CN114454205A - Multipurpose clamping jaw mechanism and using method thereof - Google Patents
Multipurpose clamping jaw mechanism and using method thereof Download PDFInfo
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- CN114454205A CN114454205A CN202210264010.0A CN202210264010A CN114454205A CN 114454205 A CN114454205 A CN 114454205A CN 202210264010 A CN202210264010 A CN 202210264010A CN 114454205 A CN114454205 A CN 114454205A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims description 6
- 239000000463 material Substances 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000010009 beating Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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- 125000006850 spacer group Chemical group 0.000 description 1
- 238000003466 welding Methods 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a multipurpose clamping jaw mechanism, which comprises a robot mounting plate and a bearing mounting plate, wherein the robot mounting plate is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates; a bearing is arranged at the central position of the bearing mounting plate, a bearing mounting shaft is mounted in the bearing, the bottom of the bearing mounting shaft is positioned through a clamp spring, the upper end of the bearing mounting shaft is connected with a bearing connecting rod through a central connecting rod, and two outer side ends of the bearing connecting rod are respectively connected with a clamping jaw assembly; two sets of vacuum generator components are arranged on the edges of two sides of the bearing mounting plate, and a sucker component is arranged right below the bearing mounting plate and connected with four corners of the bearing mounting plate through a resetting component; when the mechanism works, three different working modes can be realized. The invention has reasonable layout and compact structure, realizes the clamping or sucking action of materials such as workpieces or carriers, and can be compatible with the carrying or assembling of different materials.
Description
Technical Field
The invention relates to the field of automatic robot carrying and assembling equipment, in particular to a multipurpose clamping jaw mechanism and a using method thereof.
Background
With the development and application of industrial robots and industrial automation, industrial robots are increasingly widely used in the automation field, including automated handling, automated welding, automated assembly, automated packaging, and automated inspection. Particularly, in the field of automatic handling and assembly, the automation equipment provided with the industrial robot has the advantages of simple structure, convenience in debugging, low failure rate, scientific and technological sense, reusability and the like, and along with the fact that the cost of the robot is lower and lower, more and more automation manufacturers are willing to select the industrial robot, so that the application of the industrial robot in the field of automatic handling and assembly is more and more extensive. When an industrial robot carries and assembles automatically, the tail end of the industrial robot is often used for carrying materials or assembling parts by using clamping jaws, sucking discs or other mechanisms designed by designers; when spare part is less, the terminal mechanism of industrial robot can choose the clamping jaw cylinder or the vacuum chuck of standard for use to design, but when the material size is great, then need design assorted mechanism by oneself and satisfy the demand. At present, most of the existing related mechanisms on the market aim at specific products, the application range is narrow, and the functions are single.
Disclosure of Invention
The invention aims to provide a multipurpose clamping jaw mechanism, which solves the problems that most mechanisms in the prior art are specific products, the application range is narrow, and the functions are single.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention discloses a multipurpose clamping jaw mechanism which comprises a robot mounting plate and a bearing mounting plate, wherein one side of a positioning ring of the robot mounting plate is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates;
the center position of the bearing mounting plate is provided with a bearing, the bearing is fixed on the bearing mounting plate through three screws, a bearing mounting shaft is mounted in the bearing, the bottom of the bearing is positioned through a clamp spring, the upper end of the bearing mounting shaft is provided with a slot, a center connecting rod is mounted at the slot, two ends of the center connecting rod are connected with bearing connecting rods, and two outer side ends of each bearing connecting rod are respectively connected with a clamping jaw assembly;
the bearing mounting plate is characterized in that two sets of vacuum generator assemblies are arranged on the edges of two sides of the bearing mounting plate, a sucker assembly is arranged under the bearing mounting plate and communicated with the vacuum generator assemblies, and the sucker assembly is connected with four corners of the bearing mounting plate through a reset assembly.
