CN110216707A - A kind of robot localization clamping jaw - Google Patents
A kind of robot localization clamping jaw Download PDFInfo
- Publication number
- CN110216707A CN110216707A CN201910591680.1A CN201910591680A CN110216707A CN 110216707 A CN110216707 A CN 110216707A CN 201910591680 A CN201910591680 A CN 201910591680A CN 110216707 A CN110216707 A CN 110216707A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- plate
- positioning
- type
- supporting beam
- 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
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses a kind of robot localization clamping jaws, its actuating station for being fixed on robot, including supporting beam, the two sides of supporting beam are respectively arranged with first group of positioning clamping jaw and second group of positioning clamping jaw, first group of positioning clamping jaw includes two the first clamping jaws on ipsilateral on supporting beam length direction, and second group of positioning clamping jaw includes two the second clamping jaws on another side on supporting beam length direction；First group of positioning clamping jaw and second group of positioning clamping jaw respectively have the inductive component and end positioning component positioned at supporting beam both ends；First clamping jaw and the second clamping jaw structure are identical, include the cylinder block being fixed in supporting beam, and cylinder block top is fixedly connected with telescopic cylinder, and the top of telescopic cylinder is connected with capsul.The present invention can carry out grasping at positioning to two workpiece simultaneously, further improve positioning accuracy by inductive component and end positioning component, and the clamping jaw driven by telescopic cylinder is more flexible easily operated, effectively improve location efficiency and precision.
Description
Technical field
The present invention relates to localization tool technical fields, and in particular to a kind of robot localization clamping jaw.
Background technique
With the development of science and technology, more and more robots are applied to the carrying, positioning, processing and other fields of workpiece,
The carrying of the clamping to workpiece had not only may be implemented in installation positioning clamping jaw in robot, but also can realize and be determined workpiece in process
Position, greatly improves processing efficiency.Not only structure is complicated for existing robot localization clamping jaw, and energy consumption is higher, and a robot
Actuating station be only capable of setting one positioning clamping jaw, as soon as and the positioning clamping jaw carry out that a workpiece is carried out to grasp at positioning, this is reduced
Location efficiency, it is difficult to meet industrial efficient demand.
Summary of the invention
The purpose of the present invention is to the deficiencies in the prior art, provide a kind of robot localization clamping jaw.
To achieve the above object, technology solution of the invention is as follows:
A kind of robot localization clamping jaw, is fixed on the actuating station of robot, including supporting beam, and the two sides of supporting beam are set respectively
It is equipped with first group of positioning clamping jaw and second group of positioning clamping jaw, first group of positioning clamping jaw includes ipsilateral on supporting beam length direction
Two the first clamping jaws on face, second group of positioning clamping jaw include two second on another side on supporting beam length direction
Clamping jaw；First group of positioning clamping jaw and second group of positioning clamping jaw respectively have positioned at the support component at supporting beam both ends and end positioning
Component；First clamping jaw and the second clamping jaw structure are identical, include the cylinder block being fixed in supporting beam, and cylinder block top is fixed to be connected
It is connected to telescopic cylinder, the top of telescopic cylinder is connected with capsul, is hinged with swing arm, swing arm by articulated shaft on capsul
It is connect with the piston rod of telescopic cylinder；Swing arm top is connected with V-type element, and the lower end of V-type element is provided with connecting plate, connection
The lower end of plate is fixedly connected with the first upper jaw and the second upper jaw；The side of telescopic cylinder is provided with lifting sliding rail, and lifting is slided
Sliding is provided with Z-type part on rail, and the first L-type plate and the second L-type plate are fixedly connected on the outside of Z-type part, is fixed on the first L-type plate
There are the first lower jaw and the second lower jaw；Support component includes the first slide plate and the second slide plate, the first slide plate and the second slide plate energy
Enough to slide up and down along supporting beam, the first slide plate lower part is connected with the first transverse slat, and the second slide plate lower part is connected with the second transverse slat, the
One transverse slat top is fixed with the first inductor, and the second transverse slat top is fixed with the second inductor；First inductor and the second induction
Device is electrically connected with the control mechanism of robot；End positioning component includes guide plate, and guide plate top is respectively fixed with the first L
Type support plate and the second L-type support plate, the first L-type support plate and the second L-type support plate upper end are respectively fixed with the first positioning plate
With the second positioning plate.
