CN110216707B - Robot positioning clamping jaw - Google Patents
Robot positioning clamping jaw Download PDFInfo
- Publication number
- CN110216707B CN110216707B CN201910591680.1A CN201910591680A CN110216707B CN 110216707 B CN110216707 B CN 110216707B CN 201910591680 A CN201910591680 A CN 201910591680A CN 110216707 B CN110216707 B CN 110216707B
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- China
- Prior art keywords
- plate
- positioning
- clamping jaws
- shaped
- group
- 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.)
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Links
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims description 16
- 230000006698 induction Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
- B25J15/0052—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot positioning clamping jaw which is fixed at an execution end of a robot, and comprises a supporting beam, wherein a first group of positioning clamping jaws and a second group of positioning clamping jaws are respectively arranged on two sides of the supporting beam, the first group of positioning clamping jaws comprise two first clamping jaws positioned on the same side face in the length direction of the supporting beam, and the second group of positioning clamping jaws comprise two second clamping jaws positioned on the other side face in the length direction of the supporting beam; the first group of positioning clamping jaws and the second group of positioning clamping jaws are respectively provided with an induction component and an end positioning component which are positioned at two ends of the supporting beam; the first clamping jaw and the second clamping jaw are identical in structure and comprise cylinder seats fixed on the supporting beams, telescopic cylinders are fixedly connected to the upper parts of the cylinder seats, and sealing shells are connected to the upper parts of the telescopic cylinders. According to the invention, two workpieces can be simultaneously grasped and positioned, the positioning precision is further improved through the induction assembly and the end positioning assembly, the clamping jaw driven by the telescopic cylinder is more flexible and easy to operate, and the positioning efficiency and precision are effectively improved.
Description
Technical Field
The invention relates to the technical field of positioning jigs, in particular to a robot positioning clamping jaw.
Background
Along with development of science and technology, more and more robots are applied to the fields of carrying, positioning, processing and the like of workpieces, clamping and carrying of the workpieces can be achieved by installing positioning clamping jaws on the robots, positioning of the workpieces can be achieved in the processing process, and processing efficiency is greatly improved. The existing robot positioning clamping jaw is complex in structure and high in energy consumption, the execution end of one robot can only be provided with one positioning clamping jaw, and the positioning clamping jaw is used for grabbing and positioning a workpiece, so that the positioning efficiency is reduced, and the high-efficiency requirement of industrial production is difficult to meet.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a robot positioning clamping jaw.
In order to achieve the above object, the technical solution of the present invention is as follows:
The robot positioning clamping jaw is fixed at the execution end of the robot and comprises a supporting beam, wherein a first group of positioning clamping jaws and a second group of positioning clamping jaws are respectively arranged on two sides of the supporting beam, the first group of positioning clamping jaws comprise two first clamping jaws positioned on the same side face in the length direction of the supporting beam, and the second group of positioning clamping jaws comprise two second clamping jaws positioned on the other side face in the length direction of the supporting beam; the first group of positioning clamping jaws and the second group of positioning clamping jaws are respectively provided with a supporting component and an end positioning component which are positioned at two ends of the supporting beam; the first clamping jaw and the second clamping jaw have the same structure and comprise cylinder seats fixed on the supporting beam, the upper parts of the cylinder seats are fixedly connected with telescopic cylinders, the upper parts of the telescopic cylinders are connected with sealing shells, the sealing shells are hinged with swing arms through hinge shafts, and the swing arms are connected with piston rods of the telescopic cylinders; the upper part of the swing arm is connected with a V-shaped element, the lower end of the V-shaped element is provided with a connecting plate, and the lower end of the connecting plate is fixedly connected with a first upper claw and a second upper claw; the side face of the telescopic cylinder is provided with a lifting sliding rail, a Z-shaped piece is arranged on the lifting sliding rail in a sliding manner, a first L-shaped plate and a second L-shaped plate are fixedly connected to the outer side of the Z-shaped piece, and a first lower claw and a second lower claw are fixed on the first L-shaped plate; the support assembly comprises a first sliding plate and a second sliding plate, the first sliding plate and the second sliding plate can slide up and down along the support beam, the lower part of the first sliding plate is connected with a first transverse plate, the lower part of the second sliding plate is connected with a second transverse plate, the upper part of the first transverse plate is fixedly provided with a first sensor, and the upper part of the second transverse plate is fixedly provided with a second sensor; the first sensor and the second sensor are electrically connected with a control mechanism of the robot; the end positioning assembly comprises a sliding plate, a first L-shaped supporting plate and a second L-shaped supporting plate are respectively fixed on the upper portion of the sliding plate, and a first positioning plate and a second positioning plate are respectively fixed on the upper ends of the first L-shaped supporting plate and the second L-shaped supporting plate.
The connecting plate is detachably connected with the first upper claw and the second upper claw.
The Z-shaped piece is detachably connected with the first L-shaped plate and the second L-shaped plate.
