CN110744574A

CN110744574A - Clamping mechanism and robot with same

Info

Publication number: CN110744574A
Application number: CN201911109190.XA
Authority: CN
Inventors: 袁奇; 李常宏; 郑海强
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2020-02-04
Anticipated expiration: 2039-11-13
Also published as: CN110744574B

Abstract

The invention provides a clamping mechanism and a robot with the same, wherein the clamping mechanism is internally provided with an installation seat, an expansion part, a first clamp and a detection part, the expansion part is arranged on the installation seat, the first clamp is arranged on the expansion part, and two first clamping jaws of the first clamp can be arranged close to or far away from each other to clamp or loosen a workpiece; the first clamp compresses the telescopic part to move relative to the mounting seat under the condition of bearing a preset acting force, the first clamp has an initial position and a compression position relative to the mounting seat, and the telescopic part is compressed for a preset distance in the process that the first clamp moves from the initial position to the compression position; the detection part is arranged on the mounting seat or the telescopic part and used for detecting whether the first clamp reaches the compression position or not. By adopting the clamping mechanism, the accurate feeding and positioning of the workpiece can be realized, the automatic judgment can be realized, the automatic operation is convenient to realize, the positioning precision of the workpiece is improved, the clamping time is reduced, and the production efficiency is improved.

Description

Clamping mechanism and robot with same

Technical Field

The invention relates to the technical field of tool fixtures, in particular to a clamping mechanism and a robot with the same.

Background

When the clamp is used for clamping a workpiece and automatically feeding a numerical control machine tool, whether the workpiece is clamped in place on the chuck or not is not easy to determine, the positioning precision is influenced, and the workpiece is required to be repeatedly clamped in place for many times, so that the processing precision and the production efficiency of the workpiece are influenced.

Disclosure of Invention

The invention provides a clamping mechanism and a robot with the same, which are used for improving the positioning precision when a workpiece is clamped on a chuck.

In order to achieve the above object, according to one aspect of the present invention, there is provided a clamping mechanism comprising: the mounting seat is movably arranged; the telescopic part is arranged on the mounting seat and can be arranged in a telescopic manner; the first clamp is arranged on the telescopic part and comprises two first clamping jaws, and the two first clamping jaws can be arranged close to or far away from each other to clamp a workpiece or release the workpiece; the first clamp compresses the telescopic part to move relative to the mounting seat under the condition of bearing a preset acting force, the first clamp has an initial position and a compressed position relative to the mounting seat, and the telescopic part is compressed for a preset distance in the process that the first clamp moves from the initial position to the compressed position; the detection part is arranged on the mounting seat or the telescopic part and used for detecting whether the first clamp reaches the compression position or not.

Further, the telescopic part includes: the first mounting plate is fixedly arranged on the mounting seat; the second mounting plate is fixedly arranged on the first clamp; the elastic component, the one end of elastic component with first mounting panel butt, the other end of elastic component with the second mounting panel butt.

Further, the elastic component is a spring, and the telescopic part further comprises: the guide, the guide wears to establish in the hole of first mounting panel, the guide is relative the movably setting of first mounting panel, the tip of guide with the second mounting panel is connected, the spring housing is established on the guide.

Further, the guide part includes cylinder and spacing cap, the radial dimension of spacing cap is greater than the size of cylinder, the cylinder with second mounting panel threaded connection, the elastic component cover is established on the cylinder, spacing cap is located deviating from of first mounting panel one side of second mounting panel, spacing cap be used for with the spacing cooperation of first mounting panel.

Further, the detection part is a proximity switch, the proximity switch is arranged on the first mounting plate, and a detection head of the proximity switch faces the first clamp.

Further, the first clamp further includes: first drive division, first drive division sets up on the pars contractilis, first drive division and two first clamping jaw is all connected, in order to drive two first clamping jaw is close to each other or is kept away from.

Further, the clamping mechanism further comprises: and the second clamp is arranged on the mounting seat and comprises two second clamping jaws which can be arranged close to or far away from each other to clamp or release the workpiece.

