CN110217583B - Robot positioning clamping jaw - Google Patents
Robot positioning clamping jaw Download PDFInfo
- Publication number
- CN110217583B CN110217583B CN201910591681.6A CN201910591681A CN110217583B CN 110217583 B CN110217583 B CN 110217583B CN 201910591681 A CN201910591681 A CN 201910591681A CN 110217583 B CN110217583 B CN 110217583B
- Authority
- CN
- China
- Prior art keywords
- plate
- shaped
- positioning
- supporting beam
- clamping jaws
- 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
- 210000001847 Jaw Anatomy 0.000 title claims abstract description 55
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 210000000078 Claw Anatomy 0.000 claims description 14
- 230000001939 inductive effect Effects 0.000 abstract 1
- 210000004873 upper jaw Anatomy 0.000 description 2
- 230000000694 effects Effects 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
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
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 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 and the second group of positioning clamping jaws are respectively provided with a sensing assembly and an end positioning assembly 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 beam, telescopic cylinders are fixedly connected to the upper portions of the cylinder seats, and sealing shells are connected to the upper portions of the telescopic cylinders. The invention can grab and position two workpieces at the same time, further improves the positioning precision through the induction component and the end positioning component, and effectively improves the positioning efficiency and precision because the clamping jaw driven by the telescopic cylinder is more flexible and easy to operate.
Description
Technical Field
The invention relates to the technical field of positioning jigs, in particular to a robot positioning clamping jaw.
Background
Along with the development of science and technology, more and more robots are applied to fields such as transport, location, the processing of work piece, and installation location clamping jaw both can realize pressing from both sides the clamp of work piece and carry on the robot, can realize the location to the work piece again in the course of working, improves machining efficiency greatly. The existing robot positioning clamping jaw is complex in structure and high in energy consumption, the execution end of a robot can only be provided with one positioning clamping jaw, and the positioning clamping jaw is used for grabbing a workpiece for positioning, 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 provide a robot positioning clamping jaw aiming at the defects of the prior art.
In order to achieve the above object, the technical solution of the present invention is as follows:
a robot positioning clamping jaw 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 arranged on two sides of the supporting beam respectively, the first group of positioning clamping jaws comprises two first clamping jaws positioned on the same side surface of the supporting beam in the length direction, and the second group of positioning clamping jaws comprises two second clamping jaws positioned on the other side surface of the supporting beam in the length direction; 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 respectively comprise a cylinder seat fixed on the supporting beam, the upper part of the cylinder seat is fixedly connected with a telescopic cylinder, the upper part of the telescopic cylinder is connected with a sealing shell, a swinging arm is hinged on the sealing shell through a hinged shaft, and the swinging arm is connected with a piston rod of the telescopic cylinder; 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; a lifting slide rail is arranged on the side surface of the telescopic cylinder, a Z-shaped piece is arranged on the lifting slide 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 supporting 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 supporting 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, a first inductor is fixed on the upper part of the first transverse plate, and a second inductor is fixed on the upper part of the second transverse plate; 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 to the upper portion of the sliding plate, and a first positioning plate and a second positioning plate are respectively fixed to 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 surface 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 rotating flange, and the rotating flange is detachably connected with an 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: the clamping jaw provided by the invention can grab and position two workpieces at the same time, the positioning precision is further improved through the supporting 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.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first jaw;
FIG. 3 is a schematic view of the support assembly and end positioning assembly.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1-3, 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 comprises two first clamping jaws 3 positioned on the same side surface of the supporting beam in the length direction, and the second group of positioning clamping jaws comprises two second clamping jaws 4 positioned on the other side surface of the supporting beam in the length direction; the first and second sets of positioning jaws each have a support assembly 5 and an end positioning assembly 6 at either end of the support beam 10; the first clamping jaw 3 and the second clamping jaw 4 have the same structure and respectively comprise a cylinder seat 30 fixed on the support beam 10, a telescopic cylinder 31 is fixedly connected to the upper part of the cylinder seat 30, a sealing shell 32 is connected to the upper part of the telescopic 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 cylinder 31; a V-shaped element 34 is connected to the upper part of the swing arm 33, a connecting plate 341 is arranged at the lower end of the V-shaped element 34, and a first upper claw 342 and a second upper claw 343 are fixedly connected to the lower end of the connecting plate 341; a lifting slide rail is arranged on the side surface of the telescopic cylinder 31, a Z-shaped part 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 part 35, and a first lower claw 362 and a second lower claw 361 are fixed on the first L-shaped plate 352; the supporting 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 supporting beam 10, a first transverse plate 51 is connected to the lower part of the first sliding plate 511, a second transverse plate 52 is connected to the lower part of the second sliding plate 521, a first inductor 53 is fixed to the upper part of the first transverse plate 51, and a second inductor is fixed to 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 support plate 61 and a second L-shaped support 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 support plate 61 and the second L-shaped support plate 62.
The connecting plate 341 is detachably connected to the first upper jaw 342 and the second upper jaw 343.
The Z-shaped part 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 a sealed housing 32.
The side of the telescopic cylinder 31 is provided with a line 311 connected with a gas source station, and the upper part of the line 311 is provided with an electromagnetic valve.
A connecting plate 11 is arranged in the middle of the supporting beam 10, a rotating flange 12 is fixed on the upper part of the connecting plate, and the rotating flange 12 is detachably connected with an execution end of the robot;
the connecting plate 11 is fixedly connected to the support beam 10 by a connecting member 111.
The working process is as follows: the positioning clamping jaws are fixed at an execution end of the robot, workpieces are grabbed and positioned by the driving of the robot, two groups of positioning clamping jaws can grab one workpiece respectively, and the telescopic cylinder drives the swing arm to drive the clamping jaws to open and close, so that a workshop is positioned; and 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 intended to illustrate the invention, but not to limit it. The described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the present invention, and therefore, the scope of the appended claims should be accorded the full scope of the invention as set forth in the appended claims.
Claims (1)
1. A robot location clamping jaw which characterized in that: the 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 on two sides of the supporting beam (10), the first group of positioning clamping jaws comprises two first clamping jaws (3) positioned on the same side surface of the supporting beam in the length direction, and the second group of positioning clamping jaws comprises two second clamping jaws (4) positioned on the other side surface of the supporting beam in the length direction; the first set of positioning clamping jaws and the second set of positioning clamping jaws are respectively provided with a supporting component (5) positioned at two ends of the supporting beam (10); the first clamping jaw (3) and the second clamping jaw (4) are identical in structure and respectively comprise a cylinder seat (30) fixed on the supporting beam (10), a telescopic cylinder (31) is fixedly connected to the upper portion of the cylinder seat (30), a sealing shell (32) is connected to the upper portion of the telescopic 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 cylinder (31); a V-shaped element (34) is connected to the upper part of the swing arm (33), a connecting plate (341) is arranged at the lower end of the V-shaped element (34), and a first upper claw (342) and a second upper claw (343) are fixedly connected to the lower end of the connecting plate (341); a lifting slide rail is arranged on the side surface of the telescopic cylinder (31), a Z-shaped part (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 part (35), and a first lower claw (362) and a second lower claw (361) are fixed on the first L-shaped plate (352); the supporting 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 supporting beam (10), a first transverse plate (51) is connected to the lower portion of the first sliding plate (511), a second transverse plate (52) is connected to the lower portion of the second sliding plate (521), a first inductor (53) is fixed to the upper portion of the first transverse plate (51), and a second inductor is fixed to the upper portion 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 part (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); a connecting plate (11) is arranged in the middle of the supporting beam (10), a rotating flange (12) is fixed on the upper part of the connecting plate, and the rotating flange (12) is detachably connected with an execution end of the robot;