The piston rod of the telescopic cylinder is positioned in the sealing shell.
The side of the telescopic cylinder is provided with a circuit connected with the air source station, and the upper part of the circuit is provided with an electromagnetic valve.
The middle part of the supporting beam is provided with a connecting plate, the upper part of the connecting plate is fixedly provided with a rotary flange, and the rotary flange is detachably connected with the execution end of the robot;
the connecting plate is fixedly connected with the supporting beam through a connecting piece.
The invention has the beneficial effects that: according to the invention, two workpieces can be simultaneously grasped and positioned, the positioning precision is further improved through the supporting component and the end positioning component, the clamping jaw driven by the telescopic cylinder is more flexible and easy to operate, and the positioning efficiency and precision are effectively improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the first clamping jaw;
FIG. 3 is a schematic structural view of the support assembly and the end positioning assembly.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1 to 3, a robot positioning clamping jaw is fixed at an execution end of a robot and comprises a supporting beam 10, wherein a first group of positioning clamping jaws and a second group of positioning clamping jaws are respectively arranged at two sides of the supporting beam 10, the first group of positioning clamping jaws comprise two first clamping jaws 3 positioned on the same side surface in the length direction of the supporting beam, and the second group of positioning clamping jaws comprise two second clamping jaws 4 positioned on the other side surface in the length direction of the supporting beam; the first and second sets of positioning jaws each have a support assembly 5 and an end positioning assembly 6 at either end of a support beam 10; the first clamping jaw 3 and the second clamping jaw 4 have the same structure and comprise an air cylinder seat 30 fixed on the supporting beam 10, a telescopic air cylinder 31 is fixedly connected to the upper part of the air cylinder seat 30, a sealing shell 32 is connected to the upper part of the telescopic air cylinder 31, a swing arm 33 is hinged to the sealing shell 32 through a hinge shaft 321, and the swing arm 33 is connected with a piston rod of the telescopic air cylinder 31; the upper part of the swing arm 33 is connected with a V-shaped element 34, the lower end of the V-shaped element 34 is provided with a connecting plate 341, and the lower end of the connecting plate 341 is fixedly connected with a first upper claw 342 and a second upper claw 343; the side of the telescopic cylinder 31 is provided with a lifting slide rail, a Z-shaped piece 35 is arranged on the lifting slide rail in a sliding manner, a first L-shaped plate 352 and a second L-shaped plate 351 are fixedly connected to the outer side of the Z-shaped piece 35, and a first lower claw 362 and a second lower claw 361 are fixedly arranged on the first L-shaped plate 352; the support assembly 5 comprises a first slide plate 511 and a second slide plate 521, the first slide plate 511 and the second slide plate 521 can slide up and down along the support beam 10, the lower part of the first slide plate 511 is connected with a first transverse plate 51, the lower part of the second slide plate 521 is connected with a second transverse plate 52, a first sensor 53 is fixed on the upper part of the first transverse plate 51, and a second sensor is fixed on the upper part of the second transverse plate 52; the first sensor and the second sensor are electrically connected with a control mechanism of the robot; the end positioning assembly 6 includes a sliding plate 60, and a first L-shaped support plate 61 and a second L-shaped support plate 62 are respectively fixed to the sliding plate 60, and a first positioning plate 611 and a second positioning plate 621 are respectively fixed to the upper ends of the first L-shaped support plate 61 and the second L-shaped support plate 62.
The connection plate 341 is detachably connected with the first upper claw 342 and the second upper claw 343.
The Z-shaped piece 35 is detachably connected with the first L-shaped plate 352 and the second L-shaped plate 351.
The piston rod of the telescopic cylinder 31 is located in the sealing housing 32.
The telescopic cylinder 31 is provided with a line 311 connected with an air source station on the side surface, and an electromagnetic valve is arranged on the upper part of the line 311.
The middle part of the supporting beam 10 is provided with a connecting plate 11, the upper part of the connecting plate is fixedly provided with a rotary flange 12, and the rotary flange 12 is detachably connected with the executing end of the robot;
the connection plate 11 is fixedly connected with the support beam 10 through a connection member 111.
The working process comprises the following steps: the positioning clamping jaws are fixed at the execution end of the robot, the workpiece is grabbed and positioned by the driving of the robot, two groups of positioning clamping jaws can respectively grab one workpiece, and the telescopic cylinder drives the swinging arm to drive the clamping jaws to open and close, so that the working room is positioned; the supporting component and the end positioning component further correct and check the positioning of the workpiece, so that the positioning precision is enhanced.
The examples are presented to illustrate the invention and are not intended to limit the invention. Modifications to the described embodiment may occur to those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is therefore set forth in the appended claims.
