CN111717648A - Be applied to complicated multi-functional clamp of assembly line and get device - Google Patents
Be applied to complicated multi-functional clamp of assembly line and get device Download PDFInfo
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- CN111717648A CN111717648A CN201910201210.XA CN201910201210A CN111717648A CN 111717648 A CN111717648 A CN 111717648A CN 201910201210 A CN201910201210 A CN 201910201210A CN 111717648 A CN111717648 A CN 111717648A
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- 239000000463 material Substances 0.000 claims description 24
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000000047 product Substances 0.000 description 9
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011265 semifinished product Substances 0.000 description 2
- 239000003522 acrylic cement Substances 0.000 description 1
- 229920000800 acrylic rubber Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229920000058 polyacrylate Polymers 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a complex multifunctional clamping device applied to an assembly line, which comprises the assembly line and a six-shaft robot positioned on one side of the assembly line, wherein a flange plate is fixed on an output arm of the six-shaft robot, a first cylinder is fixed on a first support plate, a pair of first clamping jaws are arranged between the first cylinder and the first support plate, a second cylinder is fixed on a second support plate, a pair of second clamping jaws are arranged between the second cylinder and the second support plate, a pair of suction nozzles are installed on the support plate, and a sucker is installed at one end of each suction nozzle; the assembly line comprises a rack, wherein a conveying belt is arranged in the middle of the rack; a first support frame is arranged on the ground on the same side of the six-axis robot, and a first positioning jig is fixed at the upper end of the first support frame; two second support frames are placed on the workbench, and a second positioning jig is fixed at the upper end of each second support frame; a third positioning jig is also arranged on the workbench; compared with the traditional clamping device, the multifunctional clamping device has the advantage of multiple functions.
Description
Technical Field
The invention relates to the technical field of clamping devices, in particular to a complex multifunctional clamping device applied to a production line.
Background
With the continuous development of the robot technology, more and more robots are applied to the production line production at present, and in order to improve the flexibility of the robots, most of the robots used in the production line production at present are six-axis robots, but the structure of the gripping device installed on the output arm of the six-axis robot is single at present, that is, the existing gripping device can only grip a specific type of product or can only grip a specific part of the same product, so that the defect of single function exists.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the complex multifunctional clamping device applied to the assembly line, which can clamp different types of products or different parts of the same product through the arrangement of the first clamping jaw, the second clamping jaw and the sucking disc, and has the advantage of multiple functions compared with the traditional clamping device.
The complex multifunctional clamping device applied to the assembly line comprises the assembly line and a six-axis robot positioned on one side of the assembly line, wherein a flange plate is fixed on an output arm of the six-axis robot, a first support plate is fixed on one side of the flange plate, a first air cylinder is fixed on the first support plate, a pair of first clamping jaws is arranged between the first air cylinder and the first support plate, one first clamping jaw is fixed with a piston rod of the first air cylinder, and the other first clamping jaw is fixed with the first support plate; a second support plate is fixed on the other side of the flange plate, a second cylinder is fixed on the second support plate, a pair of second clamping jaws is arranged between the second cylinder and the second support plate, one of the second clamping jaws is fixed with a piston rod of the second cylinder, and the other second clamping jaw is fixed with the second support plate; a supporting plate is fixed at the end part of one side of the first supporting plate, which is far away from the first air cylinder, a pair of air suction nozzles are installed on the supporting plate, a sucking disc is installed at one end of each air suction nozzle, the other end of each air suction nozzle is communicated with the air suction end of the vacuum generator through a pipeline, and an adjusting mechanism for adjusting the distance between the two air suction nozzles is arranged between the two air suction nozzles and the supporting plate; the assembly line comprises a rack, wherein a conveying belt is arranged in the middle of the rack, two ends of the conveying belt are respectively rotatably connected with one end of the rack, a workbench is arranged on the rack on two sides of the conveying belt, a motor and a speed reducer are arranged on the rack, an output shaft of the motor is in transmission connection with an input shaft of the speed reducer, and an output shaft of the speed reducer is in transmission connection with the conveying belt; a first support frame is placed on the ground on the same side of the six-axis robot, a first positioning jig which is obliquely arranged is fixed at the upper end of the first support frame, flanges are arranged on two side edges of the first positioning jig at the lowest point, and a material tray is placed on the first positioning jig; two second support frames are placed on the workbench positioned on the same side of the six-axis robot, and a second positioning jig which is obliquely arranged is fixed at the upper end of each second support frame; and a third positioning jig is also arranged on the workbench positioned on the same side of the six-axis robot.