Further, the second clamp further comprises a second driving part, the second driving part is arranged on the telescopic part, and the second driving part is connected with the two second clamping jaws so as to drive the two second clamping jaws to get close to or away from each other; the two first clamping jaws are arranged in parallel, the two second clamping jaws are arranged in parallel, and the extending directions of the two second clamping jaws are perpendicular to the extending directions of the two first clamping jaws.

According to another aspect of the invention, a robot is provided, which includes a mechanical arm and a clamping mechanism disposed on the mechanical arm, the mechanical arm is used for driving the clamping mechanism to move, and the clamping mechanism is the clamping mechanism provided above.

Further, the robot further comprises a control part, the mechanical arm, the detection part of the clamping mechanism and the first clamp of the clamping mechanism are electrically connected with the control part, and the control part can receive detection information of the detection part so as to control the mechanical arm to change the moving direction and/or control the first clamp to release the workpiece when the first clamp clamping the workpiece is detected to reach the compression position.

The technical scheme of the invention is applied to provide a clamping mechanism, wherein the clamping mechanism is provided with a mounting seat, a telescopic part, a first clamp and a detection part, wherein the mounting seat is movably arranged; the telescopic part is arranged on the mounting seat and can be arranged in a telescopic manner; the first clamp is arranged on the telescopic part and comprises two first clamping jaws, and the two first clamping jaws can be arranged close to or far away from each other to clamp or release a workpiece; the first clamp compresses the telescopic part to move relative to the mounting seat under the condition of bearing a preset acting force, the first clamp has an initial position and a compression position relative to the mounting seat, and the telescopic part is compressed for a preset distance in the process that the first clamp moves from the initial position to the compression position; the detection part is arranged on the mounting seat or the telescopic part and used for detecting whether the first clamp reaches the compression position or not. By adopting the clamping mechanism, when a chuck of a machine tool is loaded, the first clamp is driven to move through the mounting seat so as to insert a workpiece into the chuck, after the workpiece is connected with the chuck of the machine tool, the mounting seat continues to move, after the workpiece is in place, the telescopic part is compressed, then the detection part detects that the first clamp moves to the compression position, the workpiece can be determined to be in place, and then the mounting seat can be stopped to move and the workpiece can be loosened. Therefore, the scheme can realize accurate feeding and positioning of the workpiece, can automatically judge, is convenient for realizing automatic operation, improves the positioning precision of the workpiece, reduces the clamping time and improves the production efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a clamping mechanism provided by an embodiment of the invention;

fig. 2 shows another schematic view of the clamping mechanism of fig. 1.

Wherein the figures include the following reference numerals:

10. a mounting seat; 20. a telescopic part; 21. a first mounting plate; 22. a second mounting plate; 23. an elastic member; 24. a guide member; 30. a first clamp; 31. a first jaw; 32. a first driving section; 33. a first clamping block; 40. a detection unit; 50. a second clamp; 51. a second jaw; 52. a second driving section; 53. a positioning column; 54. and a second clamping block.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in the drawings, embodiments of the present invention provide a clamping mechanism comprising: a mount 10 movably disposed; a telescopic part 20 arranged on the mounting base 10, wherein the telescopic part 20 is arranged in a telescopic manner; a first clamp 30 provided on the telescopic part 20, the first clamp 30 including two first jaws 31, the two first jaws 31 being disposed to be close to or far from each other to clamp or unclamp a workpiece; the first clamp 30 compresses the telescopic part 20 to move relative to the mounting seat 10 under the condition of bearing a preset acting force, the first clamp 30 has an initial position and a compression position relative to the mounting seat 10, and the telescopic part 20 is compressed for a preset distance in the process that the first clamp 30 moves from the initial position to the compression position; and a detection unit 40 provided in the mounting base 10 or the expansion/contraction unit 20, the detection unit 40 detecting whether the first clamp 30 reaches the compression position.

