CN112643694B - Anchor clamps and material loading robot - Google Patents
Anchor clamps and material loading robot Download PDFInfo
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- CN112643694B CN112643694B CN202011376252.6A CN202011376252A CN112643694B CN 112643694 B CN112643694 B CN 112643694B CN 202011376252 A CN202011376252 A CN 202011376252A CN 112643694 B CN112643694 B CN 112643694B
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- 239000000463 material Substances 0.000 title abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000000712 assembly Effects 0.000 claims abstract description 25
- 238000000429 assembly Methods 0.000 claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract
The invention provides a clamp and a feeding robot. The clamp includes: the clamping jaw assemblies are arranged at intervals along a first direction, the clamping jaw assemblies are used for clamping a workpiece to be clamped, and at least two clamping jaw assemblies move synchronously; a first connecting member; the tolerance mechanisms are arranged on the first connecting piece and correspond to the clamping jaw assemblies; the jaw assembly is coupled to a portion of the tolerance mechanism and is movably disposed in a second direction relative to at least a portion of the tolerance mechanism. The technical scheme of the invention can easily realize high unification of materials.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a clamp and a feeding robot.
Background
In modern society, the 4.0 th era of industry is coming, and it is especially important for the automatic development of material loading robot, and in the automatic material loading process, the position of anchor clamps is confirmed, the action of clamping jaw is unanimous and is crucial to realizing automatic material loading because the realization process of automatic material loading is the process that anchor clamps repeatedly moved at the end of the root. In industrial production, automatic feeding is the first step and is the most critical step, and the automatic feeding of subsequent industrial production steps can be guaranteed only when the feeding positions are consistent.
The clamp of the common feeding robot has the tasks of clamping, carrying and placing workpieces to be clamped, and comprises a clamping jaw and a connecting piece, wherein the clamping jaw is fixedly connected with the connecting piece, namely, the relative position of the clamping jaw and the connecting piece is fixed; however, in actual production, for different workpieces, the situation that the materials are placed irregularly or at different heights may occur, and since the clamping positions of the clamps are relatively fixed, when the materials are respectively and simultaneously clamped by the plurality of clamping jaws on the clamps, the materials clamped by the plurality of clamping jaws may have the situation that the heights are not uniform, so that the automation of the subsequent industrial production steps is difficult to realize.
Therefore, it is desirable to provide a jig which can easily achieve a high uniformity of materials.
Disclosure of Invention
The invention mainly aims to provide a clamp and a feeding robot, which can easily realize high uniformity of materials.
In order to achieve the above object, according to one aspect of the present invention, there is provided a jig comprising: the clamping jaw assemblies are arranged at intervals along a first direction, the clamping jaw assemblies are used for clamping a workpiece to be clamped, and at least two clamping jaw assemblies move synchronously; a first connecting member; the tolerance mechanisms are arranged on the first connecting piece and correspond to the clamping jaw assemblies; the jaw assembly is coupled to a portion of the tolerance mechanism and is movably disposed in a second direction relative to at least a portion of the tolerance mechanism.
Further, the tolerance mechanism includes: the guide post is connected with the first connecting piece; and a sliding part which is movably arranged in the second direction relative to the guide post, wherein the clamping jaw assembly is connected with the sliding part.
Further, the tolerance mechanism further comprises a second connector disposed on the guide post, and the sliding member is connected to the jaw assembly through the second connector.
Further, the tolerance mechanism further comprises a third connecting piece arranged on the guide post, and the guide post is connected with the first connecting piece through the third connecting piece.
Further, the tolerance mechanism comprises two third connecting pieces, and two opposite ends of the guide column are connected with the first connecting piece through the two third connecting pieces.
Further, the tolerance mechanism comprises a plurality of guide posts and a plurality of sliding components, the plurality of sliding components and the plurality of guide posts are arranged in a one-to-one correspondence mode, and the plurality of sliding components are connected with one second connecting piece.
Further, the sliding part comprises a linear bearing sleeved on the periphery of the guide post.
