CN115256430A - Composite clamp for industrial robot machining - Google Patents
Composite clamp for industrial robot machining Download PDFInfo
- Publication number
- CN115256430A CN115256430A CN202210720326.6A CN202210720326A CN115256430A CN 115256430 A CN115256430 A CN 115256430A CN 202210720326 A CN202210720326 A CN 202210720326A CN 115256430 A CN115256430 A CN 115256430A
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- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- mounting
- jaw
- industrial robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a composite clamp for machining of an industrial robot, which comprises a rotating device, wherein the rotating device comprises an installation rod, a first installation plate, a first sliding rail, a second sliding rail and an electromagnetic valve, and the first installation plate can be rotated through a first motor, so that the use direction and the use position of the composite clamp can be changed to adapt to different use requirements; the clamping device comprises a second motor, a screw rod, a sliding block, a first clamping jaw and a first air cylinder, and can clamp the plate-shaped object through the first clamping jaw and enable the first clamping jaw to rotate through the first air cylinder, so that the first clamping jaw is convenient to clamp the cylindrical object; the clamping jaw assembly comprises a second clamping jaw and a second air cylinder, and the second clamping jaw can rotate through contraction of the second air cylinder, so that the second clamping jaw and the first clamping jaw are convenient to clamp a special-shaped article with a large upper part and a small lower part; the clamping device comprises a third clamping jaw, a fourth clamping jaw and a sucker assembly, and is convenient for clamping smooth articles which are not conveniently clamped by the first clamping jaw and the second clamping jaw.
Description
Technical Field
The invention relates to the technical field of clamping jaws of robots, in particular to a composite clamp for machining of an industrial robot.
Background
The robot clamping jaw is the indispensable operation instrument of robot, can be used to the centre gripping work piece to carry out the material loading unloading and the transport of work piece, but present production line often can carry out the production of multiple product, big or small shape between the different products all has the difference, for the product change between the adaptation product, the robot clamping jaw that uses must carry out corresponding regulation, perhaps changes other kinds of clamping jaw, it wastes time and energy to change or accommodation process, influence production efficiency, so need provide a composite jig who has multiple functions.
A robotic gripper as set forth in CN201510212269.0 comprising: the robot comprises a bracket, a connecting piece connected with the movable end of the robot, a driving device and a clamping arm; the connecting piece, the driving device and the clamping arm are all connected with the bracket; the clamping arms are connected with the driving device in a sliding manner and are positioned on two sides of the bracket; the clamping arm is provided with a clamp tail end, and the clamp tail end is adjustably connected with the clamping arm; the clamping arms can move in an opening and closing manner. The gripper of the robot gripper has a simple structure, large clamping force and flexible operation, has certain flexibility, and can effectively solve the problem of matching of the gripper and a workpiece, thereby effectively improving the universality of the gripper and reducing the production and manufacturing cost. However, the clamping mode of the gripper of the clamp is single, and an effective clamping mode cannot be provided for various workpieces.
The shape of the clamping jaw can be changed through the air cylinder, so that the clamping jaw of the robot has the capability of holding different types of articles, and manpower and material resources are saved when the clamping jaw is adjusted and replaced.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a composite clamp for industrial robot machining, which can change the shape of a clamping jaw through a cylinder, so that the clamping jaw of the robot has the capability of holding different kinds of articles, thereby saving manpower and material resources when the clamping jaw is adjusted and replaced.
The invention provides a composite clamp for industrial robot machining, which comprises a rotating device capable of changing stations, wherein a clamping device for clamping articles is arranged below the rotating device, a clamping jaw assembly for improving the clamping effect is arranged at the lower end of the clamping device, and a suction clamping device for clamping smooth articles is arranged on the side surface of the clamping device.
Further, the rotating device comprises; the mounting device comprises a mounting rod, wherein a mounting disc for connecting a robot is arranged above the mounting rod, the mounting disc is obliquely fixed above the mounting rod, a connecting screw rod is arranged above the mounting disc, and a first motor is arranged below the mounting rod; the first mounting plate is fixed on the first motor output shaft and used for mounting each device and each component, first sliding rails are arranged on two sides below the first mounting plate, and second sliding rails are arranged on the inner sides of the first sliding rails; the electromagnetic valve is fixed on the side face of the mounting rod, jacks which are uniformly distributed and correspond to the electromagnetic valve telescopic rods are formed above the first mounting plate, and the electromagnetic valve telescopic rods can be inserted into the jacks.