Preferably, the clamping jaw assembly comprises two clamping jaws which are symmetrically arranged, the clamping jaws are respectively connected to two outer side ends of the bearing connecting rod through a left clamping jaw connecting plate and a right clamping jaw connecting plate, and two sides of the lower sides of the left clamping jaw connecting plate and the right clamping jaw connecting plate are both connected with guide assemblies; the bearing mounting panel front side is installed and is driven actuating cylinder, the piston rod front end that drives actuating cylinder is connected with the drive and connects the panel beating, the drive connect the panel beating through the bolt with left clamping jaw connecting plate links together.
Preferably, the direction subassembly includes linear guide and slider, linear guide passes through bolted connection on the bearing mounting panel, slider bolted connection be in left side clamping jaw connecting plate and right clamping jaw connecting plate downside both sides, the slider with linear guide phase-match is followed linear guide straight reciprocating motion, linear guide's the outside is connected with the linear guide dog.
Preferably, the sucking disc subassembly includes vacuum chuck upper plate and vacuum chuck hypoplastron, the vacuum chuck upper plate pass through the bolt with the vacuum chuck hypoplastron is connected, be equipped with the sealing washer between vacuum chuck upper plate and the vacuum chuck hypoplastron binding face, the last inboard of vacuum chuck upper plate is equipped with two inside vacuum adapters, and the outside of vacuum chuck upper plate is equipped with two outside vacuum adapters, inside vacuum adapter, outside vacuum adapter pass through the pipeline respectively with one of them is a set of vacuum generator subassembly intercommunication, the four corners of vacuum chuck upper plate with reset assembly connects.
Preferably, the subassembly that resets includes loose axle, linear bearing and spring, four linear bearing connects the four corners department of bearing mounting panel, the inside registrates of linear bearing the loose axle, the upper end of loose axle is passed through the bolt and is blockked the gasket and be connected, the lower extreme of loose axle pass through the screw thread with the vacuum chuck upper plate is connected, the cover of loose axle outside has compression state the spring.
The use method of the multipurpose clamping jaw mechanism comprises the following working modes:
in the first mode, when the device is used as a single sucker, a clamping jaw assembly is detached, the device is connected to the tail end of a robot through a robot mounting plate, then the device moves to a material taking position, the tail end posture of the robot is adjusted, the vacuum sucker upper plate and the vacuum sucker lower plate gradually press materials to be taken and are over-pressed for a certain distance, then a vacuum generator assembly acts to suck the materials, and finally the robot moves to carry or assemble the materials to a preset position;
in the second mode, the chuck assembly is detached and connected to the tail end of the robot through the robot mounting plate when used as a single clamping jaw; firstly, a piston rod of a driving cylinder is in an extending state, two clamping jaws are far away from each other and then move to a position for taking a product or a carrier, the tail end posture of the robot is adjusted and moves downwards to a fixed position of a material, the piston rod of the driving cylinder 4 retracts and drives the two clamping jaws to mutually approach and clamp the product or the carrier, and then the robot moves to carry or assemble the product or the carrier to a preset position;
mode three, use as compound clamping jaw, clamping jaw subassembly and sucking disc subassembly installation target in place, connect at the robot end through the robot mounting panel, the piston rod that at first drives actuating cylinder is in the state of stretching out, drive two clamping jaws and keep away from each other, then move to getting the thing material position, adjust the terminal gesture of robot, the vacuum chuck upper plate is pressed gradually with the vacuum chuck hypoplastron and is waited to get the material and the excessive pressure certain distance, then vacuum generator subassembly action makes the sucking disc absorb the material, then drive actuating cylinder's piston rod withdrawal and make two clamping jaws press from both sides tight product or carrier, carry or assemble to preset position through the robot motion at last.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention discloses a multipurpose clamping jaw mechanism which comprises a robot mounting plate and a bearing mounting plate, wherein one side of a positioning ring of the robot mounting plate is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates; firstly, a bearing is arranged at the central position of a bearing mounting plate, a bearing mounting shaft is arranged in the bearing, the bottom of the bearing mounting shaft is positioned by a clamp spring, the upper end of the bearing mounting shaft is connected with a bearing connecting rod through a central connecting rod, and two outer side ends of the bearing connecting rod are symmetrically connected with clamping jaw assemblies, so that the transfer and carrying operation after the clamping of a product or a carrier is realized; the central connecting rod and the bearing connecting rod form a connecting rod mechanism to realize synchronous movement of the clamping jaws, and stability of the clamping jaws during movement is guaranteed through arrangement of the guide assembly.