Further, the jaw assembly comprises: the clamping jaw is used for clamping a workpiece to be clamped; a connection structure by which the clamping jaw is connected to part of the tolerance mechanism, the clamping jaw being movably arranged in a second direction relative to at least part of the connection structure.
Furthermore, the connecting structure is provided with a plurality of threaded holes arranged at intervals along the second direction, and the clamping jaw is connected with the connecting structure through a locking piece; or the connecting structure comprises a slide rail fixedly connected with the slide part and one or more slide blocks which are matched with the slide rail in a sliding way and arranged at intervals along the second direction, and each slide block is connected with at least one clamping jaw; alternatively, the jaws are pneumatic fingers.
According to another aspect of the present invention, there is provided a loading robot including: a mounting base; the mechanical arm is arranged on the mounting seat; the clamp is arranged at one end, far away from the mounting base, of the mechanical arm, the clamp is the clamp, the first connecting piece is connected with the mechanical arm, and the first connecting piece is arranged between the mechanical arm and the tolerance mechanism.
By applying the technical scheme of the invention, the clamping jaw assembly is connected with the first connecting piece through the tolerance mechanism, and the clamping jaw assembly can move in the second direction relative to at least part of the tolerance mechanism, so that the clamping jaw assembly can move in the second direction relative to the first connecting piece, and the workpieces to be clamped and clamped and clamped by the two clamping jaw assemblies can move in the second direction under the action of external force, so that the heights of the two workpieces to be clamped and clamped are uniform, and the guarantee is provided for realizing the automation of the subsequent production steps. According to the technical scheme, the tolerance mechanism is arranged between the first connecting piece and the clamping jaw assembly, so that the relative position between the clamping jaw assembly and the first connecting piece is adjustable, the clamping jaw assembly is clamped to clamp a workpiece to be clamped, the height can be still adjusted, and the height uniformity of materials can be easily realized.
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 shows a perspective view of an embodiment of a clamp according to the present invention;
FIG. 2 shows a front view of the clamp of FIG. 1;
FIG. 3 shows a left side view of the clamp of FIG. 1;
FIG. 4 shows a top view of the clamp of FIG. 1;
FIG. 5 shows a schematic view of the arrangement of the first connection member and tolerance mechanism connection of the fixture of FIG. 1;
FIG. 6 shows a left side view of FIG. 5; and
fig. 7 shows a top view of fig. 5.
Wherein the figures include the following reference numerals:
10. a jaw assembly; 11. a clamping jaw; 12. a connecting structure; 13. a slide rail; 14. a slider; 20. a first connecting member; 30. a tolerance mechanism; 31. a guide post; 32. a sliding member; 33. a second connecting member; 34. a third connecting member; 40. a fourth connecting member; 50. a clamp; 100. and clamping the workpiece.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present invention, unless stated to the contrary, the use of directional terms such as "upper, lower, top, bottom" or the like, generally refers to the orientation of the components as shown in the drawings, or to the vertical, perpendicular, or gravitational orientation of the components themselves; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.
The invention provides a clamp and a feeding robot, and aims to solve the problem that materials clamped by a plurality of clamping jaws are possibly nonuniform in height due to the fact that the clamping jaws of the clamp are fixedly connected with a connecting piece.
As shown in fig. 1 to 4, in the embodiment of the present invention, the clamping apparatus includes two clamping jaw assemblies 10, a first connecting member 20 and two tolerance mechanisms 30, the two clamping jaw assemblies 10 are arranged at intervals along a first direction, the clamping jaw assemblies 10 are used for clamping a workpiece 100 to be clamped, and the two clamping jaw assemblies 10 move synchronously; the two tolerance mechanisms 30 are arranged on the first connecting piece 20, and the two tolerance mechanisms 30 are arranged corresponding to the two clamping jaw assemblies 10; the jaw assembly 10 is connected to a portion of the tolerance mechanism 30 and is movably disposed in a second direction relative to at least a portion of the tolerance mechanism 30.
