CN110722585A - Multi-station robot clamping jaw - Google Patents
Multi-station robot clamping jaw Download PDFInfo
- Publication number
- CN110722585A CN110722585A CN201910656722.5A CN201910656722A CN110722585A CN 110722585 A CN110722585 A CN 110722585A CN 201910656722 A CN201910656722 A CN 201910656722A CN 110722585 A CN110722585 A CN 110722585A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- mounting surface
- station
- robot
- axis
- 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
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
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
Abstract
The invention discloses a multi-station robot clamping jaw which mainly comprises a rack, a rotary driving mechanism arranged on a driving mounting surface of the rack, a multi-station rotary platform connected with the rotary driving mechanism, and a clamping jaw fixed on a clamping jaw mounting surface of the multi-station rotary platform. The frame comprises a flange mounting surface and a driving mounting surface, an included angle between the flange mounting surface and the driving mounting surface is 45 degrees, an included angle between the clamping jaw mounting surface and a rotation axis of the multi-station rotating platform is always 45 degrees, the number of the clamping jaw mounting surfaces is not less than 2, the clamping jaw mounting surfaces are circumferentially arranged by taking the rotation axis as a center, and the rotation axis is parallel to or collinear with an axis of an output shaft of the rotating driving mechanism. The clamping jaw of the multi-station robot can meet the horizontal posture and the vertical posture of a plurality of clamping jaws, has novelty and creativity, is particularly suitable for the application of a truss type robot in the feeding and blanking industry of a machine tool, and has practical engineering significance.
Description
Technical Field
The invention relates to automation equipment, in particular to a robot clamping jaw with a vertical posture and a horizontal posture, and further relates to a multi-station robot clamping jaw for feeding and discharging on a machine tool.
Background
With the popularization of the industrial 4.0 concept and the emphasis of various production enterprises on the automation system, the concept of robot replacement is more and more accepted by the public. A robot substitute is a system engineering, and relates to the technical fields of machinery, electronics, optics, graphics and the like. The robot replaces people not only for saving labor, but also for improving efficiency on the premise of ensuring functional requirements, and better ensuring the quality of products.
Machine tool machining is a traditional industry, and the loading of blank parts and the unloading of finished products after machining are finished manually. At present, the robot rapid development replaces artifical realization lathe with the robot and goes up unloading to be the first choice of reduce cost, and especially CNC machining center (after the program is compiled, only need the workman to go to accomplish and go up unloading work) demand is more urgent. The robot applied to the loading and unloading industry of the machine tool at present has two types, namely a joint robot and a truss type robot, wherein the joint robot has high flexibility and degree of freedom, but the cost is relatively expensive and the speed is relatively slow; the latter has high relative speed and low price, but the flexibility is relatively poor because all the mechanisms of the former move linearly. No matter which kind of robot is adopted to realize that the lathe goes up unloading, the clamping jaw is indispensable. The clamping jaw of the multi-station robot overcomes the defect of poor flexibility of the truss type robot, and is provided with a plurality of clamping jaws which can meet two postures, namely horizontal posture and vertical posture according to the characteristics of the loading and unloading industry of a machine tool, so that loading and unloading of a plurality of products can be realized.
Disclosure of Invention
The present invention is directed to a multi-station robot gripper, and more particularly to a truss-type robot gripper suitable for loading and unloading of multiple machine tools.
The object of the invention can be achieved by the following technical measures:
the multi-station robot clamping jaw mainly comprises a rack 1, a rotary driving mechanism 2 arranged on a driving mounting surface 12 on the rack 1, a multi-station rotary platform 3 driven by the rotary driving mechanism 2 and a clamping jaw 4 fixed on a clamping jaw mounting surface 31 on the multi-station rotary platform 3; the method is characterized in that: the frame 1 comprises a flange mounting surface 11 and a driving mounting surface 12, an included angle between the flange mounting surface 11 and the driving mounting surface 12 is 45 degrees, an included angle between a clamping jaw mounting surface 31 and a rotating axis 32 of the multi-station rotating platform 3 is always 45 degrees, and the rotating axis 32 is always perpendicular to the driving mounting surface 12; the number of the jaw mounting faces 31 is not less than 2 and is circumferentially arranged centering on a rotation axis 32, and the rotation axis 32 is parallel or collinear with the axis 23 of the output shaft of the rotary drive mechanism 2.
Further, the rotary drive mechanism 2 is constituted by a servo motor 21 and a speed reducer 22, wherein the axis of the output shaft of the servo motor 21 is collinear (direct connection) or parallel (gear transmission or belt transmission) with the axis of the input shaft of the speed reducer 22.