Further, the clamping device includes: the second motor is fixed at one end of the first mounting plate, an output shaft of the second motor is fixed on a screw rod, and the directions of threads at two ends of the screw rod are opposite; the sliding block at one end is arranged at one end of the first sliding rail in a sliding mode, the sliding block at the other end is arranged at one end of the second sliding rail in a sliding mode, threaded sleeves are arranged above the sliding blocks and are arranged at two ends of the screw rod, a second mounting plate is arranged at the outer end of each threaded sleeve, and a third mounting plate is arranged on the outer side of each threaded sleeve at one side and used for being connected with other external clamping jaws; the first clamping jaws are rotatably arranged below the sliding blocks, are positioned below the first sliding rails on two sides and below the second sliding rails on two sides and are used for clamping articles, and connecting rods are arranged between the two first clamping jaws on two ends; first cylinder, first cylinder one end rotary type are located between the second mounting panel, and the connecting rod is located to the terminal rotary type of first cylinder telescopic link.
Further, the jaw assembly includes: the second clamping jaw is rotatably arranged below the first clamping jaw, an inclined plane is arranged at the lower end of the second clamping jaw, and anti-skid lines are arranged on the inner side of the second clamping jaw, so that articles can be clamped conveniently; the rear of the first clamping jaw is arranged in a rotating mode at one end of the second cylinder, and the rear of the second clamping jaw is arranged in a rotating mode at the tail end of a telescopic rod of the second cylinder.
Further, the suction device comprises: the third clamping jaw is fixed on one side of the threaded sleeve at one end, and sucking disc assemblies are arranged on the upper part and the lower part of the inner side of the third clamping jaw; the fourth clamping jaw is fixed on one side of the threaded sleeve at the other end, and a sucker component is arranged on the inner side of the fourth clamping jaw from top to bottom.
Furthermore, the third clamping jaw and the fourth clamping jaw are both U-shaped, and the third clamping jaw is wider than the fourth clamping jaw, so that the clamping area can be increased, and the clamping is facilitated.
Further, first clamping jaw upper end inboard is the fillet, and the upper end outside is the right angle, can carry on spacingly to the rotation of first clamping jaw, and first clamping jaw lower extreme inboard is the oblique angle, and the lower extreme inboard is the fillet, can make it better centre gripping article after first clamping jaw rotates.
Has the advantages that:
1. first clamping jaw rotary type is installed in the slider below, be located the second slide rail below of the first slide rail below in both sides and both sides, all be equipped with the connecting rod between two first clamping jaws at both ends, first cylinder one end rotary type is located between the second mounting panel, the terminal rotary type of first cylinder telescopic link is located on the connecting rod, when first clamping jaw is vertical, first clamping jaw is convenient for the centre gripping platelike article, make first clamping jaw rotate through first cylinder, make the first clamping jaw at both ends and the first slide rail and the second slide rail of top form the opening triangle-shaped, be convenient for the centre gripping cylindric article.
2. First clamping jaw below is located to second clamping jaw rotary type, second clamping jaw inboard is equipped with anti-skidding line, first clamping jaw rear is located to second cylinder one end rotary type, second clamping jaw rear is located to the terminal rotary type of second cylinder telescopic link, the second clamping jaw can play the extension to first clamping jaw when along with first clamping jaw, first clamping jaw slope and second clamping jaw when vertical, can form big-end-up's infundibulate with first clamping jaw, the dysmorphism form article of big-end-up's of the centre gripping of being convenient for.
3. The installation pole top is equipped with the mounting disc that is used for connecting the robot, the mounting disc tilting is fixed in the installation pole top, the mounting disc top is equipped with connecting screw, the installation pole below is equipped with first motor, first mounting panel is fixed in on the first motor output shaft, be used for installing each device and subassembly, the thread bush outside of one side is equipped with the third mounting panel, be used for connecting other external clamping jaw, can pass through first motor, make first mounting panel rotate, thereby realize the change of this composite jig direction of use and position of use, in order to adapt to different user demands, and the high practicality is achieved.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the present invention.
Fig. 3 is an overall structural view of a second state of the present invention.
Fig. 4 is an exploded view of the rotary device of the present invention.
Fig. 5 is a third overall structure diagram of the present invention.
Fig. 6 is an exploded view of the clamping device of the present invention.