The invention relates to a complex multifunctional clamping device applied to an assembly line, wherein an adjusting mechanism comprises a first elongated hole arranged in a supporting plate, the first elongated hole extends along the length direction of the supporting plate, two air suction nozzles are arranged in the first elongated hole in a penetrating mode, two nuts used for pressing the supporting plate are connected to the outer wall of each air suction nozzle in a threaded mode, and the two nuts on each air suction nozzle are located on the two sides of the supporting plate respectively.
The complex multifunctional clamping device applied to the assembly line is characterized in that one end, facing the suction nozzle, of the sucker is sleeved outside the suction nozzle in an interference fit manner.
The complex multifunctional clamping device applied to the assembly line is characterized in that a pair of second elongated holes are formed in the first support plate, the second elongated holes extend along the length direction of the first support plate, and the first air cylinder and the second elongated holes are fixed through the bolt assembly.
The complex multifunctional clamping device applied to the assembly line is characterized in that a first high-strength adhesive is attached to the inner wall of each first clamping jaw.
The complex multifunctional clamping device applied to the assembly line is characterized in that a pair of third elongated holes are formed in the second support plate, the third elongated holes extend along the length direction of the second support plate, and the second cylinder and the third elongated holes are fixed through a bolt assembly.
The complex multifunctional clamping device applied to the assembly line is characterized in that a second high-strength adhesive is attached to the inner wall of each second clamping jaw.
According to the clamping device, different types of products or different parts of the same product can be clamped through the arrangement of the first clamping jaw, the second clamping jaw and the sucking disc, and compared with a traditional clamping device, the clamping device has the advantage of multiple functions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a six-axis robot;
FIG. 3 is a schematic structural view of the assembled flange, first support plate, first cylinder, first clamping jaw, second support plate, second cylinder, second clamping jaw, support plate, suction nozzle and suction cup;
FIG. 4 is a schematic diagram of a pipeline configuration;
FIG. 5 is a schematic structural view of the assembled first support frame, first positioning jig and tray;
fig. 6 is a schematic structural view of the first support frame and the first positioning jig after assembly;
fig. 7 is a schematic structural view of the second support frame and the second positioning jig after being assembled;
fig. 8 is a schematic structural view of the second support frame and the second positioning jig after assembly.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The complex multifunctional clamping device applied to the assembly line comprises the assembly line 1 and a six-axis robot 2 positioned on one side of the assembly line 1, wherein a flange plate 22 is fixed on an output arm 21 of the six-axis robot 2, a first support plate 23 is fixed on one side of the flange plate 22, a first air cylinder 24 is fixed on the first support plate 23, a pair of first clamping jaws 3 is arranged between the first air cylinder 24 and the first support plate 23, one first clamping jaw 3 is fixed with a piston rod of the first air cylinder 24, and the other first clamping jaw 3 is fixed with the first support plate 23; a second support plate 25 is fixed on the other side of the flange plate 22, a second cylinder 26 is fixed on the second support plate 25, a pair of second clamping jaws 4 is arranged between the second cylinder 26 and the second support plate 25, one of the second clamping jaws 4 is fixed with a piston rod of the second cylinder 26, and the other second clamping jaw 4 is fixed with the second support plate 25; a supporting plate 27 is fixed at the end part of one side of the first support plate 23, which is far away from the first cylinder 24, a pair of suction nozzles 5 are installed on the supporting plate 27, a suction disc 51 is installed at one end of each suction nozzle 5, the other end of each suction