Specifically, the clamping jaw 4 is fixed on the clamping jaw mounting surface 31, the clamping jaw 4 is an opening and closing mechanism, and the speed vector normal line 42 of the opening and closing motion part 41 is always parallel to the clamping jaw mounting surface 31.
In particular, the clamping jaw 4 is a clamping jaw cylinder which is opened and closed in parallel.
Specifically, the clamping jaw 4 is fixed on the clamping jaw mounting surface 31, the clamping jaw 4 is an opening and closing mechanism, and a plane formed by a speed vector normal line 42 of the opening and closing motion part 41 is always vertical to the clamping jaw mounting surface 31.
In particular, the jaw 4 is essentially a scissor mechanism.
The invention has the following beneficial effects:
by adopting the multi-station robot clamping jaw, the clamping jaw 4 can be in a horizontal posture or a vertical posture through the change of the rotation angle of the servo motor 21 according to requirements. When in horizontal posture, the clamping jaw 4 is exactly consistent with the direction of a chuck horizontally placed on a machine tool, so that the chuck is convenient to feed and discharge; when in the vertical posture, the picking up of the blank is convenient. The production is more convenient and efficient, the digitization degree is higher, and the method is an indispensable part of industry 4.0.
Drawings
Fig. 1 is a schematic view of the whole structure of the multi-station robot clamping jaw.
Fig. 2 is a schematic view of the working state of the clamping jaw of the multi-station robot.
Fig. 3 is a layout view of the jaw mounting surface 31.
Fig. 4 is an overall sectional view of the multi-station robot clamping jaw.
Fig. 5 is an exploded view of the multi-station robot clamping jaw.
Fig. 6 is a schematic motion diagram of the parallel opening-closing type clamping jaw 4.
Fig. 7 is a schematic diagram of the movement of the scissor type clamping jaw 4.
Number in the figure: the device comprises a frame 1, a flange mounting surface 11, a driving mounting surface 12, a rotary driving mechanism 2, a servo motor 21, a speed reducer 22, an axis of an output shaft 23, a multi-station rotary platform 3, a clamping jaw mounting surface 31, a rotary axis 32, a clamping jaw 4, an opening and closing motion part 41 and a velocity vector normal 42.
Detailed Description
As shown in fig. 1, 2, 3 and 5, the multi-station robot gripper is mainly composed of a frame 1, a rotary driving mechanism 2 mounted on a driving mounting surface 12 of the frame 1, a multi-station rotary platform 3 driven by the rotary driving mechanism 2, and a gripper 4 fixed on a gripper mounting surface 31 of the multi-station rotary platform 3; the method is characterized in that: the frame 1 comprises a flange mounting surface 11 and a driving mounting surface 12, an included angle between the flange mounting surface 11 and the driving mounting surface 12 is 45 degrees, an included angle between a clamping jaw mounting surface 31 and a rotating axis 32 of the multi-station rotating platform 3 is always 45 degrees, and the rotating axis 32 is always perpendicular to the driving mounting surface 12; the number of the jaw mounting faces 31 is not less than 2 and is circumferentially arranged centering on a rotation axis 32, and the rotation axis 32 is parallel or collinear with the axis 23 of the output shaft of the rotary drive mechanism 2.
The multi-station robot clamping jaw is arranged at the tail end of the robot. As shown in fig. 2, when the robot is a truss robot, the multi-station robot gripper is fixed at the end of the up-and-down moving arm of the truss robot through a flange mounting surface 11 on the frame 1, that is, the flange mounting surface 11 is in a horizontal state.
As shown in fig. 4 and 5, the angle between the flange mounting surface 11 and the driving mounting surface 12 is 45 °, the rotation axis 32 is always perpendicular to the driving mounting surface 12, and the angle between the rotation axis 32 and the flange mounting surface 11 is always 45 °. And the included angle between the clamping jaw mounting surface 31 and the rotation axis 32 of the multi-station rotating platform 3 is always 45 degrees, when the multi-station rotating platform 3 rotates around the rotation axis 32, a state is necessarily provided: a certain jaw mounting surface 31 is parallel to or perpendicular to the flange mounting surface 11 (horizontal plane), and when in a parallel posture, the upper jaw 4 is in a vertical state, and when in a vertical posture, the upper jaw 4 is in a horizontal state.
