder 51 of the present embodiment is rotatably connected on clamping jaw branch
On frame 31, it is rotatably connected to horizontal on clamping jaw bracket 31 and quickly presss from both sides 53, the telescopic rod end of clamping cylinder 51 passes through horizontal
Quickly folder 53 is connect with one of clamping jaw 52.The telescopic rod end of clamping cylinder 51 quickly presss from both sides 53 connections wherein by horizontal
One clamping jaw 52 enables two clamping jaws 52 quickly to tighten clamping or opening, quickly the upper and lower end face clamping by workpiece or pine.
Quickly press from both sides 53 setting by horizontal, clamping cylinder 51 can laterally be arranged, reduce longitudinal direction (telescopic rod without vertically arranged
The conduct direction of operation) occupied area.
In order to guarantee that workpiece can be clamped stabilization, there are two the settings of clip claw assembly 5 in the present embodiment, is located at clamping jaw
31 both ends of bracket, that is, the robot clamping jaw carrying mechanism is arranged altogether there are four clip claw assembly 5, clamps four of workpiece respectively
Turning, and it is provided with anti-slip layer 54 on two corresponding end faces of clamping jaw 52, anti-slip layer 54 can be rubber pad, be also possible to convex
Strip structure etc., to increase the frictional force with workpiece.
Referring to shown in attached drawing 1,2, this clip claw mechanism is completed to carry, be determined by 2 mating connection transfer robot of connecting flange
Position movement, be able to achieve robot automation carrying, may be implemented while guaranteeing clamping precision precise positioning, quick-clamping,
It carries.Handling time is greatly reduced, improves production efficiency.
The technical concepts and features of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands the contents of the present invention and is implemented, and it is not intended to limit the scope of the present invention, all spiritual according to the present invention
The equivalent change or modification that essence is done, should be covered by the scope of protection of the present invention.
Claims (7)
1. a kind of robot clamping jaw carrying mechanism, including support frame (1), connecting flange (2), the connecting flange (2) are fixed on
On support frame (1), it is characterised in that: further include two groups of clamping jaw units (3), servo drive (4), two groups of clamping jaw units
(3) it is slidably arranged on support frame (1), two groups of clamping jaw units (3) are by both servo drive (4) drivings along support frame
(1) close to or far from clamping jaw unit (3) described in every group includes at least one clip claw assembly (5), and the clip claw assembly (5) includes
Clamping cylinder (51), two clamping jaws (52), the clamping cylinder (51) drive one of clamping jaw (52) to it is close/far from another
The direction of a clamping jaw (52) moves.
2. robot clamping jaw carrying mechanism according to claim 1, it is characterised in that: two groups of clamping jaw units (3) are logical
It crosses lead screw assembly (6) to be slidably arranged on support frame (1), the servo drive (4) passes through two lead screw assemblies (6) of driving
In lead screw (61) rotate synchronously, then drive two groups of clamping jaw units (3) to synchronize opposite or reverse slide.
3. robot clamping jaw carrying mechanism according to claim 2, it is characterised in that: the screw thread of two lead screws (61)
It is symmetrical arranged, is provided with driven umbrella tooth (62) on two lead screws (61), the servo motor of the servo drive (4)
(41) it is provided at output shaft active umbrella tooth (7), the active umbrella tooth (7) is engaged with driven umbrella tooth (62).
4. robot clamping jaw carrying mechanism according to claim 3, it is characterised in that: the servo drive (4) is also
Including speed reducer (42), the servo motor (41) connect with speed reducer (42), and the active umbrella tooth (7) is arranged in speed reducer
(42) on output shaft.
5. robot clamping jaw carrying mechanism according to claim 1, it is characterised in that: the packet of clamping jaw unit (3) described in every group
It includes clamping jaw bracket (31), the clamping jaw bracket (31) is fixedly connected with the sliding block (63) of lead screw assembly (6), the clamping cylinder
(51) it is rotatably connected on clamping jaw bracket (31), is rotatably connected to horizontal on the clamping jaw bracket (31) and quickly presss from both sides (53), institute
The telescopic rod end for stating clamping cylinder (51) is quickly pressed from both sides (53) by horizontal and is connect with one of clamping jaw (52).
6. robot clamping jaw carrying mechanism according to claim 5, it is characterised in that: the clip claw assembly (5) is provided with
Two, it is located at clamping jaw bracket (31) both ends.
7. robot clamping jaw carrying mechanism described according to claim 1 or 5 or 6, it is characterised in that: described two clamping jaws (52)
Anti-slip layer (54) are provided on corresponding end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530774.8A CN110125963A (en) | 2019-06-19 | 2019-06-19 | Robot clamping jaw carrying mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530774.8A CN110125963A (en) | 2019-06-19 | 2019-06-19 | Robot clamping jaw carrying mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110125963A true CN110125963A (en) | 2019-08-16 |
Family
ID=67578145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910530774.8A Pending CN110125963A (en) | 2019-06-19 | 2019-06-19 | Robot clamping jaw carrying mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125963A (en) |
-
2019
- 2019-06-19 CN CN201910530774.8A patent/CN110125963A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206047946U (en) | A kind of multi-functional anvil vice | |
| CN210232292U (en) | Machining clamp for large workpiece | |
| CN212558244U (en) | Box clamping and overturning device | |
| CN210025272U (en) | Walking manipulator suitable for multistation | |
| CN209125189U (en) | A kind of fork carriage clamping positioning mechainsm welded for automating roller shaft | |
| CN110498244A (en) | Long handle bevel gear finishing automatic assembly line | |
| CN109702404B (en) | Aluminum template welding rib equipment | |
| CN109262179A (en) | A kind of fork carriage clamping positioning mechainsm welded for automating roller shaft | |
| CN208759060U (en) | A kind of self-centering fixture | |
| CN110125963A (en) | Robot clamping jaw carrying mechanism | |
| WO2023241239A1 (en) | Automatic-turning joint robot for numerical control apparatus | |
| CN203665534U (en) | Parallel clamping device for tail end of robot | |
| CN210588774U (en) | 4.5 frock clamp for axle | |
| CN210189150U (en) | Clamping tool for spline shaft fork of transmission shaft | |
| CN209288802U (en) | A kind of clamping tooling for end face milling & centering machine | |
| CN206084482U (en) | Take positioning mechanism's clamping device | |
| CN210173600U (en) | Robot clamping jaw carrying mechanism | |
| CN206550693U (en) | A kind of bonnet fixture | |
| CN209303723U (en) | A kind of aluminium wheels basal plane automatic lathe | |
| CN217702389U (en) | Numerical control lifting transfer device convenient for workpiece transfer | |
| CN213319979U (en) | Quick spacing spare part processing clamping device | |
| CN219839181U (en) | Rotary disc type independent clamping mechanism | |
| CN216190941U (en) | Packaging equipment of water-based high-gloss varnish | |
| CN210046263U (en) | Automatic change assembly quality | |
| CN217570563U (en) | Metal frame clamping mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |