CN110465963A - A kind of multi-function robot clamp hand - Google Patents
A kind of multi-function robot clamp hand Download PDFInfo
- Publication number
- CN110465963A CN110465963A CN201910815680.5A CN201910815680A CN110465963A CN 110465963 A CN110465963 A CN 110465963A CN 201910815680 A CN201910815680 A CN 201910815680A CN 110465963 A CN110465963 A CN 110465963A
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- China
- Prior art keywords
- type
- bottom plate
- cylinder
- gripping finger
- clamp hand
- 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
- 238000001179 sorption measurement Methods 0.000 claims abstract description 15
- 241000252254 Catostomidae Species 0.000 claims description 5
- 230000003447 ipsilateral effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robots to carry technology, is a kind of multi-functional clamp hand for integrating vacuum suction clamping and mechanical grip.Free switching can be realized by providing two ways, and switch speed is fast, saves the time, in turn avoided newly-increased extras, saved fund, save space occupied.Including vacuum adsorption type clamping parts；It is characterized in that, the vacuum adsorption type clamping parts drive vacuum chuck to move up and down along guide frame by driving device by connecting rod.
Description
Technical field
The present invention relates to robot carry technology, be it is a kind of integrate vacuum suction clamping and mechanical grip it is multi-functional
Clamp hand.
Background technique
Currently, robot automation field, using very extensive, it is an important branch, robot folder that technology is carried by robot
Hand is the component for clamping workpiece or tool, is important one of executing agency, the workpiece shapes held according to robot
Difference, clamp hand can be there are many types.And existing clamp hand often has a single function, and is only applicable to the crawl of single kind workpiece, such as
It needs to clamp two kinds of different type workpiece in the same process, then need to switch clamp hand or additionally increases a robot, therefore
It will lead to that production efficiency is low or demand substantial contribution.Under such conditions, need a kind of clamp hand that can take into account various workpieces class
Type.
Summary of the invention
The present invention provides a kind of multi-function robot clamp hand aiming at defect of the existing technology, above-mentioned to realize
Purpose, the present invention adopt the following technical scheme that, including vacuum adsorption type clamping parts；It is characterized in that, the vacuum adsorption type
Clamping parts drive vacuum chuck to move up and down along guide frame by driving device by connecting rod.
It as a preferred solution of the present invention, further include mechanical clamping parts, the vacuum adsorption type clamping parts
It is arranged on bottom plate with mechanical clamping parts.
As another preferred embodiment of the invention, the vacuum adsorption type clamping parts include sucker；The sucker peace
Loaded on sucker stand, which is installed below bottom plate by guide frame；It is arranged between the sucker stand and bottom plate
There is driving device, under the action of driving device, sucker is generated along guide frame relative to bottom plate under the drive of sucker stand
Lifting.
As another preferred embodiment of the invention, the guide frame includes guide post, which is installed on bottom plate
Lower section, and sucker stand is connected by linear bearing with guide post；Guiding column end is provided with the gear for position limit linear bearing
Block.
As another preferred embodiment of the invention, there are four the suckers, and the sucker stand totally two: bottom plate two sides
Respectively set one；Each sucker stand is equipped with two suckers；There are four guide posts, is distributed in bottom plate quadrangle, and guide post is by leading
It is fixed on bottom plate to column fixing seat；Each sucker stand with oneself ipsilateral two be connected by linear bearing guide post.
As another preferred embodiment of the invention, the driving device includes lifting cylinder, two connecting rods；Wherein, one connects
Bar is connected by connecting rod support with sucker stand, and another connecting rod is connected by another connecting rod support with bottom plate；The lifting cylinder
It is fixed on bottom plate in a manner of hinge the trunnion being installed on trunnion base, the cylinder rod of cylinder and a spherical plain bearing rod end
Rod end is connected, and two connecting rods and spherical plain bearing rod end three are hinged by pin shaft.
As another preferred embodiment of the invention, the mechanical clamping parts include two mechanical grips；The bottom
The two sides of plate are also set up there are two mechanical grip, and each mechanical grip includes the clamping jaw gripping finger of two mirror settings: a L-type fixing clamp
Refer to, the mobile gripping finger of a L-type；Top tight structure is provided between two gripping fingers；
The fixed gripping finger of L-type and the mobile gripping finger of L-type are L-type structure, the fixed gripping finger of the L-type and bottom plate detachable connection, institute
It states the mobile gripping finger of L-type to be installed on carriage, by carriage, the mobile gripping finger of L-type can be moved relative to the fixed gripping finger of L-type
It is dynamic, realize the folding of clamping jaw；
The top tight structure includes holding out against cylinder, holding out against disk；The cylinder that holds out against is installed on bottom plate, this holds out against the cylinder rod of cylinder
It is connected by bulb joint bearing with disk is held out against；Gripping finger is fixed when L-type to extend into workpiece with the mobile gripping finger of L-type, holds out against cylinder
Movement, is fixed workpiece pre-tightening by holding out against disk, and bulb joint bearing is responsible for adjustment and holds out against disk and workpiece angle, it is ensured that with workpiece
It is in close contact, prevents workpiece from falling off.
As another preferred embodiment of the invention, the carriage includes linear guide, is connected with linear guide
Sliding block, the slider connecting plate being set on sliding block, the mobile clamping jaw cylinder being connect with sliding block；The linear guide is installed on described
On bottom plate, the mobile gripping finger of the L-type is installed on slider connecting plate；And the slider connecting plate of two mechanical grips is connected as one
Formula structure；The slider connecting plate is connected with the cylinder rod of mobile clamping jaw cylinder, (hinged), and mobile the flexible of clamping jaw cylinder will drive
Slider connecting plate is slided along linear guide, realizes the folding of clamping jaw.
Beneficial effect of the present invention compared with prior art.
There are two types of the mode of clamping, vacuum adsorption type clamping and mechanical clampings by the present invention.
Wherein: vacuum adsorption type gripping body drives vacuum chuck to move up and down along guide post by cylinder by connecting rod, when
When clamping mode using this kind, cylinder releases downwards vacuum chuck, and vacuum chuck is in integrally-built outermost at this time, can be with
It is directly contacted with workpiece, completes clamping movement.
Mechanical clamping has the fixed gripping finger of L-type and the mobile gripping finger of L-type, and mobile gripping finger pushes via cylinder, realizes and clamp work
Part can position the front-rear direction of workpiece and hold out against cylinder after workpiece positioning and be pushed outwardly, by Workpiece clamping, to realize that clamping is fixed
Position, when using this kind clamping mode, vacuum chuck will be driven by cylinder and be retracted to inside, and clamping jaw is exposed at outside.
Two ways can realize free switching, and switch speed is fast, save the time, in turn avoid newly-increased extras, section
Province's fund saves space occupied.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and detailed description.The scope of the present invention not only limits to
In the statement of the following contents.
Fig. 1 is robot clamp structure diagram of the present invention.
Fig. 2 is robot clamp hand top view of the present invention.
Fig. 3 is robot clamp hand side view of the present invention.
Fig. 4 is that robot clamp hand of the present invention looks up angle schematic diagram.
In figure, 1 is bottom plate, and 2 be the fixed gripping finger of L-type, and 3 be linear bearing, and 4 be guide post, and 5 be sucker stand, and 6 be connecting rod
Support, 7 be lifting cylinder, and 8 be connecting rod, and 9 be pin shaft, and 10 be oscillating bearing, and 11 be sucker, and 12 be slider connecting plate, and 13 be straight
Line guide rail, 14 is hold out against disk, and 15 be bulb joint bearing, and 16 be mobile clamping jaw cylinder, and 17 is hold out against cylinder, and 18 be lifting cylinder
Fixing seat, 19 be trunnion, and 20 be trunnion base, and 21 be guide post block, and 22 be the mobile gripping finger of L-type, and 23 be linear guide block, 24
It is sliding block for guide post fixing seat, 25.
Specific embodiment
As shown in Figs 1-4, the present invention includes vacuum adsorption type clamping parts and mechanical clamping parts.
Vacuum adsorption type gripping body: in the four corners of bottom plate 1, four guiding are connected and fixed by guide post fixing seat 24
Column 4, every guide post 4 have a linear bearing 3, and end prevents linear axis as limit with a guide post block 21
3 are held to be detached from guide post 4.Two linear bearings 3 in the same side are connected together by sucker stand 5, straight with realization two
Spool holds 3 and can go up and down simultaneously, realizes the guiding role of sucker stand 5.Two suckers 11 are configured on each sucker stand.In
Between sucker stand 5 and bottom plate 1, by connecting rod 8, connecting rod support 6, pin shaft 9, a connecting rod 8 passes through connecting rod support 6 and sucker stand
5 are connected, and another connecting rod is connected by another connecting rod support with bottom plate；The hinged place among two connecting rods, setting oscillating bearing 10 rise
Sending down abnormally ascending cylinder 7, and lifting cylinder 7 is fixed by trunnion base 20, trunnion 19, lifting cylinder fixed seat 18 with the connection type of hinge
On bottom plate 1.When using vacuum adsorption type grabbing workpiece, lifting cylinder 7 is shunk, and drives connecting rod 8 to expand, by sucker stand 5
Released downwards along guide post 4, so that sucker is exposed to outermost, can directly be crawled workpiece and contact, realize absorption type
Clamping；When using mechanical grabbing workpiece, lifting cylinder 7 stretches out, and drives connecting rod 8 to shrink, by sucker stand 5 along guide post 4
It moves up, to sucker is contracted to in-house, mechanical clamp hand is exposed to outside, realizes mechanical clamping.
Mechanical gripping body: in the fixed gripping finger 2 of the fixed two pieces L-type in 1 side of bottom plate, pass through linear guide on its opposite
13, sliding block 25, slider connecting plate 12 connect the mobile gripping finger 22 of two sets of L-types；Wherein linear guide 13 is fixed on bottom plate, and direction is such as
Shown in Fig. 2, sliding block 25 can slide in linear guide；Two sliding blocks 25 are connected to one, Ke Yishi by slider connecting plate 12
Existing two sliding block 25 is moved along linear guide 13 simultaneously；The mobile gripping finger 22 of L-type is connected on slider connecting plate 12, with L-type fixing clamp
Refer to that 2 is opposite；In the middle position of slider connecting plate 12, mobile clamping jaw cylinder 16 is set, and is fixed on bottom plate 1, cylinder rod
It is connected to slider connecting plate 12, the flexible slider connecting plate 12 that will drive of mobile clamping jaw cylinder 16 is slided along linear guide 13, real
The folding of existing clamping jaw；In mobile 16 two sides of clamping jaw cylinder, respectively installs and a set of hold out against cylinder 17 and be fixed on bottom plate 1, (such as Fig. 4
It is shown), cylinder rod end is connected with bulb joint bearing 15 and holds out against disk 14, when the fixed gripping finger 2 of L-type and the mobile gripping finger 22 of L-type are stretched
Enter into workpiece, hold out against cylinder 17 and can will hold out against disk 14 and eject, workpiece pre-tightening is fixed, it is fixed that bulb joint bearing 15 is responsible for adjustment
Golden disk 14 and workpiece angle, it is ensured that be in close contact with workpiece, prevent workpiece from falling off.Wherein, straight line is arranged in 13 both ends of linear guide
Guide track block 23, anti-limited slip block 25 are detached from linear guide 13.