In the above arrangement, the clamping jaw assembly 10 is connected to the first connecting member 20 through the tolerance mechanism 30, and since the clamping jaw assembly 10 is movable in the second direction relative to at least a part of the tolerance mechanism 30, the clamping jaw assembly 10 is movable in the second direction relative to the first connecting member 20, so that the workpiece 100 to be gripped and gripped by the two clamping jaw assemblies 10 can be moved in the second direction under the action of external force, thereby unifying the heights of the two workpieces 100 to be gripped and providing a guarantee for automation of the subsequent production steps. According to the technical scheme, the tolerance mechanism 30 is arranged between the first connecting piece 20 and the clamping jaw assembly 10, so that the relative position between the clamping jaw assembly 10 and the first connecting piece 20 is adjustable, the clamping jaw assembly 10 can still be adjusted in height after clamping the workpiece 100, and the height uniformity of materials can be easily realized.
In the technical solution of the present application, the tolerance mechanism 30 on the fixture can be applied to different fixtures. As shown in fig. 1 to 4, in the embodiment of the present invention, the workpiece 100 to be gripped is a liquid collecting pipe. The characteristics of collector tube mainly lie in that the copper pipe is very long, it is inaccurate to easily appear centre gripping position when material loading robot drives anchor clamps clamp and gets the collector tube, press from both sides the back collector tube and appear the difference in height, highly non-uniform problem easily appears under the synchronous material loading (two and above collector tube on one time) circumstances, through the technical scheme of this application, carry the supreme material level with the collector tube behind the anchor clamps centre gripping collector tube, tolerance mechanism 30 through the anchor clamps cooperates the height-fixing board of material loading level, highly adjust the collector tube, can easily unify the height of two collector tubes, the material loading level of being convenient for like this connects the material and carries out follow-up action. Of course, in alternative embodiments of the present application, different workpieces (e.g., round, square, or other irregularly shaped workpieces) may be gripped.
Preferably, as shown in fig. 1 to 4, in the embodiment of the present invention, the tolerance mechanism 30 is disposed in one-to-one correspondence with the clamping jaw assemblies 10, and the clamping jaw assemblies 10 can move independently relative to the first connecting member 20 through the tolerance mechanism 30, so that the height of each workpiece 100 to be clamped can be adjusted separately, the adaptability of the clamp is improved, and the effectiveness of uniform material height is ensured.
Preferably, the first connecting member 20 may have a plate-shaped structure.
Preferably, as shown in fig. 1, in the embodiment of the present invention, the first direction is perpendicular to the second direction, so that interference can be avoided. Of course, in an alternative embodiment not shown in the drawings of the present application, the included angle between the first direction and the second direction may be an acute angle or an obtuse angle according to actual needs.
Of course, in an alternative embodiment not shown in the drawings of the present application, it is also possible to make the clamp include more than two jaw assemblies 10, where at least two jaw assemblies 10 move synchronously, according to the actual needs; also, the jig is made to include two or more tolerance mechanisms 30.
As shown in fig. 1 to 3, 5 and 6, in the embodiment of the present invention, the tolerance mechanism 30 includes a guide post 31 and a slide member 32, the guide post 31 being connected to the first connecting member 20; the slide member 32 is movably arranged in a second direction with respect to the guide post 31, wherein the jaw assembly 10 is connected to the slide member 32. The jaw assembly 10 is movably arranged in the second direction relative to the guide column 31 through the sliding part 32, so that the jaw assembly 10 is movably arranged in the second direction relative to the first connecting piece 20, the relative position between the jaw assembly 10 and the first connecting piece 20 is adjustable, and the high uniformity of the materials can be easily realized. The guide column 31 is matched with the sliding part 32, and the structure is simple.
Preferably, in the embodiment of the present invention, the sliding member 32 includes a linear bearing that is fitted around the outer circumference of the guide post 31. The movement of the sliding member 32 in the second direction relative to the guide post 31 is achieved by means of a linear bearing. Of course, in alternative embodiments not shown in the drawings of the present application, it is also possible to use oilless bushings as the sliding member 32, according to the actual needs.
