CN110802624B

CN110802624B - Gripper-replaceable robot arm

Info

Publication number: CN110802624B
Application number: CN201911154829.6A
Authority: CN
Inventors: 吴应举
Original assignee: Hefei Changqing Machinery Manufacturing Co Ltd
Current assignee: Hefei Changqing Machinery Co Ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-11-13
Anticipated expiration: 2039-11-22
Also published as: CN110802624A

Abstract

The invention relates to the technical field of robot equipment for automobile parts, in particular to a gripper-replaceable robot arm which comprises a gripper cylinder, a gripper, an installation block, a fixing sleeve, a column section, a circular platform section, a conical groove, a clamping hole, a notch, a micro cylinder, a limiting block, a connecting column, a gripper bracket, a clamping block and a V-shaped groove. The invention has the beneficial effects that: when the grip block is installed, in the grip block with spliced pole block to collet's centre gripping, again by the action of miniature cylinder, make stopper pulling column section slide in the blind hole of fixed cover, make the round platform section slide in the taper groove, because the breach that sets up on the round platform section, make round platform section outer wall produce to its radial inboard elastic shrinkage, and then make the tight spliced pole of grip hole inner wall clamp, thereby realize the quick installation of grip block, the change speed of grip block has been improved to a certain extent at least, and then improve production efficiency.

Description

Gripper-replaceable robot arm

Technical Field

The invention relates to the technical field of robot equipment for automobile parts, in particular to a gripper-replaceable robot arm.

Background

The axle type part is the part that uses usually among the automobile parts, when processing, the turnover of axle type part usually needs to use the machine tongs to snatch and shift, realize the turnover of axle type part, current machine tongs generally comprises clamping jaw cylinder, the clamping jaw, the action of clamping jaw cylinder makes two clamping jaws be close to relatively, and then snatchs axle type part, but present clamping jaw is comparatively inconvenient when installation and dismantlement, when the clamping jaw produces wearing and tearing, or when needing to change the clamping jaw according to concrete product model, need the longer period of shut down, change by the workman again, because the down time is longer, consequently can cause production efficiency's reduction.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provides a gripper-replaceable robot arm which can realize quick replacement of a clamping block and improve the production efficiency.

In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:

a gripper-replaceable robot arm comprises a gripper cylinder, wherein two grippers are arranged on the gripper cylinder, mounting blocks are connected to the two grippers respectively, a fixing sleeve is vertically arranged at one end, away from the grippers, of each mounting block, a blind hole with a downward orifice is coaxially arranged on each fixing sleeve, a column section is coaxially clamped in the blind hole in a sliding mode, a circular table section is coaxially arranged on each column section, each column section and the corresponding circular table section form an elastic chuck, a conical groove which is used for clamping the circular table section in a sliding mode and matched with the circular table section in shape is coaxially arranged on each corresponding fixing sleeve, blind hole-shaped clamping holes extending into the column section are coaxially arranged on each circular table section, a plurality of notches are axially arrayed on the peripheral surface of each circular table section, a micro air cylinder is vertically arranged on each mounting block, and an air cylinder rod of each micro air cylinder penetrates through each mounting block, each fixing sleeve and each column section and extends into each clamping hole, it wears into the downthehole one end rigid coupling of centre gripping has the stopper, the stopper offsets with the hole bottom surface in centre gripping hole, during the cylinder pole shrink on the miniature cylinder, make stopper pulling column section slides in the blind hole, the downthehole coaxial sliding fit block of centre gripping has the spliced pole, be equipped with clamping jaw support on the spliced pole, two clamping jaw support opposite side respectively is equipped with the grip block, two the grip block is equipped with the V-arrangement groove of breach form on its opposite side outer wall.

Furthermore, the circumferential surface of the connecting column is provided with a limiting lug, and the corresponding end surface of the circular truncated cone shaft is provided with a limiting groove for clamping the limiting lug.

Further, the axial length of the elastic chuck is smaller than the depth of the blind hole.

Furthermore, a chamfer is arranged at one end of the connecting column penetrating into the clamping hole.

Further, the mounting block is connected with the clamping jaw screw.

The invention has the beneficial effects that: when the grip block is installed, in the grip block with spliced pole block to collet chuck's centre gripping, again by the action of miniature cylinder, make stopper pulling column section slide in the blind hole of fixed cover, make the round platform section slide in the taper groove, because the breach that sets up on the round platform section, make round platform section outer wall produce to its radial inboard elastic contraction, and then make the tight spliced pole of centre gripping hole inner wall clamp, thereby realize the quick installation of grip block, the change speed of grip block has been improved to a certain extent at least, and then improve production efficiency, axle type part can be fixed a position better to the V-arrangement groove on the grip block simultaneously, make axle type part centre gripping more firm at the V-arrangement inslot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a gripper-replaceable robot arm according to the present invention;

FIG. 2 is an exploded view of the perspective structure of FIG. 1;

fig. 3 is a schematic perspective view of the fixing sleeve of the present invention;

FIG. 4 is a schematic perspective view of the collet of the present invention;

the reference numerals are explained below:

1-clamping jaw cylinder, 2-clamping jaw, 3-mounting block, 4-fixing sleeve, 5-blind hole, 6-column section, 7-circular platform section, 8-conical groove, 9-clamping hole, 10-notch, 11-micro cylinder, 12-limiting block, 13-connecting column, 14-clamping jaw support, 15-clamping block, 16-V-shaped groove, 17-limiting lug and 18-limiting groove.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. 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 fig. 1-4, a gripper-replaceable robot arm comprises a gripper cylinder 1 installed on an external robot, two gripper jaws 2 are installed on the gripper cylinder 1, each screw of the gripper jaw 2 is connected with an installation block 3, the installation block 3 is far away from one end of the gripper jaw 2 and vertically installed with a fixed sleeve 4, a blind hole 5 with a downward hole opening is coaxially installed on the fixed sleeve 4, a column section 6 is coaxially slidably engaged with the blind hole 5, the axial length of the elastic chuck is smaller than the hole depth of the blind hole 5, so that the column section 6 has a sliding space in the blind hole 5, a circular table section 7 is coaxially installed on the column section 6, the column section 6 and the circular table section 7 form an elastic chuck, a conical groove 8 for slidably engaging the circular table section 7 and adapting to the shape of the circular table section 7 is coaxially installed on the fixed sleeve 4, and a conical groove extending into the column section 6 is coaxially installed on the circular table section 7, A blind hole type clamping hole 9, a plurality of notches 10 are arranged on the circumferential surface of the circular platform section 7 along the axial direction of the circular platform section in an array mode, the notches 10 are communicated with the clamping hole 9, a micro air cylinder 11 is vertically arranged on the mounting block 3, an air cylinder rod of the micro air cylinder 11 penetrates through the mounting block 3, the fixing sleeve 4 and the column section 6 in a sliding mode and extends into the clamping hole 9, a limiting block 12 is fixedly connected to one end of the micro air cylinder 11 penetrating into the clamping hole 9, the limiting block 12 abuts against the bottom surface of the clamping hole 9, when the air cylinder rod of the micro air cylinder 11 contracts, the limiting block 12 pulls the column section 6 to slide in the blind hole 5, a connecting column 13 is coaxially clamped in a sliding mode in the clamping hole 9, a chamfer is arranged at one end of the connecting column 13 penetrating into the clamping hole 9 and is convenient for the connecting column 13 to be quickly inserted into the clamping hole 9, a clamping jaw support 14 is arranged on the connecting, two grip blocks 15 are equipped with the V-arrangement groove 16 of breach form on its opposite side outer wall, be equipped with spacing lug 17 on the spliced pole 13 global, corresponding be equipped with the spacing groove 18 that supplies spacing lug 17 block on the round platform section 7 shaft terminal surface, through the block of spacing lug 17 with spacing groove 18 for spliced pole 13 inserts back in the centre gripping hole 9, two grip blocks 15 can correspond fast.

When the invention is used: when the clamping blocks are installed, firstly, the connecting column is inserted into the clamping holes of the elastic chuck, and is slightly rotated, so that the limiting lug is clamped in the limiting groove, then the micro cylinder is started, the cylinder rod of the micro cylinder retracts, the limiting block pulls the column section, the column section is driven to move towards the direction of the micro cylinder in the blind hole of the fixing sleeve, so that the circular table section slides in the conical groove of the fixing sleeve, because the shape of the circular table section is matched with the conical groove, and the gap is arranged on the circumferential surface of the circular table section, the circular table section can elastically contract towards the radial inner side of the circular table section, so that the inner wall of the clamping hole clamps the connecting column, namely, the quick installation of the clamping blocks is completed, when the shaft parts are clamped, the clamping jaw air cylinder acts, the two clamping jaws are relatively close to each other, so that the two clamping blocks are relatively close to each other, the V-, completing the turnover of the shaft parts.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a removable type robotic arm of tongs, includes clamping jaw cylinder (1), be equipped with two clamping jaws (2) on clamping jaw cylinder (1), its characterized in that, two respectively be connected with installation piece (3) on clamping jaw (2), installation piece (3) are kept away from clamping jaw (2) one end and are vertically installed fixed cover (4), coaxial blind hole (5) that are equipped with drill way down on fixed cover (4), coaxial sliding fit block has column section (6) in blind hole (5), coaxial circular platform section (7) that are equipped with on column section (6), column section (6) and circular platform section (7) constitute an elastic chuck, correspond coaxial being equipped with on fixed cover (4) supply circular platform section (7) sliding fit block, and with conical groove (8) of circular platform section (7) appearance adaptation, coaxial being equipped with on circular platform section (7) extends to conical groove (6), The clamping device comprises a clamping hole (9) in a blind hole form, a plurality of notches (10) are arranged on the circumferential surface of a circular platform section (7) in an axial array mode, a micro air cylinder (11) is vertically arranged on an installation block (3), an air cylinder rod of the micro air cylinder (11) penetrates through the installation block (3), a fixed sleeve (4) and a column section (6) in a sliding mode and extends into the clamping hole (9), a limiting block (12) is fixedly connected to one end of the micro air cylinder (11) penetrating into the clamping hole (9), the limiting block (12) abuts against the bottom surface of the clamping hole (9), when the air cylinder rod on the micro air cylinder (11) contracts, the column section (6) is pulled by the limiting block (12) to slide in a blind hole (5), a connecting column (13) is coaxially clamped in the clamping hole (9) in a sliding mode, clamping jaw supports (14) are arranged on the connecting column (13), and clamping blocks (15) are arranged on the opposite, the two clamping blocks (15) are provided with V-shaped grooves (16) in the form of notches on the outer walls of the opposite sides thereof.

2. The gripper-replaceable robot arm as claimed in claim 1, characterized in that the circumferential surface of the connecting column (13) is provided with a limiting projection (17), and the axial end surface of the corresponding circular platform section (7) is provided with a limiting groove (18) for the limiting projection (17) to be clamped.

3. A gripper-exchangeable robot arm as claimed in claim 1, characterized in that said collet has an axial length smaller than the depth of the blind hole (5).

4. Gripper-exchangeable robot arm according to claim 1, characterized in that said connecting column (13) is chamfered at one end penetrating into the gripping hole (9).

5. Gripper-exchangeable robot arm according to claim 1, characterized in that the mounting block (3) is screwed to the gripping jaw (2).