At work, first mobile clamping cylinder 16 is stretched out, the mobile gripping finger 22 of L-type is opened, is consolidated L-type by robot
Clamp refers to that 2 extend into workpiece, then retracts mobile clamping cylinder 16, drives the mobile gripping finger 22 of L-type by piece-holder, realizes
Front-rear direction positioning, restarts and holds out against cylinder 17, workpiece is held out against downwards, realizes positioning, and workpiece is firmly clamped, can be by machine
Device people drives and does a variety of responsible movements.It is grabbed suitable for rectangular parallelepiped structure (or hollow rectangle structure or tube-in-tube structure etc.) workpiece
It takes, carry, due to its positioning accuracy height, firm grip is stablized, is particularly suitable for the carrying of fixture, is loaded, positions.
It is understood that being merely to illustrate the present invention above with respect to specific descriptions of the invention and being not limited to this
Technical solution described in inventive embodiments, those skilled in the art should understand that, still the present invention can be carried out
Modification or equivalent replacement, to reach identical technical effect；As long as meet use needs, all protection scope of the present invention it
It is interior.
Claims (8)
1. a kind of multi-function robot clamp hand, including vacuum adsorption type clamping parts；It is characterized in that, the vacuum adsorption type folder
Part is taken to drive vacuum chuck to move up and down along guide frame by connecting rod by driving device.
2. a kind of multi-function robot clamp hand according to claim 1, it is characterised in that: further include mechanical clamping portion
Point, the vacuum adsorption type clamping parts and mechanical clamping parts are arranged on bottom plate.
3. a kind of multi-function robot clamp hand according to claim 1, it is characterised in that: vacuum adsorption type clamping portion
Dividing includes sucker；The sucker is installed on sucker stand, which is installed below bottom plate by guide frame；The suction
Driving device is provided between disc carrier and bottom plate, under the action of driving device, sucker under the drive of sucker stand, lead by edge
The lifting relative to bottom plate is generated to structure.
4. a kind of multi-function robot clamp hand according to claim 3, it is characterised in that: the guide frame includes guiding
Column, the guide post are installed below bottom plate, and sucker stand is connected by linear bearing with guide post；Guiding column end is provided with
Block for position limit linear bearing.
5. a kind of multi-function robot clamp hand according to claim 4, it is characterised in that: there are four the suckers, described
Sucker stand totally two: bottom plate two sides respectively set one；Each sucker stand is equipped with two suckers；There are four guide posts, is distributed in
Bottom plate quadrangle, and guide post is fixed on bottom plate by guide post fixing seat；Each sucker stand is ipsilateral two with oneself
It is connected by linear bearing guide post.
6. a kind of multi-function robot clamp hand according to claim 1, it is characterised in that: the driving device includes lifting
Cylinder, two connecting rods；Wherein, a connecting rod is connected by connecting rod support with sucker stand, another connecting rod pass through another connecting rod support and
Bottom plate is connected；The lifting cylinder is fixed on bottom plate in a manner of hinge the trunnion being installed on trunnion base, cylinder
Cylinder rod is connected with the rod end of a spherical plain bearing rod end, and two connecting rods and spherical plain bearing rod end three are hinged by pin shaft.
7. a kind of multi-function robot clamp hand according to claim 2, it is characterised in that: the mechanical clamping parts packet
Include two mechanical grips；The two sides of the bottom plate are also set up there are two mechanical grip, and each mechanical grip includes two mirror settings
Clamping jaw gripping finger: the fixed gripping finger of a L-type, the mobile gripping finger of a L-type；Top tight structure is provided between two gripping fingers；
The fixed gripping finger of L-type and the mobile gripping finger of L-type are L-type structure, the fixed gripping finger of the L-type and bottom plate detachable connection, institute
It states the mobile gripping finger of L-type to be installed on carriage, by carriage, the mobile gripping finger of L-type can be moved relative to the fixed gripping finger of L-type
It is dynamic, realize the folding of clamping jaw；
The top tight structure includes holding out against cylinder, holding out against disk；The cylinder that holds out against is installed on bottom plate, this holds out against the cylinder rod of cylinder
It is connected by bulb joint bearing with disk is held out against；Gripping finger is fixed when L-type to extend into workpiece with the mobile gripping finger of L-type, holds out against cylinder
Movement, is fixed workpiece pre-tightening by holding out against disk, and bulb joint bearing is responsible for adjustment and holds out against disk and workpiece angle, it is ensured that with workpiece
It is in close contact, prevents workpiece from falling off.