Preferably, as shown in fig. 1, 3-7, in the embodiment of the present invention, the guiding column 31 is provided separately from the first connecting member 20, and the sliding member 32 is provided separately from the clamping jaw assembly 10, so as to facilitate installation, disassembly, maintenance and replacement. Of course, in an alternative embodiment not shown in the drawings of the present application, the guide column 31 may be integrally formed with the first connecting member 20 according to actual needs; alternatively, the slide member 32 may be integrally formed with the jaw assembly 10.
As shown in fig. 1-3, 5 and 6, in an embodiment of the present invention, the tolerance mechanism 30 further includes a second connector 33 disposed on the guide post 31, and the sliding member 32 is connected to the jaw assembly 10 through the second connector 33. The sliding part 32 moves in the second direction relative to the guide column 31, the sliding part 32 drives the second connecting piece 33 to move, and drives the clamping jaw assembly 10 to move in the second direction through the second connecting piece 33, the connection and transmission between the sliding part 32 and the clamping jaw assembly 10 are more stable through the second connecting piece 33, and the clamping jaw assembly 10 can be conveniently driven to move.
Preferably, the second connector 33 may have a plate-shaped structure. The second link 33 having a plate-like structure is disposed on the outer circumference of the guide post 31, and since the second link 33 is slidable with respect to the guide post 31 along with the slide member 32, disposing the second link 33 on the outer circumference of the guide post 31 can improve the stability of the connection between the second link 33 and the guide post 31.
As shown in fig. 1 to 7, in the embodiment of the present invention, the tolerance mechanism 30 further includes a third connecting member 34 disposed on the guide post 31, and the guide post 31 is connected to the first connecting member 20 through the third connecting member 34. Since the guiding column 31 and the first connecting member 20 in the embodiment of the present invention are separately arranged, the third connecting member 34 is provided to facilitate the connection between the guiding column 31 and the first connecting member 20, and the structure is simple and easy to assemble.
Preferably, the third connector 34 may have a plate-shaped structure.
As shown in fig. 1 to 3, 5 and 6, in the embodiment of the present invention, the tolerance mechanism 30 includes two third connecting members 34, and the opposite ends of the guide column 31 are connected to the first connecting member 20 through the two third connecting members 34. The two opposite ends of the guide post 31 are correspondingly connected with the two third connecting pieces 34 one by one, so that the guide post 31 is stably connected with the first connecting piece 20, the guide post 31 is arranged between the two third connecting pieces 34, and the sliding part 32 is movably arranged relative to the guide post 31. The two third connecting pieces 34 limit the limit position of the sliding part 32 moving relative to the guide post 31, so that the sliding part 32 moves relative to the guide post 31 within a certain range, and in addition, the two third connecting pieces 34 can prevent the sliding part 32 from sliding out of the guide post 31, thereby ensuring the connection stability of the sliding part 32 and the guide post 31.
As shown in fig. 5, in the embodiment of the present invention, the tolerance mechanism 30 includes two guide posts 31 and two sliding members 32, the two sliding members 32 are disposed in one-to-one correspondence with the two guide posts 31, and each of the two sliding members 32 is connected to one second connecting member 33. If a guide post 31 and a sliding member 32 are provided, the sliding member 32 is easily rotated around the central axis of the guide post 31 relative to the guide post 31, so as to rotate the second connecting member 33 and the clamping jaw assembly 10, and the position of the clamping jaw assembly 10 is unstable; in the embodiment of the present invention, two guide posts 31 and two sliding parts 32 are provided, so that the sliding parts 32 can be prevented from rotating around the central axis of the guide posts 31, the sliding parts 32 can only move linearly along the central axis of the guide posts 31 relative to the guide posts 31, and the two sliding parts 32 are connected to the clamping jaw assembly 10 through one second connecting piece 33, so as to ensure the stable position of the clamping jaw assembly 10 and easily realize the high uniformity of the materials.