By applying the technical scheme of the invention, the clamping mechanism is provided, wherein the clamping mechanism is provided with an installation seat 10, a telescopic part 20, a first clamp 30 and a detection part 40, wherein the installation seat 10 is movably arranged; the telescopic part 20 is arranged on the mounting seat 10, and the telescopic part 20 is arranged in a telescopic manner; the first clamp 30 is arranged on the telescopic part 20, the first clamp 30 comprises two first clamping jaws 31, and the two first clamping jaws 31 can be arranged close to or far away from each other to clamp a workpiece or release the workpiece; the first clamp 30 compresses the telescopic part 20 to move relative to the mounting seat 10 under the condition of bearing a preset acting force, the first clamp 30 has an initial position and a compression position relative to the mounting seat 10, and the telescopic part 20 is compressed for a preset distance in the process that the first clamp 30 moves from the initial position to the compression position; the detection unit 40 is provided on the mount 10 or the expansion unit 20, and the detection unit 40 detects whether the first clamp 30 reaches the compression position. By adopting the clamping mechanism, when a chuck of a machine tool is loaded, the first clamp 30 is driven to move through the mounting seat 10 so as to insert a workpiece into the chuck, after the workpiece is connected with the chuck of the machine tool, the mounting seat 10 continues to move, after the workpiece is in place, the telescopic part 20 is compressed, then the detection part 40 detects that the first clamp 30 moves to the compression position, the workpiece can be determined to be in place, and then the mounting seat 10 can be stopped to move and the workpiece can be loosened. Therefore, the scheme can realize accurate feeding and positioning of the workpiece, can automatically judge, is convenient for realizing automatic operation, improves the positioning precision of the workpiece, reduces the clamping time and improves the production efficiency. Moreover, the telescopic part 20 can protect the workpiece when clamping the workpiece by adopting a telescopic arrangement mode, so as to avoid damaging the workpiece.

In the present embodiment, the expansion portion 20 includes: the first mounting plate 21 is fixedly arranged on the mounting base 10; a second mounting plate 22 fixedly disposed on the first jig 30; one end of the elastic member 23 abuts against the first mounting plate 21, and the other end of the elastic member 23 abuts against the second mounting plate 22. In this way, the first mounting plate 21 can connect the extendable portion 20 to the mounting base 10, and the second mounting plate 22 can connect the extendable portion 20 to the first jig 30. The expansion and contraction of the expansion part 20 is achieved by the elasticity of the elastic member 23.

In this embodiment, the elastic member 23 is a spring, and the telescopic portion 20 further includes: the guide 24, guide 24 wears to establish in the hole of first mounting panel 21, and guide 24 is the movably setting of first mounting panel 21 relatively, and the tip and the second mounting panel 22 of guide 24 are connected, and the spring cover is established on guide 24. Through the arrangement, the stability of the telescopic part 20 can be improved, and the first clamp 30 is prevented from shaking to influence the positioning precision.

Alternatively, the number of the elastic members 23 and the number of the guide members 24 are plural, and the plural elastic members 23 and the plural guide members 24 are provided in one-to-one correspondence.

In this embodiment, the guide 24 includes cylinder and spacing cap, and the radial dimension of spacing cap is greater than the size of cylinder, cylinder and second mounting panel 22 threaded connection, and the elastic component 23 cover is established on the cylinder, and spacing cap is located one side that deviates from second mounting panel 22 of first mounting panel 21, and spacing cap is used for the spacing cooperation with first mounting panel 21. The effect of guide effect and gaining in strength can be played through the cylinder like this to play limiting displacement through spacing cap, avoid guide 24 and first mounting panel 21 to break away from.

In the present embodiment, the detection portion 40 is a proximity switch, the proximity switch is provided on the first mounting plate 21, and a detection head of the proximity switch is provided toward the first jig 30. Whether the first clamp 30 moves to the compression position or not can be conveniently detected through the proximity switch, and therefore whether the workpiece is installed in place or not can be judged.