Fig. 7 is an exploded view of the clamping device of the present invention.
Fig. 8 is a schematic view of the overall structure of the suction device of the present invention.
Reference numerals: a mounting rod 1; a mounting plate 2; a first motor 3; a first mounting plate 4; an electromagnetic valve 5; a jack 6; a second motor 7; a screw 8; a threaded sleeve 9; a slider 10; a second mounting plate 11; a first jaw 12; a connecting rod 13; a first cylinder 14; a third mounting plate 15; a second jaw 16; a second cylinder 17; a first slide rail 18; a second slide rail 19; a third jaw 20; a fourth jaw 21; a chuck assembly 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments, and in order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below, which are, of course, merely examples and are not intended to limit the present invention.
Hereinafter, a composite jig for industrial robot machining according to an embodiment of the present invention will be described with reference to the accompanying drawings, as shown in fig. 1 to 8, the composite jig for industrial robot machining includes a rotating device capable of changing positions, a holding device for holding an article is provided below the rotating device, a jaw assembly for improving holding effect is provided at a lower end of the holding device, and a suction device for holding a smooth article is provided at a side surface of the holding device.
As shown in fig. 4, the composite jig for industrial robot machining includes a rotating means including; the robot mounting device comprises a mounting rod 1, wherein a mounting disc 2 used for connecting a robot is arranged above the mounting rod 1, the mounting disc 2 is obliquely fixed above the mounting rod 1, a connecting screw rod 8 is arranged above the mounting disc 2, and a first motor 3 is arranged below the mounting rod 1; the first mounting plate 4 is fixed on an output shaft of the first motor 3 and used for mounting various devices and components, first sliding rails 18 are arranged on two sides below the first mounting plate 4, and second sliding rails 19 are arranged on the inner sides of the first sliding rails 18; solenoid valve 5, solenoid valve 5 are fixed in the 1 side of installation pole, and 4 tops of first mounting panel are opened the jack 6 that corresponds with the 5 telescopic links of solenoid valve of equipartition formula, and 5 telescopic links of solenoid valve can insert in the jack 6.
In a specific embodiment: first motor 3 and solenoid valve 5 all start through external power supply, make 5 telescopic links of solenoid valve retract, then first motor 3 drives first mounting panel 4 and rotates, makes this composite jig's direction change, rotates the completion back, and 5 telescopic links of solenoid valve stretch out and insert in jack 6, prevent to shift.
As shown in fig. 5, 6 and 7, the composite jig for industrial robot machining includes a clamping device including: the second motor 7 is fixed at one end of the first mounting plate 4, an output shaft of the second motor 7 is fixed on the screw rod 8, and the thread directions of two ends of the screw rod 8 are opposite; the sliding block 10 is arranged at one end of a first sliding rail 18 in a sliding mode, the sliding block 10 at the other end of the sliding block 10 is arranged at one end of a second sliding rail 19 in a sliding mode, threaded sleeves 9 are arranged above the sliding blocks 10, the threaded sleeves 9 are arranged at two ends of a screw rod 8, a second mounting plate 11 is arranged at the outer end of each threaded sleeve 9, and a third mounting plate 15 is arranged on the outer side of each threaded sleeve 9 at one side and used for being connected with other external clamping jaws; the first clamping jaw 12 is rotatably arranged below the sliding block 10, is positioned below the first sliding rails 18 at two sides and below the second sliding rails 19 at two sides and is used for clamping articles, and a connecting rod 13 is arranged between the two first clamping jaws 12 at two ends; first cylinder 14, first cylinder 14 one end rotary type are located between the second mounting panel 11, and on connecting rod 13 was located to the terminal rotary type of first cylinder 14 telescopic link, first clamping jaw 12 upper end inboard was the fillet, and the upper end outside was the right angle, can carry on spacingly to the rotation of first clamping jaw 12, and first clamping jaw 12 lower extreme inboard is the oblique angle, and the lower extreme inboard is the fillet, can make it better centre gripping article after first clamping jaw 12 rotates.
In a specific embodiment: the second motor 7 is started by an external power supply to rotate the screw rods 8, so that the thread sleeves 9 at the two ends of the screw rods 8 on the two sides move oppositely or relatively, and the slide block 10 is driven to move correspondingly, and the first clamping jaw 12 is clamped and loosened.
The first jaw 12 facilitates gripping of the plate-like article when the first jaw 12 is upright.