It is to be detachably connected between connecting plate and the first upper jaw, the second upper jaw.
It is to be detachably connected between Z-type part and the first L-type plate, the second L-type plate.
The piston rod of telescopic cylinder is located in capsul.
Telescopic cylinder side is provided with the route of connection gas supply station, and route top is provided with solenoid valve.
It is provided with connecting plate in the middle part of supporting beam, connecting plate top is fixed with rotary flange, and rotary flange and robot are held
Row end is detachably connected；
Connecting plate is fixedly connected by connector with supporting beam.
The beneficial effects of the present invention are: the present invention can carry out grasping at positioning to two workpiece simultaneously, pass through support group
Part and end positioning component further improve positioning accuracy, and the clamping jaw driven by telescopic cylinder is more flexible easily operated, have
Effect improves location efficiency and precision.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the first clamping jaw；
Fig. 3 is the structural schematic diagram of support component and end positioning component.
Specific embodiment
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
As shown in Figure 1-3, a kind of robot localization clamping jaw, is fixed on the actuating station of robot, including supporting beam 10,
The two sides of supporting beam 10 are respectively arranged with first group of positioning clamping jaw and second group of positioning clamping jaw, and first group of positioning clamping jaw includes being located at
Two the first clamping jaws 3 on supporting beam length direction on ipsilateral, second group of positioning clamping jaw include being located at supporting beam length direction
Two the second clamping jaws 4 on upper another side；First group of positioning clamping jaw and second group of positioning clamping jaw respectively have positioned at supporting beam
The support component 5 and end positioning component 6 at 10 both ends；First clamping jaw 3 is identical with 4 structure of the second clamping jaw, includes being fixed on branch
The cylinder block 30 on beam 10 is supportted, 30 top of cylinder block is fixedly connected with telescopic cylinder 31, and the top of telescopic cylinder 31 is connected with close
Capsule 32 is hinged with swing arm 33 by articulated shaft 321 on capsul 32, and the piston rod of swing arm 33 and telescopic cylinder 31 connects
It connects；33 top of swing arm is connected with V-type element 34, and the lower end of V-type element 34 is provided with connecting plate 341, the lower end of connecting plate 341
It is fixedly connected with the first upper jaw 342 and the second upper jaw 343；The side of telescopic cylinder 31 is provided with lifting sliding rail, and lifting is slided
Sliding is provided with Z-type part 35 on rail, and the outside of Z-type part 35 is fixedly connected with the first L-type plate 352 and the second L-type plate 351, the first L
The first lower jaw 362 and the second lower jaw 361 are fixed on template 352；Support component 5 includes that the first slide plate 511 and second is sliding
Plate 521, the first slide plate 511 and the second slide plate 521 can be slided up and down along supporting beam 10, and 511 lower part of the first slide plate is connected with
First transverse slat 51,521 lower part of the second slide plate are connected with the second transverse slat 52, and 51 top of the first transverse slat is fixed with the first inductor 53,
Second transverse slat, 52 top is fixed with the second inductor；First inductor and the second inductor are electrically connected with the control mechanism of robot
It connects；End positioning component 6 includes guide plate 60, and 60 top of guide plate is respectively fixed with the first L-type support plate 61 and the second L-type branch
Fagging 62, the first L-type support plate 61 and 62 upper end of the second L-type support plate are respectively fixed with the first positioning plate 611 and the second positioning
Plate 621.
It is to be detachably connected between connecting plate 341 and the first upper jaw 342, the second upper jaw 343.
It is to be detachably connected between Z-type part 35 and the first L-type plate 352, the second L-type plate 351.
The piston rod of telescopic cylinder 31 is located in capsul 32.
31 side of telescopic cylinder is provided with the route 311 of connection gas supply station, and 311 top of route is provided with solenoid valve.
Connecting plate 11 is provided in the middle part of supporting beam 10, connecting plate top is fixed with rotary flange 12, rotary flange 12 and machine
The actuating station of device people is detachably connected；
Connecting plate 11 is fixedly connected by connector 111 with supporting beam 10.
The course of work: positioning clamping jaw is fixed on the actuating station of robot, carries out grabbing for workpiece by the drive of robot
It going to position, two groups of positioning clamping jaws are able to one workpiece of crawl, and telescopic cylinder drives swing arm to drive clamping jaw opening and closing,
To be positioned to break；And support component and end positioning component are further corrected and are checked to the positioning of workpiece,
Enhance positioning accuracy.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Anyone skilled in the art
Without departing from the spirit and scope of the present invention, it modifies to the embodiment, therefore rights protection model of the invention
It encloses, should be as listed in the claims of the present invention.