Secondly, the both sides edge of bearing mounting panel is equipped with two sets of vacuum generator subassemblies, is provided with the sucking disc subassembly under the bearing mounting panel, realizes the absorption operation of materials such as film through the design of this sucking disc subassembly, and the design of four corners reset assembly plays the cushioning effect firstly, prevents that pressure is too big, has exactly to reduce position error again, guarantees the absorption packing force, also is exactly to guarantee the operation that resets after adsorbing.
Moreover, different assemblies are mounted on the bearing mounting plate, three working modes of single-adsorption operation, single-clamping-jaw operation and composite operation are realized, the application range is greatly improved, the switching of various modes is simple, and the assembling and disassembling operation is convenient and fast.
In general, the invention has reasonable layout and compact structure, realizes the clamping action or the sucking action of materials such as workpieces or carriers, and can be compatible with the transportation or the assembly of different materials; the mechanism is low in cost, strong in reusability, multiple in purpose, suitable for the tail end assembly of the industrial robot and widely applied to the field of automatic carrying and assembling.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic side view of a multi-purpose jaw mechanism of the present invention;
FIG. 2 is a schematic side view of the rear axle of the present invention with the mounting plate of the robot removed;
FIG. 3 is a top view of the present invention with the robot mounting plate removed;
FIG. 4 is a front view of the multi-purpose jaw mechanism of the present invention;
FIG. 5 is a side view of the multi-purpose jaw mechanism of the present invention;
description of reference numerals: 1. a robot mounting plate; 2. a connecting plate; 3. a bearing mounting plate; 4. a vacuum generator assembly; 5. a blocking spacer; 6. a movable shaft; 7. a linear bearing; 8. a linear guide rail; 9. a bearing; 10. a screw; 11. a bearing mounting shaft; 12. a central link; 13. a bearing link; 14. a right jaw connection plate; 15. a clamping jaw; 16. a driving cylinder; 17. a linear guide rail stop block; 18. driving the connecting metal plate; 19. a left clamping jaw connecting plate; 20. a spring; 21. an external vacuum adapter; 22. vacuum chuck upper plate; 23. a vacuum chuck lower plate; 24. a carrier; 25. a film; 26. an internal vacuum adapter.
Detailed Description
As shown in fig. 1-5, a multipurpose clamping jaw mechanism comprises a robot mounting plate 1 and a bearing mounting plate 3, wherein one side of a positioning ring of the robot mounting plate 1 is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate 1 is connected with the bearing mounting plate 3 through two connecting plates 2; a bearing 9 is arranged at the central position of the bearing mounting plate 3, the bearing 9 is fixed on the bearing mounting plate 3 through three screws 10, a bearing mounting shaft 11 is mounted inside the bearing 9, the bottom of the bearing mounting shaft is positioned through a clamp spring, a slot is formed in the upper end of the bearing mounting shaft 11, a central connecting rod 12 is mounted at the slot, two ends of the central connecting rod 12 are connected with bearing connecting rods 13, and two outer side ends of each bearing connecting rod 13 are respectively connected with a clamping jaw assembly; two sets of vacuum generator assemblies 4 are arranged on the edges of two sides of the bearing mounting plate 3, a sucker assembly is arranged under the bearing mounting plate 3 and communicated with the vacuum generator assemblies 4, and the sucker assembly is connected with four corners of the bearing mounting plate 3 through a reset assembly.