Further, the sliding member 32 of the tolerance mechanism 30 is slidable relative to the guide post 31, and the relative resistance between the sliding member 32 and the guide post 31 is small, so that the workpiece is not damaged during adjustment, the adjustment is facilitated, and no human intervention is required.
Of course, in an alternative embodiment not shown in the drawings of the present application, the tolerance mechanism 30 may also include more than two guiding columns 31 and more than two sliding members 32 according to actual needs, the guiding columns 31 and the sliding members 32 are arranged in a one-to-one correspondence, and the more than two sliding members 32 are connected with one second connecting member 33.
As shown in fig. 1 to 4, in the embodiment of the present invention, the jaw assembly 10 includes a jaw 11 and a connecting structure 12, the jaw 11 is used for clamping a workpiece 100 to be clamped, the jaw 11 is connected with a part of the tolerance mechanism 30 through the connecting structure 12, and the jaw 11 is movably arranged in the second direction relative to at least a part of the connecting structure 12.
In the above arrangement, the connecting structure 12 is connected with the second connecting piece 33 of the tolerance mechanism 30, and the clamping jaw 11 is connected with the second connecting piece 33 through the connecting structure 12, so that the clamping jaw 11 can move along with the second connecting piece 33 and the sliding part 32 relative to the guide column 31 along the second direction, and the height uniformity of the materials can be easily realized; the clamping jaw 11 is movable in the second direction relative to at least part of the connecting structure 12, so that the relative position between the clamping jaw 11 and at least part of the connecting structure 12 is adjustable, and the relative position between the clamping jaw 11 and at least part of the connecting structure 12 can be adjusted according to actual needs, so that the clamping jaw 11 can clamp the workpiece 100 to be clamped more conveniently, and the clamping effect of the clamping jaw 11 is more stable.
Preferably, as shown in fig. 1 to 3, in an embodiment of the present invention, the jaw assembly 10 includes two jaws 11 spaced apart along the second direction, both jaws 11 being connected to the connecting structure 12 and both being movable in the second direction relative to at least part of the connecting structure 12. The two clamping jaws 11 cooperate to clamp a workpiece 100 to be clamped, and since the two clamping jaws 11 are both movable relative to at least part of the connecting structure 12, the distance between the two clamping jaws 11 can be adjusted according to actual needs (such as the size of the workpiece 100 to be clamped), so that the two clamping jaws 11 can conveniently clamp the workpiece 100 to be clamped, and a stable clamping effect can be obtained. Of course, in an alternative embodiment not shown in the drawings of the present application, it is also possible to make the jaw assembly 10 include two or more jaws 11 spaced apart in the second direction on the connecting structure 12, according to practical needs, at least part of the two or more jaws 11 being movably arranged in the second direction with respect to at least part of the connecting structure 12.
Preferably, the jaws 11 may be pneumatic fingers.
Preferably, in the embodiment of the present invention, the connecting structure 12 is provided with a plurality of threaded holes spaced apart along the second direction, and the clamping jaw 11 is connected with the connecting structure 12 through a locking member.
The clamping jaw 11 can be matched with one of the threaded holes on the connecting structure 12 through the locking piece to realize the connection between the clamping jaw 11 and the connecting structure 12, and the adjustment of the relative position between the clamping jaw 11 and the connecting structure 12 can be realized through the matching of the locking piece and different threaded holes, so that the purpose that the clamping jaw 11 can move relative to at least part of the connecting structure 12 along the second direction is realized.