nozzle 5 is used for being communicated with the suction end of the vacuum generator through a pipeline, and an adjusting mechanism for adjusting the distance between the two suction nozzles 5 is arranged between the two suction nozzles 5 and the supporting plate 27; the assembly line 1 comprises a rack 11, a conveying belt 12 is arranged in the middle of the rack 11, two ends of the conveying belt 12 are respectively rotatably connected with one end of the rack 11, a workbench 13 is mounted on the rack 11 positioned on two sides of the conveying belt 12, a motor 14 and a speed reducer 15 are mounted on the rack 11, an output shaft of the motor 14 is in transmission connection with an input shaft of the speed reducer 15, and an output shaft of the speed reducer 15 is in transmission connection with the conveying belt 12; a first support frame 6 is placed on the ground on the same side of the six-axis robot 2, a first positioning jig 61 which is obliquely arranged is fixed at the upper end of the first support frame 6, flanges 62 are arranged on two side edges of the first positioning jig 61 at the lowest point, and a material tray 7 is placed on the first positioning jig 61; two second support frames 8 are placed on the workbench 13 positioned on the same side of the six-axis robot 2, and a second positioning jig 81 which is obliquely arranged is fixed at the upper end of each second support frame 8; and a third positioning jig 9 is also arranged on the workbench 13 positioned on the same side of the six-axis robot 2.
The adjusting mechanism comprises a first elongated hole 271 arranged in the support plate 27, the first elongated hole 271 extends along the length direction of the support plate 27, the two suction nozzles 5 are arranged in the first elongated hole 271 in a penetrating manner, two nuts 52 for pressing the support plate 27 are connected to the outer wall of each suction nozzle 5 in a threaded manner, and the two nuts 52 on each suction nozzle 5 are respectively positioned on two sides of the support plate 27; after the adjusting mechanism is adopted, when the distance between the two suction nozzles needs to be adjusted, the nut facing one side of the sucker on each suction nozzle is firstly unscrewed, then the two suction nozzles are moved in the elongated hole, after the two suction nozzles are moved, namely after the distance between the two suction nozzles is adjusted, the nut facing one side of the sucker on each suction nozzle is screwed down.
One end of the sucking disc 51 facing the air suction nozzle 5 is sleeved outside the air suction nozzle 5 in an interference fit manner; after adopting this kind of structure, the sucking disc can conveniently assemble on the suction nozzle, and can conveniently dismantle from the suction nozzle, so, when the sucking disc needs to be changed, can bring the convenience for the dismantlement and the assembly of sucking disc.
The first bracket plate 23 is provided with a pair of second elongated holes 231, the second elongated holes 231 extend along the length direction of the first bracket plate 23, and the first cylinder 24 and the second elongated holes 231 are fixed through a bolt assembly; through adopting this kind of structure after, can adjust the position of first cylinder, so, after first cylinder position adjustment was accomplished, the clamp of the material of different thickness can be realized getting to a pair of first clamping jaw.
A first acrylic rubber 31 is attached to the inner wall of each first clamping jaw 3; through the setting of first dominant force is glued, when first clamping jaw presss from both sides tight material, can increase the frictional force between first clamping jaw and the material, so, first clamping jaw can press from both sides tight material better, can avoid dropping of material, and can avoid first clamping jaw to press from both sides and hinder the material.
A pair of third elongated holes 251 are formed in the second bracket plate 25, the third elongated holes 251 extend along the length direction of the second bracket plate 25, and the second cylinder 26 and the third elongated holes 251 are fixed by a bolt assembly; after adopting this kind of structure, can adjust the position of second cylinder, so, after second cylinder position adjustment was accomplished, the clamp of the material of different thickness can be realized getting to a pair of second clamping jaw.