a piston rod of the telescopic cylinder (31) is positioned in the sealing shell (32); the side surface of the telescopic cylinder (31) is provided with a line (311) connected with the air source station, and the upper part of the line (311) is provided with an electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591681.6A CN110217583B (en) | 2017-02-27 | 2017-02-27 | Robot positioning clamping jaw |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591681.6A CN110217583B (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 |
|---|---|
| CN110217583A CN110217583A (en) | 2019-09-10 |
| CN110217583B true CN110217583B (en) | 2021-11-02 |
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| CN201710106593.3A Active CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910591680.1A Pending CN110216707A (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 |
|---|---|---|---|
| CN201710106593.3A Active CN106945033B (en) | 2017-02-27 | 2017-02-27 | A kind of robot localization clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN110216707A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216707A (en) * | 2017-02-27 | 2019-09-10 | 卢定华 | A kind of robot localization clamping jaw |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU885001A1 (en) * | 1980-03-21 | 1981-11-30 | Предприятие П/Я А-7555 | Gripper |
| SU1384521A1 (en) * | 1986-07-01 | 1988-03-30 | Пермское Проектно-Конструкторское Технологический Бюро Всесоюзного Лесопромышленного Объединения "Пермлеспром" | Gripping device for cargoes |
| 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 |
| 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 |
| CN106737779A (en) * | 2016-12-21 | 2017-05-31 | 东莞市秦智工业设计有限公司 | A kind of multijaw grasping mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2350296A1 (en) * | 1972-10-18 | 1974-05-02 | Electrolux Ab | FASTENER ON A ROBOT |
| 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 |
| CN103029127B (en) * | 2011-09-30 | 2015-04-15 | 鸿富锦精密工业（深圳）有限公司 | Robot paw |
| CN102608201B (en) * | 2012-04-04 | 2017-06-16 | 射阳县华通探伤设备有限公司 | Clamp system is automatically positioned in the flaw detection of bell housing, cleaning all-in-one loading and unloading |
| CN105563474B (en) * | 2016-03-15 | 2017-12-15 | 合兴集团汽车电子有限公司 | Clip claw mechanism |
| CN105905576B (en) * | 2016-05-09 | 2018-12-21 | 烟台西蒙西塑料包装品有限公司 | The full-automatic tube drawbench of rotary head type |
| 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 |
| CN106002970B (en) * | 2016-06-16 | 2019-01-04 | 美的集团武汉制冷设备有限公司 | Intelligence transhipment fixture |
| CN110216707A (en) * | 2017-02-27 | 2019-09-10 | 卢定华 | A kind of robot localization clamping jaw |
-
2017
- 2017-02-27 CN CN201910591680.1A patent/CN110216707A/en active Pending
- 2017-02-27 CN CN201910591681.6A patent/CN110217583B/en active Active
- 2017-02-27 CN CN201710106593.3A patent/CN106945033B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU885001A1 (en) * | 1980-03-21 | 1981-11-30 | Предприятие П/Я А-7555 | Gripper |
| SU1384521A1 (en) * | 1986-07-01 | 1988-03-30 | Пермское Проектно-Конструкторское Технологический Бюро Всесоюзного Лесопромышленного Объединения "Пермлеспром" | Gripping device for cargoes |
| 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 |
| 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 |
| 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 |
| CN106737779A (en) * | 2016-12-21 | 2017-05-31 | 东莞市秦智工业设计有限公司 | A kind of multijaw grasping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110216707A (en) | 2019-09-10 |
| CN106945033A (en) | 2017-07-14 |
| CN106945033B (en) | 2019-06-25 |
| CN110217583A (en) | 2019-09-10 |
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Effective date of registration: 20211018 Address after: 215000 1802-75, 18th floor, jiazhaoyuefeng building, high tech Zone, Suzhou, Jiangsu Applicant after: Suzhou XuBen Technology Co.,Ltd. Address before: 325600 he'ao village, Yueqing City, Wenzhou City, Zhejiang Province Applicant before: Lu Dinghua |
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