In the embodiment of the present invention, as shown in fig. 3 and 4, the connecting structure 12 includes a slide rail 13 fixedly connected to the slide member 32 and two sliders 14 slidably engaged with the slide rail 13 and spaced apart from each other in the second direction, and each slider 14 is connected to one of the clamping jaws 11. The slide rail 13 is fixedly connected with the second connecting piece 33, so that the slide rail 13 is fixedly connected with the sliding part 32, and the sliding part 32 can drive the slide rail 13 to move along the second direction, so as to drive the sliding block 14, the clamping jaw 11 and the workpiece 100 to be clamped to move; the two sliding blocks 14 are connected with the two clamping jaws 11 in a one-to-one correspondence manner, the two sliding blocks 14 are in sliding fit with the sliding rails 13, and the two clamping jaws 11 can slide relative to the sliding rails 13 along the second direction under the driving of the sliding blocks 14, so that the purpose that the clamping jaws 11 can move relative to at least part of the connecting structures 12 is achieved.
Of course, in an alternative embodiment not shown in the drawings of the present application, the connecting structure 12 may further include more than two sliding blocks 14 slidably engaged with the sliding rail 13 and spaced along the second direction according to actual needs; or, a part of the sliding blocks 14 of the connecting structure 12 is fixedly connected with the sliding rails 13, and the other part of the sliding blocks 14 of the connecting structure 12 is in sliding fit with the sliding rails 13. Of course, in an alternative embodiment not shown in the drawings of the present application, each slide 14 may be connected to more than one clamping jaw 11 according to actual needs, so as to improve the clamping stability of the workpiece 100 to be clamped.
Preferably, as shown in fig. 1, 3 and 4, in the embodiment of the present invention, the clamp further includes a fourth connector 40, and the connecting structure 12 is connected to the second connector 33 through the fourth connector 40. This arrangement facilitates the connection between the connection structure 12 and the second connector 33. Preferably, the fourth connector 40 may have a plate-shaped structure. Specifically, the slide rail 13 of the connecting structure 12 is connected with the second connecting member 33 through the fourth connecting member 40, and the fourth connecting member 40 and the sliding block 14 are disposed on two opposite sides of the slide rail 13, so that interference can be avoided, and arrangement is convenient.
The embodiment of the invention takes copper pipe clamping in the air conditioning industry as an example, and the clamping jaws 11 used by the clamping jaw assembly 10 are pneumatic fingers, so that the copper pipe is clamped in a closed state to achieve the transplanting effect. The tolerance mechanism 30 can be used in different industries, and is applicable to the situation that the heights of the materials are uniform after automatic feeding and are not uniform before feeding.
The embodiment of the invention also provides a loading robot, which comprises a mounting seat, a mechanical arm and a clamp 50, wherein the mechanical arm is arranged on the mounting seat, the clamp 50 is arranged at one end of the mechanical arm far away from the mounting seat, the clamp 50 is the clamp, the first connecting piece 20 is connected with the mechanical arm, and the first connecting piece 20 is arranged between the mechanical arm and the tolerance mechanism 30.
In the above arrangement, the mounting base supports the mechanical arm, and the mechanical arm drives the clamp 50, so that the clamp 50 can conveniently clamp the workpiece 100 to be clamped; the first connecting piece 20 of the clamp 50 is connected with the mechanical arm, so that the aim of connecting the clamp 50 with the mechanical arm is fulfilled; the clamping jaw assembly 10 is connected with the first connecting piece 20 through the tolerance mechanism 30, and due to the arrangement of the tolerance mechanism 30, the clamping jaw assembly 10 can move in the second direction relative to the first connecting piece 20, that is, the clamping jaw assembly 10 can move in the second direction relative to the mechanical arm, so that the workpiece 100 to be gripped by the clamping jaw assembly 10 can move in the second direction relative to the mechanical arm, the height of the workpiece 100 to be gripped can be adjusted, and the height uniformity of materials can be realized easily.
Because the material loading robot of this application has the anchor clamps of this application, consequently the material loading robot of this application also has the above-mentioned advantage of the anchor clamps of this application, and this is no longer repeated here.