A second acrylic adhesive 41 is attached to the inner wall of each second clamping jaw 4; through the setting that the second dominant force was glued, when the second clamping jaw presss from both sides tight material, can increase the frictional force between second clamping jaw and the material, so, the second clamping jaw can press from both sides tight material better, can avoid dropping of material, and can avoid the second clamping jaw to press from both sides and hinder the material.
As shown in fig. 1, firstly, a plastic sucking disc filled with materials is placed on an inclined positioning jig, the plastic sucking disc can be abutted against the edge of the positioning jig by utilizing gravitational potential energy, and similarly, the materials can also be abutted against the edge of the plastic sucking disc, so that the gap between the materials on the plastic sucking disc and the plastic sucking disc is eliminated, and the accurate positioning of a product is completed;
six axis robot at first absorbs the material in the charging tray through the sucking disc, perhaps press from both sides the material in the charging tray through first clamping jaw clamp, or press from both sides the material in the charging tray through the second clamping jaw again, then place the material on the second positioning jig, on grabbing the material of installing in the third positioning jig with the semi-manufactured goods on the second positioning jig after that, form semi-manufactured goods, on placing the fourth positioning jig with the first semi-manufactured goods of third positioning jig after that, place the material in the fourth positioning jig on the conveyer belt at last again, carry out next station work, it puts back the initial point and prepares next action circulation to press from both sides the device. The invention relates to a station unit in an assembly line, which can be repeatedly arranged on the assembly line, for example, a semi-finished product on a first positioning jig can be placed by a robot on the previous station, for example, a semi-finished product on a third positioning jig can be grabbed by a robot on the next station to be installed or detected on the positioning jig, and the steps are repeated so as to achieve the effect of replacing a large amount of labor force on the assembly line.
According to the clamping device, different types of products or different parts of the same product can be clamped through the arrangement of the first clamping jaw, the second clamping jaw and the sucking disc, and compared with a traditional clamping device, the clamping device has the advantage of multiple functions.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a be applied to complicated multi-functional clamp of assembly line and get device, includes assembly line (1) and six robots (2) that are located assembly line (1) one side, its characterized in that: a flange plate (22) is fixed on an output arm (21) of the six-axis robot (2), a first support plate (23) is fixed on one side of the flange plate (22), a first air cylinder (24) is fixed on the first support plate (23), a pair of first clamping jaws (3) is arranged between the first air cylinder (24) and the first support plate (23), one first clamping jaw (3) is fixed with a piston rod of the first air cylinder (24), and the other first clamping jaw (3) is fixed with the first support plate (23); a second support plate (25) is fixed to the other side of the flange plate (22), a second cylinder (26) is fixed to the second support plate (25), a pair of second clamping jaws (4) is arranged between the second cylinder (26) and the second support plate (25), one of the second clamping jaws (4) is fixed to a piston rod of the second cylinder (26), and the other second clamping jaw (4) is fixed to the second support plate (25); a supporting plate (27) is fixed at the end part of one side, away from the first air cylinder (24), of the first supporting plate (23), a pair of air suction nozzles (5) are mounted on the supporting plate (27), a sucking disc (51) is mounted at one end of each air suction nozzle (5), the other end of each air suction nozzle (5) is communicated with the air suction end of the vacuum generator through a pipeline, and an adjusting mechanism for adjusting the distance between the two air suction nozzles (5) is arranged between the two air suction nozzles (5) and the supporting plate (27); the production line (1) comprises a rack (11), a conveying belt (12) is arranged in the middle of the rack (11), two ends of the conveying belt (12) are respectively rotatably connected with one end of the rack (11), a workbench (13) is arranged on the rack (11) on two sides of the conveying belt (12), a motor (14) and a speed reducer (15) are arranged on the rack (11), an output shaft of the motor (14) is in transmission connection with an input shaft of the speed reducer (15), and an output shaft of the speed reducer (15) is in transmission connection with the conveying belt (12); a first support frame (6) is placed on the ground on the same side of the six-axis robot (2), a first positioning jig (61) which is obliquely arranged is fixed at the upper end of the first support frame (6), flanges (62) are arranged on two side edges of the first positioning jig (61) at the lowest point, and a material tray (7) is placed on the first positioning jig (61); two second support frames (8) are arranged on the workbench (13) positioned on the same side of the six-axis robot (2), and a second positioning jig (81) which is obliquely arranged is fixed at the upper end of each second support frame (8); and a third positioning jig (9) is also arranged on the workbench (13) positioned on the same side of the six-axis robot (2).