The first cylinder 14 is controlled by an external air source, the first cylinder 14 extends out to generate thrust to the first clamping jaw 12, so that the first clamping jaw 12 rotates, the first clamping jaw 12 at two ends and the first slide rail 18 and the second slide rail 19 above the first clamping jaw 12 form an opening triangle, and the cylindrical object can be clamped conveniently.
As shown in fig. 6 and 7, the composite jig for industrial robot machining includes a jaw assembly including: the second clamping jaw 16 is rotatably arranged below the first clamping jaw 12, the lower end of the second clamping jaw 16 is provided with an inclined plane, and the inner side of the second clamping jaw 16 is provided with anti-skid lines, so that articles can be clamped conveniently; second cylinder 17, first clamping jaw 12 rear is located to second cylinder 17 one end rotary type, and second cylinder 17 telescopic link end rotary type is located second clamping jaw 16 rear.
In a specific embodiment: when the first clamping jaw 12 inclines, the second air cylinder 17 contracts to enable the second clamping jaw 16 to rotate, so that the second clamping jaw 16 is vertical to form a funnel shape with a large top and a small bottom with the first clamping jaw 12, and the special-shaped object with the large top and the small bottom can be clamped conveniently.
As shown in fig. 8, the composite jig for industrial robot machining includes a chucking device including: the third clamping jaw 20 is fixed on one side of the threaded sleeve 9 at one end, and suction cup assemblies 22 are arranged on the upper and lower sides of the inner side of the third clamping jaw 20; fourth clamping jaw 21, fourth clamping jaw 21 are fixed in the one side of the thread bush 9 of the other end, and fourth clamping jaw 21 inboard all is equipped with sucking disc subassembly 22 from top to bottom, and third clamping jaw 20 and fourth clamping jaw 21 are "U" font, and third clamping jaw 20 is wider than fourth clamping jaw 21, can increase the clamping area, the centre gripping of being convenient for.
In a specific embodiment: the chuck assemblies 22 on the third jaw 20 and the fourth jaw 21 can be operated by an external air source, so that the chuck assemblies can be used for clamping smooth objects which are inconvenient to clamp by the first jaw 12 and the second jaw 16.
The working principle is as follows: the second motor 7 is started through an external power supply, so that the screw rods 8 rotate, the thread sleeves 9 at two ends of the screw rods 8 on two sides move oppositely or relatively, the sliding blocks 10 are driven to move correspondingly, clamping and loosening of the first clamping jaw 12 are achieved, and when the first clamping jaw 12 is vertical, the first clamping jaw 12 is convenient to clamp plate-shaped objects.
The first cylinder 14 is controlled by an external air source, the first cylinder 14 extends out to generate thrust to the first clamping jaw 12, so that the first clamping jaw 12 rotates, the first clamping jaw 12 at two ends and the first slide rail 18 and the second slide rail 19 above the first clamping jaw 12 form an opening triangle, and the cylindrical object can be clamped conveniently.
When the first clamping jaw 12 inclines, the second air cylinder 17 contracts to enable the second clamping jaw 16 to rotate, so that the second clamping jaw 16 is vertical to form a funnel shape with a large top and a small bottom with the first clamping jaw 12, and the special-shaped object with the large top and the small bottom can be clamped conveniently.
The chuck assemblies 22 on the third jaw 20 and the fourth jaw 21 can be operated by an external air source, so that the chuck assemblies can be used for clamping smooth objects which are inconvenient to clamp by the first jaw 12 and the second jaw 16.
First motor 3 and solenoid valve 5 all start through external power supply, make 5 telescopic links of solenoid valve retract, then first motor 3 drives first mounting panel 4 and rotates, makes this composite jig's direction change to use different clamping jaw modes, rotate and accomplish the back, the 5 telescopic links of solenoid valve stretch out and insert in jack 6, prevent to shift.
Claims (7)
1. The utility model provides an industrial robot is composite jig for processing which characterized in that: the clamping device comprises a rotating device capable of changing stations, a clamping device used for clamping articles is arranged below the rotating device, a clamping jaw assembly used for improving the clamping effect is arranged at the lower end of the clamping device, and a clamping suction device used for clamping smooth articles is arranged on the side face of the clamping device.