In actual production, if deviation occurs in feeding, conditions such as poor machined products, high defective frequency and the like are likely to occur, and the qualification rate of equipment is indirectly influenced; because the clamping jaws and the connecting pieces of the clamp in actual production are fixedly connected, if the materials are placed irregularly or are not uniform in height, after the materials are clamped by the clamp, the height of the clamped materials can be adjusted by using a height-fixing plate (the height-fixing plate is a platform for unifying the height of the materials) because the materials are likely to have height errors, and the materials are required to be positioned again for secondary positioning; however, the relative positions of the clamping jaw, the connecting piece and one end of the mechanical arm connected with the connecting piece are fixed, so that all materials are difficult to contact with the height-fixing plate, that is, the materials are difficult to be highly unified, and the effect of highly unifying the materials cannot be ensured.
According to the technical scheme, the height fixing plate in the feeding system is matched, so that the problem that the height of the workpieces cannot be unified by automatically adjusting after the workpieces to be clamped are clamped by the clamp is solved; specifically, in the technical scheme of the application, the tolerance mechanism 30 is arranged between the first connecting piece 20 and the clamping jaw assembly 10, the clamping jaw assembly 10 is movable in the second direction relative to the first connecting piece 20 through the tolerance mechanism 30, even if clamping positions of different clamping jaw assemblies 10 are different when clamping the workpiece 100 to be clamped, the heights of the different clamping jaw assemblies 10 clamping the workpiece 100 to be clamped are not uniform, the heights of the workpieces 100 to be clamped can be adaptively adjusted through the tolerance mechanism 30 under the action of a height-fixing plate to compensate for the height difference, the height error caused by clamping is offset, the workpiece height uniformity in the feeding process is ensured, that is, the height uniformity of materials can be easily realized through the tolerance mechanism 30. By the technical scheme, the feeding is convenient and quick, the installation and debugging operations of the tolerance mechanism 30 are simple, and convenience is brought to production; the height self-adaptive adjustment of the materials can be realized through the tolerance mechanism 30, the application is wide, the effect is obvious, the danger caused by manual intervention is avoided, the qualification rate of the equipment is guaranteed, and the yield of the equipment is improved.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the clamping jaw assembly is connected with the first connecting piece through the tolerance mechanism, and the clamping jaw assembly is movable in the second direction relative to at least part of the tolerance mechanism, so that the clamping jaw assembly is movable in the second direction relative to the first connecting piece, and therefore, under the action of external force, the workpieces to be clamped and clamped can move in the second direction, so that the two workpieces to be clamped and clamped are uniform in height, and the automation of subsequent production steps is guaranteed. According to the technical scheme, the tolerance mechanism is arranged between the first connecting piece and the clamping jaw assembly, so that the relative position between the clamping jaw assembly and the first connecting piece is adjustable, the clamping jaw assembly is clamped to clamp a workpiece to be clamped, the height can be still adjusted, and the height uniformity of materials can be easily realized.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
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 (7)
1. A clamp, comprising:
the clamping jaw assembly comprises a plurality of clamping jaw assemblies (10) which are arranged at intervals along a first direction, the clamping jaw assemblies (10) are used for clamping a workpiece (100) to be clamped, and at least two clamping jaw assemblies (10) move synchronously;
a first connecting member (20);
a plurality of tolerance mechanisms (30) arranged on the first connecting piece (20), wherein the plurality of tolerance mechanisms (30) are arranged corresponding to the plurality of clamping jaw assemblies (10); the clamping jaw assembly (10) is connected with part of the tolerance mechanism (30) and is movably arranged in a second direction relative to at least part of the tolerance mechanism (30);
the tolerance mechanism (30) comprises:
a guide post (31) connected to the first connecting member (20);
a sliding part (32) movably arranged in a second direction relative to the guide post (31), wherein the clamping jaw assembly (10) is connected with the sliding part (32);
the jaw assembly (10) comprises:
the clamping jaw (11) is used for clamping the workpiece (100) to be clamped;
-a connection structure (12), by means of which connection structure (12) the clamping jaw (11) is connected with part of the tolerance mechanism (30), the clamping jaw (11) being movably arranged in a second direction with respect to at least part of the connection structure (12);
the tolerance mechanism (30) further comprises a third connecting piece (34) arranged on the guide column (31), and the guide column (31) is connected with the first connecting piece (20) through the third connecting piece (34);
the connecting structure (12) comprises a sliding rail (13) fixedly connected with the sliding part (32) and one or more sliding blocks (14) matched with the sliding rail (13) in a sliding mode and arranged at intervals along the second direction, and each sliding block (14) is connected with at least one clamping jaw (11).