Claims (2)
1. A robot positioning clamping jaw which characterized in that: the robot is fixed at an execution end of a robot and comprises a support beam (10), wherein a first group of positioning clamping jaws and a second group of positioning clamping jaws are respectively arranged on two sides of the support beam (10), the first group of positioning clamping jaws comprise two first clamping jaws (3) positioned on the same side face in the length direction of the support beam, and the second group of positioning clamping jaws comprise two second clamping jaws (4) positioned on the other side face in the length direction of the support beam; the first group of positioning clamping jaws and the second group of positioning clamping jaws are respectively provided with supporting components (5) positioned at two ends of the supporting beam (10); the first clamping jaw (3) and the second clamping jaw (4) have the same structure and comprise an air cylinder seat (30) fixed on the supporting beam (10), a telescopic air cylinder (31) is fixedly connected to the upper part of the air cylinder seat (30), a sealing shell (32) is connected to the upper part of the telescopic air cylinder (31), a swinging arm (33) is hinged to the sealing shell (32) through a hinge shaft (321), and the swinging arm (33) is connected with a piston rod of the telescopic air cylinder (31); the upper part of the swing arm (33) is connected with a V-shaped element (34), the lower end of the V-shaped element (34) is provided with a connecting plate (341), and the lower end of the connecting plate (341) is fixedly connected with a first upper claw (342) and a second upper claw (343); the side of the telescopic cylinder (31) is provided with a lifting slide rail, a Z-shaped piece (35) is arranged on the lifting slide rail in a sliding manner, a first L-shaped plate (352) and a second L-shaped plate (351) are fixedly connected to the outer side of the Z-shaped piece (35), and a first lower claw (362) and a second lower claw (361) are fixedly arranged on the first L-shaped plate (352); the support assembly (5) comprises a first sliding plate (511) and a second sliding plate (521), the first sliding plate (511) and the second sliding plate (521) can slide up and down along the support beam (10), the lower part of the first sliding plate (511) is connected with a first transverse plate (51), the lower part of the second sliding plate (521) is connected with a second transverse plate (52), a first inductor (53) is fixed on the upper part of the first transverse plate (51), and a second inductor is fixed on the upper part of the second transverse plate (52); the first sensor and the second sensor are electrically connected with a control mechanism of the robot; the end positioning assembly (6) comprises a sliding plate (60), a first L-shaped supporting plate (61) and a second L-shaped supporting plate (62) are respectively fixed on the upper part of the sliding plate (60), and a first positioning plate (611) and a second positioning plate (621) are respectively fixed on the upper ends of the first L-shaped supporting plate (61) and the second L-shaped supporting plate (62);
The Z-shaped piece (35) is detachably connected with the first L-shaped plate (352) and the second L-shaped plate (351); the connecting plate (11) is fixedly connected with the supporting beam (10) through a connecting piece (111);
The side of the telescopic cylinder is provided with a circuit connected with the air source station, and the upper part of the circuit is provided with an electromagnetic valve.
2. A robotic positioning jaw as claimed in claim 1, wherein: the middle part of the supporting beam (10) is provided with a connecting plate (11), the upper part of the connecting plate is fixedly provided with a rotary flange (12), and the rotary flange (12) is detachably connected with the executing end of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591680.1A CN110216707B (en) | 2017-02-27 | 2017-02-27 | Robot positioning clamping jaw |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591680.1A CN110216707B (en) | 2017-02-27 | 2017-02-27 | Robot positioning 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 (2)
| Publication Number | Publication Date |
|---|---|
| CN110216707A CN110216707A (en) | 2019-09-10 |
| CN110216707B true CN110216707B (en) | 2024-05-31 |
Family
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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 Active CN110216707B (en) | 2017-02-27 | 2017-02-27 | Robot positioning 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 |
| CN113858230B (en) * | 2021-10-23 | 2024-06-25 | 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 |
| 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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| CN105563474A (en) * | 2016-03-15 | 2016-05-11 | 合兴集团汽车电子有限公司 | Clamping jaw mechanism |
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| 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 |
| US6412846B1 (en) * | 2000-08-31 | 2002-07-02 | Demag Cranes & Components Gmbh | Gripper with four gripper jaws which can be moved in radially outward direction |
| 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 |
| WO2015168173A1 (en) * | 2014-04-28 | 2015-11-05 | Intelligrated Headquarters, Llc | Double acting fluidic cylinder for material handling |
| 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/CN110216707B/en active Active
- 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 |
| 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 |
| 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 |
|---|---|
| CN110217583B (en) | 2021-11-02 |
| CN110216707A (en) | 2019-09-10 |
| CN106945033B (en) | 2019-06-25 |
| CN110217583A (en) | 2019-09-10 |
| CN106945033A (en) | 2017-07-14 |
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Effective date of registration: 20240428 Address after: 405200, Building 5, Area A, D20, Liangping Industrial Park Science and Technology Enterprise Incubation Park, Shuanggui Street, Liangping District, Chongqing Applicant after: Chongqing Taihongjia Technology Co.,Ltd. Country or region after: China Address before: 325600 he'ao village, Yueqing City, Wenzhou City, Zhejiang Province Applicant before: Lu Dinghua Country or region before: China |
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