In the present embodiment, the first clamp 30 further includes: the first driving portion 32, the first driving portion 32 is disposed on the telescopic portion 20, and the first driving portion 32 is connected to both the first clamping jaws 31 to drive the two first clamping jaws 31 to move toward or away from each other. Thus, the two first jaws 31 can be driven to approach or separate from each other by the first driving portion 32 to clamp or unclamp a workpiece. Specifically, the first driving part 32 may employ a pneumatic finger.

Optionally, the first fixture 30 further includes two first clamping blocks 33, the two first clamping blocks 33 are respectively disposed on the two first clamping jaws 31, and the two first clamping blocks 33 are used for clamping the workpiece. Further, the first clamping block 33 has a first limiting groove for clamping the workpiece, the extending direction of the first limiting groove is along the extending and retracting direction of the telescopic portion 20, the first clamp 30 is used for clamping the workpiece along the axial direction of the workpiece, and the axial direction of the workpiece after clamping the workpiece extends along the extending and retracting direction of the telescopic portion 20.

Alternatively, the clamping mechanism includes two first clamps 30, the two first clamps 30 are respectively located at two sides of the mounting base 10, and the two first clamps 30 are arranged in parallel, that is, the telescopic directions of the telescopic parts 20 of the two first clamps 30 are arranged in the same direction. Different clamps are convenient to switch like this to adopt different anchor clamps centre gripping work piece, improve work efficiency.

In this embodiment, the clamping mechanism further comprises: and a second clamp 50 disposed on the mounting base 10, the second clamp 50 including two second jaws 51, the two second jaws 51 being disposed to be close to or far from each other to clamp or unclamp a workpiece. The second clamp 50 extends at an angle to the first clamp 30. Therefore, the first clamp 30 or the second clamp 50 can be selected to clamp the workpiece according to production requirements, so that the clamps are prevented from being disassembled and assembled, and the production clamping speed is increased.

In this embodiment, the second clamp 50 further includes a second driving portion 52, the second driving portion 52 is disposed on the telescopic portion 20, and the second driving portion 52 is connected to both the two second clamping jaws 51 to drive the two second clamping jaws 51 to move toward or away from each other; the two first clamping jaws 31 are arranged in parallel, the two second clamping jaws 51 are arranged in parallel, and the extending direction of the two second clamping jaws 51 is perpendicular to the extending direction of the two first clamping jaws 31. Thus, the two second jaws 51 can be driven to move by the second driving portion 52. Through the arrangement, the first clamp 30 or the second clamp 50 can be used for clamping workpieces at different stations or clamping the workpieces to different stations conveniently and quickly.

Optionally, the second fixture 50 further includes a positioning post 53, and the second driving portion 52 is connected to the mounting base 10 through the positioning post 53. The second driving part 52 is a pneumatic finger.

Optionally, the second fixture 50 further includes two second clamping blocks 54, the two second clamping blocks 54 are respectively disposed on the two second clamping jaws 51, and the two second clamping blocks 54 are used for clamping the workpiece. Further, the second clamping block 54 has a second limiting groove for clamping the workpiece, and the extending direction of the second limiting groove is perpendicular to the extending direction of the second clamping jaw 51.

Another embodiment of the present invention provides a robot, including a mechanical arm and a clamping mechanism disposed on the mechanical arm, where the mechanical arm is used to drive the clamping mechanism to move, and the clamping mechanism is the clamping mechanism provided above.