2. Clamp according to claim 1, wherein said tolerance mechanism (30) further comprises a second connection (33) provided on said guide post (31), said sliding member (32) being connected to said jaw assembly (10) through said second connection (33).
3. Clamp according to claim 1 or 2, wherein said tolerance means (30) comprise two of said third connectors (34), the opposite ends of said guide posts (31) being connected to said first connector (20) by means of two of said third connectors (34).
4. The jig according to claim 2, wherein the tolerance mechanism (30) comprises a plurality of the guide posts (31) and a plurality of the slide members (32), the plurality of slide members (32) being provided in one-to-one correspondence with the plurality of guide posts (31), the plurality of slide members (32) each being connected to one of the second connecting members (33).
5. A clamp as claimed in claim 1 or 2, characterized in that said sliding member (32) comprises a linear bearing fitted around the periphery of said guide post (31).
6. A clamp as claimed in claim 1 or 2, characterized in that said jaws (11) are pneumatic fingers.
7. A loading robot, comprising:
a mounting base;
the mechanical arm is arranged on the mounting seat;
-a clamp (50) arranged at an end of the robot arm remote from the mounting, the clamp (50) being a clamp according to any of claims 1 to 6, the first connection (20) being connected to the robot arm, and the first connection (20) being arranged between the robot arm and the tolerance mechanism (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011376252.6A CN112643694B (en) | 2020-11-30 | 2020-11-30 | Anchor clamps and material loading robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011376252.6A CN112643694B (en) | 2020-11-30 | 2020-11-30 | Anchor clamps and material loading robot |
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| CN112643694A CN112643694A (en) | 2021-04-13 |
| CN112643694B true CN112643694B (en) | 2022-08-02 |
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| CN114275521A (en) * | 2021-12-10 | 2022-04-05 | 珠海格力智能装备有限公司 | Feeding device |
| CN114248218A (en) * | 2022-01-24 | 2022-03-29 | 上海赛卡精密机械有限公司 | Clamp and system thereof |
| CN115722889B (en) * | 2022-11-29 | 2024-11-19 | 陕西法士特齿轮有限责任公司 | A shaft system parts handling gripper and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101048145B1 (en) * | 2009-12-04 | 2011-07-08 | 기아자동차주식회사 | Door Gripper |
| US9623569B2 (en) * | 2014-03-31 | 2017-04-18 | Intelligrated Headquarters, Llc | Autonomous truck loader and unloader |
| US9401300B1 (en) * | 2014-12-18 | 2016-07-26 | WD Media, LLC | Media substrate gripper including a plurality of snap-fit fingers |
| EP3318371B1 (en) * | 2016-11-04 | 2021-07-28 | IPR-Intelligente Peripherien für Roboter GmbH | Robot gripper, palletting station with a robot gripper and method of operation for a robot gripper |
| CN108326842A (en) * | 2017-12-30 | 2018-07-27 | 广东埃华路机器人工程有限公司 | A kind of adjustable precise go-no-go fixture |
| CN207983383U (en) * | 2018-03-20 | 2018-10-19 | 广东通立工业自动化系统有限公司 | A kind of mechanical hand lift clamping jaw |
| CN210763108U (en) * | 2019-08-23 | 2020-06-16 | 苏州赛腾精密电子股份有限公司 | Clamping device and feeding and discharging system |
| CN111571928B (en) * | 2020-06-03 | 2024-12-06 | 苏州领裕电子科技有限公司 | A feeding device for injection molding product Header |
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