Claims (2)
1. a kind of robot localization clamping jaw, it is characterised in that: its actuating station for being fixed on robot, including supporting beam (10),
The two sides of supporting beam (10) are respectively arranged with first group of positioning clamping jaw and second group of positioning clamping jaw, and first group of positioning clamping jaw includes position
In two the first clamping jaws (3) on supporting beam length direction on ipsilateral, second group of positioning clamping jaw includes being located at support beam length
Two the second clamping jaws (4) on direction on another side；First group of positioning clamping jaw and second group of positioning clamping jaw, which respectively have, to be located at
The support component (5) at supporting beam (10) both ends；First clamping jaw (3) is identical with the second clamping jaw (4) structure, includes being fixed on support
Cylinder block (30) on beam (10), cylinder block (30) top are fixedly connected with telescopic cylinder (31), the top of telescopic cylinder (31)
It is connected with capsul (32), is hinged with swing arm (33) on capsul (32) by articulated shaft (321), swing arm (33) and flexible
The piston rod of cylinder (31) connects；Swing arm (33) top is connected with V-type element (34), and the lower end of V-type element (34) is provided with
Connecting plate (341), the lower end of connecting plate (341) are fixedly connected with the first upper jaw (342) and the second upper jaw (343)；It is flexible
The side of cylinder (31) is provided with lifting sliding rail, slides and is provided with Z-type part (35) on lifting sliding rail, and the outside of Z-type part (35) is solid
Surely it is connected with the first L-type plate (352) and the second L-type plate (351), is fixed with the first lower jaw (362) on the first L-type plate (352)
With the second lower jaw (361)；Support component (5) include the first slide plate (511) and the second slide plate (521), the first slide plate (511) and
Second slide plate (521) can be slided up and down along supporting beam (10), and the first slide plate (511) lower part is connected with the first transverse slat (51),
Second slide plate (521) lower part is connected with the second transverse slat (52), and the first transverse slat (51) top is fixed with the first inductor (53), and second
Transverse slat (52) top is fixed with the second inductor；First inductor and the second inductor are electrically connected with the control mechanism of robot
It connects；End positioning component (6) includes guide plate (60), guide plate (60) top be respectively fixed with the first L-type support plate (61) and
Second L-type support plate (62), the first L-type support plate (61) and second L-type support plate (62) upper end are respectively fixed with the first positioning
Plate (611) and the second positioning plate (621)；
It is to be detachably connected between Z-type part (35) and the first L-type plate (352), the second L-type plate (351)；Connecting plate (11) passes through
Connector (111) is fixedly connected with supporting beam (10).
2. a kind of robot localization clamping jaw according to claim 1, it is characterised in that: the company of being provided in the middle part of supporting beam (10)
Fishplate bar (11), connecting plate top are fixed with rotary flange (12), and rotary flange (12) and the actuating station of robot are detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591680.1A CN110216707A (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591680.1A CN110216707A (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
| CN201710106593.3A CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106593.3A Division CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110216707A true CN110216707A (en) | 2019-09-10 |
Family
ID=59467591
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106593.3A Active CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
| CN201910591680.1A Pending CN110216707A (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
| CN201910591681.6A Active CN110217583B (en) | 2017-02-27 | 2017-02-27 | Robot positioning clamping jaw |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106593.3A Active CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910591681.6A Active CN110217583B (en) | 2017-02-27 | 2017-02-27 | Robot positioning clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106945033B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945033B (en) * | 2017-02-27 | 2019-06-25 | 南通慧宁机电科技有限公司 | A kind of robot localization clamping jaw |