Specifically, as shown in fig. 3, the clamping jaw assembly includes two clamping jaws 15 symmetrically arranged, the clamping jaws 15 are respectively connected to two outer side ends of the bearing connecting rod 13 through a left clamping jaw connecting plate 19 and a right clamping jaw connecting plate 14, and two sides of the lower sides of the left clamping jaw connecting plate 19 and the right clamping jaw connecting plate 14 are both connected with a guide assembly; the bearing mounting panel 3 front side is installed and is driven actuating cylinder 16, the piston rod front end that drives actuating cylinder 16 is connected with drive connection panel beating 18, drive connection panel beating 18 through the bolt with left clamping jaw connecting plate 19 links together. A central connecting rod and two bearing connecting rods form a connecting rod mechanism, and synchronous movement of the clamping jaws is realized.
The direction subassembly includes linear guide 8 and slider, linear guide 8 passes through bolted connection on bearing mounting panel 3, slider bolted connection is in left side clamping jaw connecting plate 19 and the 14 downside both sides of right clamping jaw connecting plate, the slider with linear guide 8 phase-matchs are followed linear guide 8 straight reciprocating motion, linear guide 8's the outside is connected with linear guide dog 17. The arrangement of the guide component ensures the stability of the clamping jaw during movement
Specifically, as shown in fig. 2 and 4, the sucking disc subassembly includes vacuum chuck upper plate 22 and vacuum chuck hypoplastron 23, vacuum chuck upper plate 22 pass through the bolt with vacuum chuck hypoplastron 23 is connected, be equipped with the sealing washer between vacuum chuck upper plate 22 and the vacuum chuck hypoplastron 23 binding face, vacuum chuck upper plate 22's last inboard is equipped with two inside vacuum adapter 26, and vacuum chuck upper plate 22's the outside is equipped with two outside vacuum adapter 21, inside vacuum adapter 26, outside vacuum adapter 21 pass through the pipeline respectively with one of them a set of vacuum generator subassembly 4 communicates, vacuum chuck upper plate 22's four corners with reset assembly connects.
Reset assembly includes loose axle 6, linear bearing 7 and spring 20, four linear bearing 7 is connected the four corners department of bearing mounting panel 3, this linear bearing 7 chooses for use the bearing of taking the ring flange, and the ring flange of bottom passes through bolt-up to be connected on the bearing mounting panel 3, the inside registrate of linear bearing 7 loose axle 6, the upper end of loose axle 6 is passed through the bolt and is connected with stopping gasket 5, the lower extreme of loose axle 6 pass through the screw thread with vacuum chuck upper plate 22 is connected, the cover has compression state in the 6 outside of loose axle spring 20, spring 20's both ends butt is in on the opposite face of vacuum chuck upper plate 22 and linear bearing 7's ring flange. This reset assembly design of four corners department firstly plays the cushioning effect, prevents that pressure is too big, has exactly to guarantee to adsorb the packing force again, and the operation that resets after the assurance adsorbs in addition.
A method of using a multi-purpose gripper mechanism, comprising a plurality of modes of operation:
in the first mode, when the device is used as a single sucker, a clamping jaw assembly is detached, the device is connected to the tail end of a robot through a robot mounting plate 1, then the device moves to a material taking position, the tail end posture of the robot is adjusted, the vacuum sucker upper plate 22 and the vacuum sucker lower plate 23 gradually press materials to be taken and are overpressurized for a certain distance, then a vacuum generator assembly 4 acts to suck the materials, and finally the robot moves to carry or assemble the materials to a preset position; for example, when the material is a film, the film 25 is placed on the carrier 24, the carrier 24 is located right below the vacuum chuck lower plate 23, the suction and transfer operations of the film 25 can be realized through the chuck assembly, and the carrier 24 is kept at the original position to realize the storage and support operations of the material.