Further, the robot further comprises a control part, wherein the detection part 40 of the mechanical arm and the clamping mechanism and the first clamp 30 of the clamping mechanism are electrically connected with the control part, and the control part can receive detection information of the detection part 40 to control the mechanical arm to change the moving direction and/or control the first clamp 30 to release the workpiece when the first clamp 30 clamping the workpiece is detected to reach the compression position. Through the arrangement, whether the workpiece is clamped in place or not can be automatically judged, the positioning precision of the workpiece is ensured, and automatic operation is realized, so that the production efficiency is improved.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamping mechanism, comprising:

a mounting base (10) movably disposed;

the telescopic part (20) is arranged on the mounting seat (10), and the telescopic part (20) is arranged in a telescopic manner;

a first clamp (30) provided on the telescopic portion (20), the first clamp (30) including two first jaws (31), the two first jaws (31) being disposed to be close to or far from each other to clamp or unclamp a workpiece;

the first clamp (30) compresses the telescopic part (20) under the condition of bearing a preset acting force to move relative to the mounting seat (10), the first clamp (30) has an initial position and a compression position relative to the mounting seat (10), and the telescopic part (20) is compressed for a preset distance in the process that the first clamp (30) moves from the initial position to the compression position;

a detection part (40) arranged on the mounting seat (10) or the telescopic part (20), wherein the detection part (40) is used for detecting whether the first clamp (30) reaches the compression position.

2. Clamping mechanism according to claim 1, characterized in that the telescopic part (20) comprises:

the first mounting plate (21) is fixedly arranged on the mounting base (10);

the second mounting plate (22) is fixedly arranged on the first clamp (30);

the elastic piece (23), one end of elastic piece (23) with first mounting panel (21) butt, the other end of elastic piece (23) with second mounting panel (22) butt.

3. Clamping mechanism according to claim 2, wherein the elastic member (23) is a spring, the telescopic part (20) further comprising:

guide (24), guide (24) wear to establish in the hole of first mounting panel (21), guide (24) are relative first mounting panel (21) movably sets up, the tip of guide (24) with second mounting panel (22) are connected, the spring housing is established on guide (24).

4. Clamping mechanism according to claim 3, wherein the guiding element (24) comprises a cylinder and a stop cap, the radial dimension of the stop cap being larger than the dimension of the cylinder, the cylinder being in threaded connection with the second mounting plate (22), the resilient element (23) being fitted over the cylinder, the stop cap being located on the side of the first mounting plate (21) facing away from the second mounting plate (22), the stop cap being adapted to engage in a stop manner with the first mounting plate (21).

5. The clamping mechanism of claim 2, wherein the detection portion (40) is a proximity switch disposed on the first mounting plate (21), the detection head of the proximity switch being disposed toward the first clamp (30).

6. The clamping mechanism of claim 1, wherein the first clamp (30) further comprises:

the first driving part (32), first driving part (32) set up on flexible portion (20), first driving part (32) and two first clamping jaw (31) are all connected to the drive is two first clamping jaw (31) are close to each other or are kept away from.

7. The clamping mechanism of claim 1, further comprising:

a second clamp (50) disposed on the mounting base (10), the second clamp (50) including two second clamping jaws (51), the two second clamping jaws (51) being disposed to be close to or far from each other to clamp or release a workpiece.

8. Clamping mechanism according to claim 7,

the second clamp (50) further comprises a second driving part (52), the second driving part (52) is arranged on the telescopic part (20), and the second driving part (52) is connected with the two second clamping jaws (51) so as to drive the two second clamping jaws (51) to move close to or away from each other;

the two first clamping jaws (31) are arranged in parallel, the two second clamping jaws (51) are arranged in parallel, and the extending direction of the two second clamping jaws (51) is perpendicular to the extending direction of the two first clamping jaws (31).

9. A robot, characterized in that the robot comprises a mechanical arm and a clamping mechanism arranged on the mechanical arm, the mechanical arm is used for driving the clamping mechanism to move, and the clamping mechanism is the clamping mechanism in any one of claims 1 to 8.

10. The robot according to claim 9, characterized in that the robot further comprises a control part, the robot arm and the detection part (40) of the gripping mechanism and the first gripper (30) of the gripping mechanism are electrically connected to the control part, the control part being adapted to receive detection information from the detection part (40) for controlling the robot arm to change the direction of movement and/or for controlling the first gripper (30) to release the workpiece in case it is detected that the first gripper (30) gripping the workpiece reaches the compression position.