| CN113952035B (en) * | 2020-11-19 | 2024-02-09 | 成都博恩思医学机器人有限公司 | Multi-degree-of-freedom mirror holding device |
| CN113858230A (en) * | 2021-10-23 | 2021-12-31 | 东莞市朗明精密机械科技有限公司 | Clamping manipulator |
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| FR2213212A1 (en) * | 1972-10-18 | 1974-08-02 | Electrolux Ab | |
| SU1384521A1 (en) * | 1986-07-01 | 1988-03-30 | Пермское Проектно-Конструкторское Технологический Бюро Всесоюзного Лесопромышленного Объединения "Пермлеспром" | Gripping device for cargoes |
| US20020024225A1 (en) * | 2000-08-31 | 2002-02-28 | Rudiger Ostholt | Gripper with four gripper jaws which can be moved in radially outward direction |
| EP1207023A1 (en) * | 2000-11-16 | 2002-05-22 | PHD, Inc. | Gripper provided with workpiece holding tips which can be mounted on the gripper jaws in two orientations |
| CN102608201A (en) * | 2012-04-04 | 2012-07-25 | 射阳县华通探伤设备有限公司 | Automatic positioning clamping mechanism for feeding and discharging materials in bell-shaped shell defect-detection/cleaning integrated machine |
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| US20150308466A1 (en) * | 2014-04-28 | 2015-10-29 | Intelligrated Headquarters, Llc | Double acting fluidic cylinder for material handling |
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| CN105905576A (en) * | 2016-05-09 | 2016-08-31 | 烟台西蒙西塑料包装品有限公司 | Head rotating type full automatic pipe sorting machine |
| CN106002970A (en) * | 2016-06-16 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent transfer fixture |
| CN205660718U (en) * | 2016-06-02 | 2016-10-26 | 华中科技大学 | Automatic change outer quick -witted left support fixture of air conditioner |
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| SU885001A1 (en) * | 1980-03-21 | 1981-11-30 | Предприятие П/Я А-7555 | Gripper |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| CN205310256U (en) * | 2016-01-19 | 2016-06-15 | 瑞智(青岛)精密机电有限公司 | A material loading manipulator for compressor circumference welds |
| CN106737779B (en) * | 2016-12-21 | 2019-10-08 | 浙江沈力防爆机电有限公司 | A kind of multijaw grasping mechanism |
| CN106945033B (en) * | 2017-02-27 | 2019-06-25 | 南通慧宁机电科技有限公司 | A kind of robot localization clamping jaw |
-
2017
- 2017-02-27 CN CN201710106593.3A patent/CN106945033B/en active Active
- 2017-02-27 CN CN201910591680.1A patent/CN110216707A/en active Pending
- 2017-02-27 CN CN201910591681.6A patent/CN110217583B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2213212A1 (en) * | 1972-10-18 | 1974-08-02 | Electrolux Ab | |
| SU1384521A1 (en) * | 1986-07-01 | 1988-03-30 | Пермское Проектно-Конструкторское Технологический Бюро Всесоюзного Лесопромышленного Объединения "Пермлеспром" | Gripping device for cargoes |
| US20020024225A1 (en) * | 2000-08-31 | 2002-02-28 | Rudiger Ostholt | Gripper with four gripper jaws which can be moved in radially outward direction |
| EP1207023A1 (en) * | 2000-11-16 | 2002-05-22 | PHD, Inc. | Gripper provided with workpiece holding tips which can be mounted on the gripper jaws in two orientations |
| CN103029127A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot paw |
| CN102608201A (en) * | 2012-04-04 | 2012-07-25 | 射阳县华通探伤设备有限公司 | Automatic positioning clamping mechanism for feeding and discharging materials in bell-shaped shell defect-detection/cleaning integrated machine |
| US20150308466A1 (en) * | 2014-04-28 | 2015-10-29 | Intelligrated Headquarters, Llc | Double acting fluidic cylinder for material handling |
| CN205442023U (en) * | 2015-12-28 | 2016-08-10 | 杭州信多达电器有限公司 | Move manipulator that carries case pile up neatly and snatch anchor clamps |
| CN105563474A (en) * | 2016-03-15 | 2016-05-11 | 合兴集团汽车电子有限公司 | Clamping jaw mechanism |
| CN105905576A (en) * | 2016-05-09 | 2016-08-31 | 烟台西蒙西塑料包装品有限公司 | Head rotating type full automatic pipe sorting machine |
| CN205660718U (en) * | 2016-06-02 | 2016-10-26 | 华中科技大学 | Automatic change outer quick -witted left support fixture of air conditioner |
| CN106002970A (en) * | 2016-06-16 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent transfer fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945033A (en) | 2017-07-14 |
| CN106945033B (en) | 2019-06-25 |
| CN110217583B (en) | 2021-11-02 |
| CN110217583A (en) | 2019-09-10 |
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