Specifically: when the jaw mounting surfaces 31 are circumferentially and uniformly distributed around the rotation axis 32, and the number of the jaw mounting surfaces is 2, 3, 4, 5 and 6, respectively, assuming that the first jaw mounting surface 31 is perpendicular to the flange mounting surface 11 (horizontal plane), when the rotation driving mechanism 2 drives the multi-station rotation platform 3 to rotate 180 °, 120 °, 90 °, 72 ° and 60 °, respectively, the second jaw mounting surface is perpendicular to the flange mounting surface 11, that is, the jaw 4 is in a horizontal state. Similarly, when the rotation driving mechanism 2 drives the multi-station rotation platform 3 to rotate 180 degrees, the first clamping jaw mounting surface 31 is parallel to the flange mounting surface 11 (horizontal plane), that is, the clamping jaw 4 is in a vertical state
Further, the rotation driving mechanism 2 is composed of a servo motor 21 and a speed reducer 22. Because the rotating speed and the number of the rotating circles of the servo motor 21 can be digitally controlled, the control of the rotating angle of the multi-station rotating platform 3 can be conveniently realized. When the servo motor 21 is directly connected with the speed reducer 22, the axes of the servo motor and the speed reducer are collinear; when the servo motor 21 and the reducer 22 are driven by gears or belts, the axes of the two are parallel. The former is preferred.
As shown in fig. 6, the jaw 4 is a parallel opening and closing mechanism, and a motion vector normal 42 of an opening and closing motion part 41 is parallel to the jaw mounting surface 31. As shown in fig. 7, the clamping jaw 4 may also be a scissors mechanism, and due to the structural characteristics of the scissors mechanism, the motion vector normal 42 of the opening and closing motion component 41 always changes in a plane. The two clamping jaws 4 and the opening and closing directions ensure the consistency of the postures of the clamped objects.
The multi-station robot clamping jaw can be installed at the tail end of a joint machine and also can be installed at the tail end of an arm of a truss type robot which moves up and down. The most effective cases are as follows:
the clamping jaw mounting truss type robot for the multi-station robot is used for moving the tail end of an arm up and down, and the robot is responsible for loading and unloading work of not less than two machine tools. When the clamping jaws of the multi-station robot are not less than two and are even numbers of clamping jaws 4, half of the clamping jaws 4 are in a vertical posture to pick up blanks to be processed, and the other half of the clamping jaws 4 are used for receiving processed products unloaded by a machine tool. The process is as follows:
the clamping jaws 4 pick up the blanks when in a vertical position, the picking-up quantity being half of the quantity of the clamping jaws 4. The robot will the clamping jaw of multistation robot moves the chuck position that moves in first lathe, and empty clamping jaw 4 is the horizontal gesture and catches the finished product that machine tool processing was accomplished, rotates certain angle, is the horizontal gesture with one of them blank, puts into the chuck of first lathe on, accomplishes the material loading and the unloading work of first lathe. And similarly, the loading and unloading work of the second … … machine tool and the third … … machine tool is completed. The method has very practical engineering significance.
The invention has the following beneficial effects:
the clamping jaw of the multi-station robot overcomes the defect of poor flexibility of a truss type robot, and is provided with a plurality of clamping jaws capable of meeting horizontal and vertical postures according to the industrial characteristics of loading and unloading of machine tools, so that loading and unloading of a plurality of products can be realized.
The above description is only a preferred embodiment of the present invention, but does not limit the scope of the present invention. All insubstantial creations made based on this embodiment are considered to be legally protected against tampering or hacking of the invention.
Claims (6)
1. The multi-station robot clamping jaw mainly comprises a rack (1), a rotary driving mechanism (2) arranged on a driving installation surface (12) on the rack (1), a multi-station rotary platform (3) driven by the rotary driving mechanism (2) and a clamping jaw (4) fixed on a clamping jaw installation surface (31) on the multi-station rotary platform (3); the method is characterized in that: the frame (1) comprises a flange mounting surface (11) and a driving mounting surface (12), an included angle between the flange mounting surface (11) and the driving mounting surface (12) is 45 degrees, an included angle between a clamping jaw mounting surface (31) and a rotating axis (32) of the multi-station rotating platform (3) is always 45 degrees, and the rotating axis (32) is always perpendicular to the driving mounting surface (12); the number of the jaw mounting faces (31) is not less than 2 and is circumferentially arranged with a rotation axis (32) as a center, and the rotation axis (32) is parallel or collinear with an axis (23) of an output shaft of the rotary drive mechanism (2).