In the second mode, the chuck assembly is detached and connected to the tail end of the robot through the robot mounting plate 1 when being used as a single clamping jaw; firstly, a piston rod of a driving cylinder 16 is in an extending state, two clamping jaws 15 are far away from each other and then move to a position for taking a product or a carrier, the tail end posture of the robot is adjusted and the robot moves down to a fixed position of a material, a piston rod of a driving cylinder 4 retracts and drives the two clamping jaws 15 to mutually approach and clamp a product or a carrier 24, and then the robot moves to carry or assemble the product or the carrier to a preset position; at this time, the carrier and the products on the carrier can be synchronously transferred to the next station.
Mode three, use as compound clamping jaw, clamping jaw subassembly and sucking disc subassembly installation are in place, connect at the robot end through robot mounting panel 1, the piston rod that drives actuating cylinder 16 at first is in the state of stretching out, drive two clamping jaws 15 and keep away from each other, then move to getting the thing material position, adjust the terminal gesture of robot, vacuum chuck upper plate 22 and vacuum chuck hypoplastron 23 press gradually and wait to get the material and the excessive pressure certain distance, then vacuum generator subassembly 4 action makes the sucking disc absorb the material, then the piston rod that drives actuating cylinder 16 retracts and makes two clamping jaws 15 press from both sides tight product or carrier, carry or assemble to preset position through the robot motion at last.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (6)
1. A multipurpose gripper mechanism is characterized in that: the robot mounting plate comprises a robot mounting plate (1) and a bearing mounting plate (3), wherein one side of a positioning ring of the robot mounting plate (1) is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate (1) is connected with the bearing mounting plate (3) through two connecting plates (2);
the center position of the bearing mounting plate (3) is provided with a bearing (9), the bearing (9) is fixed on the bearing mounting plate (3) through three screws (10), a bearing mounting shaft (11) is mounted inside the bearing (9), the bottom of the bearing mounting shaft is positioned through a clamp spring, the upper end of the bearing mounting shaft (11) is provided with a groove, a center connecting rod (12) is mounted at the groove, two ends of the center connecting rod (12) are connected with bearing connecting rods (13), and two outer side ends of each bearing connecting rod (13) are respectively connected with a clamping jaw assembly;
the vacuum cup is characterized in that two sets of vacuum generator assemblies (4) are arranged on the edges of two sides of the bearing mounting plate (3), a sucker assembly is arranged under the bearing mounting plate (3), the sucker assembly is communicated with the vacuum generator assemblies (4), and the sucker assembly is connected with four corners of the bearing mounting plate (3) through a reset assembly.
2. The multi-purpose jaw mechanism of claim 1, wherein: the clamping jaw assembly comprises two clamping jaws (15) which are symmetrically arranged, the clamping jaws (15) are respectively connected to two outer side ends of the bearing connecting rod (13) through a left clamping jaw connecting plate (19) and a right clamping jaw connecting plate (14), and two sides of the lower sides of the left clamping jaw connecting plate (19) and the right clamping jaw connecting plate (14) are respectively connected with a guide assembly; bearing mounting panel (3) front side is installed and is driven actuating cylinder (16), the piston rod front end that drives actuating cylinder (16) is connected with drive connection panel beating (18), drive connection panel beating (18) through the bolt with left clamping jaw connecting plate (19) link together.
3. The multi-purpose jaw mechanism of claim 2, wherein: the direction subassembly includes linear guide (8) and slider, linear guide (8) pass through bolted connection on bearing mounting panel (3), slider bolted connection is in left side clamping jaw connecting plate (19) and right clamping jaw connecting plate (14) downside both sides, the slider with linear guide (8) phase-match is followed linear guide (8) straight reciprocating motion, the outside of linear guide (8) is connected with linear guide dog (17).