8. a kind of multi-function robot clamp hand according to claim 7, it is characterised in that: the carriage includes straight line
Guide rail, the sliding block being connected with linear guide, the slider connecting plate being set on sliding block, the mobile clamping jaw cylinder being connect with sliding block；
The linear guide is installed on the bottom plate, and the mobile gripping finger of the L-type is installed on slider connecting plate；And two mechanical grips
Slider connecting plate be connected as one formula structure；The slider connecting plate is connected with the cylinder rod of mobile clamping jaw cylinder, mobile clamping jaw
The flexible slider connecting plate that will drive of cylinder is slided along linear guide, realizes the folding of clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815680.5A CN110465963A (en) | 2019-08-30 | 2019-08-30 | A kind of multi-function robot clamp hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815680.5A CN110465963A (en) | 2019-08-30 | 2019-08-30 | A kind of multi-function robot clamp hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110465963A true CN110465963A (en) | 2019-11-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910815680.5A Pending CN110465963A (en) | 2019-08-30 | 2019-08-30 | A kind of multi-function robot clamp hand |
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| Country | Link |
|---|---|
| CN (1) | CN110465963A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112649434A (en) * | 2020-11-12 | 2021-04-13 | 苏州浪潮智能科技有限公司 | Mainboard positioning and clamping device and mainboard detection equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120064305A (en) * | 2010-12-09 | 2012-06-19 | 주식회사 루셈 | Pick-up device for transferring diced semiconductor chips |
| CN102674018A (en) * | 2012-04-24 | 2012-09-19 | 常州新区中策机械设备有限公司 | Palletizing robot |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN104260102A (en) * | 2014-09-15 | 2015-01-07 | 江苏牧羊控股有限公司 | Robot gripper |
| CN205076488U (en) * | 2015-08-28 | 2016-03-09 | 金锋馥（滁州）输送机械有限公司 | Be applied to robot clamp of PP flexible packaging bag destacking |
| CN205111865U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Pile up neatly robot clamp |
| CN207596055U (en) * | 2017-11-15 | 2018-07-10 | 深圳市希洛奥德科技有限公司 | Fixture and robot |
-
2019
- 2019-08-30 CN CN201910815680.5A patent/CN110465963A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120064305A (en) * | 2010-12-09 | 2012-06-19 | 주식회사 루셈 | Pick-up device for transferring diced semiconductor chips |
| CN102674018A (en) * | 2012-04-24 | 2012-09-19 | 常州新区中策机械设备有限公司 | Palletizing robot |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN104260102A (en) * | 2014-09-15 | 2015-01-07 | 江苏牧羊控股有限公司 | Robot gripper |
| CN205076488U (en) * | 2015-08-28 | 2016-03-09 | 金锋馥（滁州）输送机械有限公司 | Be applied to robot clamp of PP flexible packaging bag destacking |
| CN205111865U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Pile up neatly robot clamp |
| CN207596055U (en) * | 2017-11-15 | 2018-07-10 | 深圳市希洛奥德科技有限公司 | Fixture and robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112649434A (en) * | 2020-11-12 | 2021-04-13 | 苏州浪潮智能科技有限公司 | Mainboard positioning and clamping device and mainboard detection equipment |
| CN112649434B (en) * | 2020-11-12 | 2022-07-01 | 苏州浪潮智能科技有限公司 | Mainboard positioning and clamping device and mainboard detection equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191119 |