2. A composite clamp for industrial robot machining according to claim 1, characterized in that said turning means comprises;
the mounting device comprises a mounting rod, wherein a mounting disc for connecting a robot is arranged above the mounting rod, the mounting disc is obliquely fixed above the mounting rod, a connecting screw rod is arranged above the mounting disc, and a first motor is arranged below the mounting rod;
the first mounting plate is fixed on the first motor output shaft and used for mounting each device and each component, first sliding rails are arranged on two sides below the first mounting plate, and second sliding rails are arranged on the inner sides of the first sliding rails;
the solenoid valve, the solenoid valve is fixed in the installation pole side, and open the jack that corresponds with the solenoid valve telescopic link that has the equipartition formula above the first mounting panel, the solenoid valve telescopic link can insert in the jack.
3. A composite gripper for industrial robot machining according to claim 2, characterised in that the gripping means comprise:
the second motor is fixed at one end of the first mounting plate, an output shaft of the second motor is fixed on the screw rod, and the thread directions of the two ends of the screw rod are opposite;
the sliding block at one end is arranged at one end of the first sliding rail in a sliding manner, the sliding block at the other end is arranged at one end of the second sliding rail in a sliding manner, threaded sleeves are arranged above the sliding blocks and are arranged at two ends of the screw rod, a second mounting plate is arranged at the outer end of each threaded sleeve, and a third mounting plate is arranged on the outer side of the threaded sleeve at one side and is used for connecting other external clamping jaws;
the first clamping jaws are rotatably arranged below the sliding blocks, are positioned below the first sliding rails on two sides and below the second sliding rails on two sides and are used for clamping articles, and connecting rods are arranged between the two first clamping jaws on two ends;
first cylinder, first cylinder one end rotary type are located between the second mounting panel, and the connecting rod is located to the terminal rotary type of first cylinder telescopic link.
4. A composite gripper for industrial robot machining according to claim 3, characterized in that said jaw assembly comprises:
the second clamping jaw is rotatably arranged below the first clamping jaw, an inclined plane is arranged at the lower end of the second clamping jaw, and anti-skid lines are arranged on the inner side of the second clamping jaw, so that articles can be clamped conveniently;
the rear of the first clamping jaw is arranged in a rotating mode at one end of the second cylinder, and the rear of the second clamping jaw is arranged in a rotating mode at the tail end of a telescopic rod of the second cylinder.
5. A composite gripper for industrial robot machining according to claim 3, characterized in that the gripper means comprise:
the third clamping jaw is fixed on one side of the threaded sleeve at one end, and sucking disc assemblies are arranged on the upper part and the lower part of the inner side of the third clamping jaw;
the fourth clamping jaw is fixed on one side of the threaded sleeve at the other end, and a sucker component is arranged on the inner side of the fourth clamping jaw from top to bottom.
6. The composite clamp for industrial robot machining according to claim 5, wherein the third clamping jaw and the fourth clamping jaw are both "U" shaped, and the third clamping jaw is wider than the fourth clamping jaw, so that the clamping area can be increased, and the clamping is facilitated.
7. The composite clamp for industrial robot machining according to claim 4, wherein the inner side of the upper end of the first clamping jaw is a rounded corner, the outer side of the upper end is a right angle, the rotation of the first clamping jaw can be limited, the inner side of the lower end of the first clamping jaw is an oblique corner, and the inner side of the lower end is a rounded corner, so that the first clamping jaw can better clamp an object after rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210720326.6A CN115256430A (en) | 2022-06-24 | 2022-06-24 | Composite clamp for industrial robot machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210720326.6A CN115256430A (en) | 2022-06-24 | 2022-06-24 | Composite clamp for industrial robot machining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115256430A true CN115256430A (en) | 2022-11-01 |
Family
ID=83762175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210720326.6A Withdrawn CN115256430A (en) | 2022-06-24 | 2022-06-24 | Composite clamp for industrial robot machining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115256430A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741752A (en) * | 2022-12-15 | 2023-03-07 | 哈尔滨工程大学 | Mechanical arm clamping mechanism for industrial assembly |
-
2022
- 2022-06-24 CN CN202210720326.6A patent/CN115256430A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741752A (en) * | 2022-12-15 | 2023-03-07 | 哈尔滨工程大学 | Mechanical arm clamping mechanism for industrial assembly |
| CN115741752B (en) * | 2022-12-15 | 2024-05-24 | 哈尔滨工程大学 | Mechanical arm clamping mechanism for industrial assembly |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20221101 |
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| WW01 | Invention patent application withdrawn after publication |