4. The multi-purpose jaw mechanism of claim 1, wherein: the sucking disc subassembly includes vacuum chuck upper plate (22) and vacuum chuck hypoplastron (23), vacuum chuck upper plate (22) pass through the bolt with vacuum chuck hypoplastron (23) are connected, be equipped with the sealing washer between vacuum chuck upper plate (22) and vacuum chuck hypoplastron (23) binding face, the last inboard of vacuum chuck upper plate (22) is equipped with two inside vacuum adapter (26), and the outside of vacuum chuck upper plate (22) is equipped with two outside vacuum adapter (21), inside vacuum adapter (26), outside vacuum adapter (21) pass through the pipeline respectively with wherein a set of vacuum generator subassembly (4) intercommunication, the four corners of vacuum chuck upper plate (22) with reset subassembly connects.
5. The multi-purpose jaw mechanism of claim 4, wherein: reset assembly includes loose axle (6), linear bearing (7) and spring (20), four linear bearing (7) are connected the four corners department of bearing mounting panel (3), linear bearing (7) inside registrates loose axle (6), the upper end of loose axle (6) is passed through the bolt and is blocked gasket (5) and be connected, the lower extreme of loose axle (6) pass through the screw thread with vacuum chuck upper plate (22) are connected, loose axle (6) outside cover has compression state spring (20).
6. Use of a multi-purpose jaw mechanism according to any of claims 1-5, characterized in that: the method comprises a plurality of working modes:
in the first mode, when the device is used as a single sucker, a clamping jaw assembly is detached, the device is connected to the tail end of a robot through a robot mounting plate (1), then the device moves to a material taking position, the tail end posture of the robot is adjusted, a vacuum sucker upper plate (22) and a vacuum sucker lower plate (23) gradually press a material to be taken and overpressure for a certain distance, then a vacuum generator assembly (4) acts to suck the material, and finally the robot moves to carry or assemble the material to a preset position;
in the second mode, the chuck assembly is detached and connected to the tail end of the robot through the robot mounting plate (1) when used as a single clamping jaw; firstly, a piston rod of a driving cylinder (16) is in an extending state, two clamping jaws (15) are far away from each other and then move to a position for taking a product or a carrier, the tail end posture of the robot is adjusted and the robot moves down to a fixed position of a material, the piston rod of the driving cylinder (4) retracts and drives the two clamping jaws (15) to mutually approach and clamp the product or the carrier, and then the robot moves to carry or assemble the product or the carrier to a preset position;
mode three, use as compound clamping jaw, clamping jaw subassembly and sucking disc subassembly installation are in place, connect at the robot end through robot mounting panel (1), the piston rod that drives actuating cylinder (16) at first is in the state of stretching out, drive two clamping jaws (15) and keep away from each other, then move to getting the thing material position, adjust the terminal gesture of robot, vacuum chuck upper plate (22) and vacuum chuck hypoplastron (23) are pressed gradually and are waited to get the material and are pressed over pressure certain distance, then vacuum generator subassembly (4) action makes the sucking disc absorb the material, then the piston rod withdrawal that drives actuating cylinder (16) makes two clamping jaws (15) press from both sides tight product or carrier, carry or assemble to preset position through the robot motion at last.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210264010.0A CN114454205A (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210264010.0A CN114454205A (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism and using method thereof |
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| CN114454205A true CN114454205A (en) | 2022-05-10 |
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| CN202210264010.0A Pending CN114454205A (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism and using method thereof |
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Cited By (1)
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| CN115157225A (en) * | 2022-05-19 | 2022-10-11 | 重庆智能机器人研究院 | Material taking mechanism for carrying riveting workpieces to prevent rivets from falling off |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115157225A (en) * | 2022-05-19 | 2022-10-11 | 重庆智能机器人研究院 | Material taking mechanism for carrying riveting workpieces to prevent rivets from falling off |
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