2. The complex multifunctional clamping device applied to the production line as claimed in claim 1, wherein the adjusting mechanism comprises a first elongated hole (271) arranged in the support plate (27), the first elongated hole (271) extends along the length direction of the support plate (27), two air suction nozzles (5) are arranged in the first elongated hole (271) in a penetrating manner, two nuts (52) for pressing the support plate (27) are connected to the outer wall of each air suction nozzle (5) in a threaded manner, and the two nuts (52) on each air suction nozzle (5) are respectively located on two sides of the support plate (27).
3. The complex multifunctional clamping device applied to the production line as claimed in claim 1 or 2, wherein one end of the sucking disc (51) facing to the suction nozzle (5) is sleeved outside the suction nozzle (5) in an interference fit manner.
4. The complex multi-function gripping device applied to a production line as claimed in claim 1, wherein the first support plate (23) is provided therein with a pair of second elongated holes (231), the second elongated holes (231) extending along a length direction of the first support plate (23), and the first cylinder (24) and the second elongated holes (231) are fixed by a bolt assembly.
5. The complex multifunctional clamping device applied to the production line as in claim 1 or 4, characterized in that the inner wall of each first clamping jaw (3) is adhered with a first high-strength adhesive (31).
6. The complex multifunctional clamping device applied to the production line as claimed in claim 1, wherein a pair of third elongated holes (251) are provided in the second bracket plate (25), the third elongated holes (251) extend along the length direction of the second bracket plate (25), and the second cylinder (26) and the third elongated holes (251) are fixed by a bolt assembly.
7. The complex multifunctional clamping device applied to the production line as in claim 1 or 6, wherein each second clamping jaw (4) is attached with a second high-performance adhesive (41) on the inner wall.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910201210.XA CN111717648A (en) | 2019-03-18 | 2019-03-18 | Be applied to complicated multi-functional clamp of assembly line and get device |
| PCT/CN2019/123792 WO2020186831A1 (en) | 2019-03-18 | 2019-12-06 | Complex multi-functional gripping device for assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910201210.XA CN111717648A (en) | 2019-03-18 | 2019-03-18 | Be applied to complicated multi-functional clamp of assembly line and get device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111717648A true CN111717648A (en) | 2020-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910201210.XA Pending CN111717648A (en) | 2019-03-18 | 2019-03-18 | Be applied to complicated multi-functional clamp of assembly line and get device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111717648A (en) |
| WO (1) | WO2020186831A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799103A (en) * | 2021-10-29 | 2021-12-17 | 苏州福菁浩自动化科技有限公司 | Product carrying manipulator |
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| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
| CN209615553U (en) * | 2019-03-18 | 2019-11-12 | 惠州中科先进制造研究中心有限公司 | A kind of six-joint robot flexible grabbing device applied to assembly production chain |
| CN209651384U (en) * | 2019-03-18 | 2019-11-19 | 惠州中科先进制造研究中心有限公司 | A kind of complicated Multifunction clamping device applied to assembly line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799103A (en) * | 2021-10-29 | 2021-12-17 | 苏州福菁浩自动化科技有限公司 | Product carrying manipulator |
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| WO2020186831A1 (en) | 2020-09-24 |
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