2. A multi-station robotic gripper according to claim 1, wherein: the rotary driving mechanism (2) is composed of a servo motor (21) and a speed reducer (22), wherein the axis of an output shaft of the servo motor (21) is collinear or parallel with the axis of an input shaft of the speed reducer (22).
3. A multi-station robotic gripper according to claim 1, wherein: the clamping jaw (4) is fixed on the clamping jaw mounting surface (31), the clamping jaw (4) is an opening and closing mechanism, and a speed vector normal (42) of an opening and closing movement part (41) is always parallel to the clamping jaw mounting surface (31).
4. A multi-station robotic gripper according to claim 1, wherein: the clamping jaw (4) is fixed on the clamping jaw mounting surface (31), the clamping jaw (4) is an opening and closing mechanism, and a plane formed by a speed vector normal (42) of an opening and closing moving part (41) is always vertical to the clamping jaw mounting surface (31).
5. A jaw (4) according to claim 3, characterized in that: the clamping jaw (4) is a clamping jaw cylinder which is opened and closed in parallel.
6. A jaw (4) according to claim 4, characterized in that: the clamping jaw (4) is a shearing fork mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656722.5A CN110722585A (en) | 2019-07-19 | 2019-07-19 | Multi-station robot clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656722.5A CN110722585A (en) | 2019-07-19 | 2019-07-19 | Multi-station robot clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110722585A true CN110722585A (en) | 2020-01-24 |
Family
ID=69217715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910656722.5A Pending CN110722585A (en) | 2019-07-19 | 2019-07-19 | Multi-station robot clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110722585A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
| CN114834892A (en) * | 2022-05-30 | 2022-08-02 | 珠海华冠科技股份有限公司 | Battery cell conveying mechanism |
| CN115284259A (en) * | 2022-08-16 | 2022-11-04 | 国网江苏省电力有限公司电力科学研究院 | Automatic termination of robot suitable for distribution transformer fingered citron |
| CN117140582A (en) * | 2023-10-13 | 2023-12-01 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
-
2019
- 2019-07-19 CN CN201910656722.5A patent/CN110722585A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
| CN113635335B (en) * | 2021-10-13 | 2022-04-12 | 江苏莱克智能电器有限公司 | Automatic system for processing and flatness detection |
| CN114834892A (en) * | 2022-05-30 | 2022-08-02 | 珠海华冠科技股份有限公司 | Battery cell conveying mechanism |
| CN115284259A (en) * | 2022-08-16 | 2022-11-04 | 国网江苏省电力有限公司电力科学研究院 | Automatic termination of robot suitable for distribution transformer fingered citron |
| CN117140582A (en) * | 2023-10-13 | 2023-12-01 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
| CN117140582B (en) * | 2023-10-13 | 2024-03-29 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110722585A (en) | Multi-station robot clamping jaw | |
| CN110270874A (en) | A kind of truss-like lathe loading and unloading robot system and its control method | |
| CN104444360B (en) | Five-axis hub transfer robot and clamping manipulator | |
| CN205111421U (en) | Arm robot | |
| CN204621750U (en) | A kind of robot combined polishing system | |
| CN102699221A (en) | Loading and unloading manipulator | |
| CN109822113B (en) | Six-axis feeding and discharging robot system and control method thereof | |
| CN107186533A (en) | Drilling rod conveying robot based on truss | |
| Lee et al. | Multi-robotic arms automated production line | |
| CN105856495A (en) | High-precision injection molding manipulator and operation method thereof | |
| CN215393675U (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN113523785A (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN210878802U (en) | Machine tool material transfer system based on six-degree-of-freedom robot | |
| CN210452763U (en) | Multi-station robot clamping jaw | |
| CN208758627U (en) | A kind of manipulator and automatic production line | |
| CN217572035U (en) | Automatic conveying mechanism for machining front and back surfaces of workpiece | |
| CN217097806U (en) | Automatic feeding manipulator | |
| CN209954298U (en) | Manipulator and automation device | |
| CN207361319U (en) | The device of punching press automatic loading/unloading band packing | |
| CN114474031A (en) | Feeding and discharging mechanical arm | |
| CN111468975A (en) | Polar coordinate material feeding and taking method and device based on intelligent manufacturing unit | |
| CN112157647A (en) | Six-degree-of-freedom industrial robot | |
| CN111168476A (en) | Full-automatic processing lathe | |
| CN212735183U (en) | Automatic feeding and discharging equipment of engraving and milling machine based on three-degree-of-freedom robot | |
| CN110682205A (en) | Automatic feeding and discharging mechanism for five-axis grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |