CN202155887U - Intelligentized robot tong clamp - Google Patents
Intelligentized robot tong clamp Download PDFInfo
- Publication number
- CN202155887U CN202155887U CN2011202017047U CN201120201704U CN202155887U CN 202155887 U CN202155887 U CN 202155887U CN 2011202017047 U CN2011202017047 U CN 2011202017047U CN 201120201704 U CN201120201704 U CN 201120201704U CN 202155887 U CN202155887 U CN 202155887U
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- cylinder
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- clamping plate
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Abstract
The utility model provides an intelligentized robot tong clamp, which belongs to the field of staking operation, and particularly relates to the operation of stacking by the robot tong clamp. The intelligentized robot tong clamp utilizes an image system to distinguish the sizes of workpieces, adopts a mechanism for adjusting the distances of clamp plates and is connected with a fine thread tuning clamp plate mechanism to adjust the distance between the clamp plates; the image control system is used for distinguishing the sizes of the workpieces and for controlling a servo motor; the mechanism for adjusting the distances of the clamp plates consists of a cylinder, two transmission rods with teeth, two movable plates and a gear; and the fine thread tuning clamp plate mechanism consists of the servo motor, a screw rod, an inner sppline sleeve and an outer spline nut. The intelligentized robot tong clamp can grab the workpieces in an intelligentized way, thus effectively preventing the workpieces beside from being collided or damaged. The intelligentized robot tong clamp is applicable to grabbing and staking products of different projects, can staking the products of different specifications on a same stacking plate, has a simple structure and a small volume, and is high in precision and strong in flexibility.
Description
Technical field
A kind of intelligentized robot handgrip anchor clamps that the utility model proposes belong to the palletizing operation field, refer to robot handgrip anchor clamps piling especially.
Background technology
At present, the production line of palletizing operation selects four kinds of modes to carry out sign indicating number usually: the one, and hand stowage; The 2nd, traditional stacking machine; The 3rd, robot carries out piling; The 4th, full-automatic equipment carries out piling.Change in modern times in the enterprise, each production line day by day is tending towards the robot automation, and the mode that adopts robot palletizer to carry out piling has occupied consequence, and it comprises that mainly the quality of the handgrip anchor clamps of its robot directly affects the quality of robot work.Robot palletizer mainly comprises: the mechanism of body frame and cylinder, clamping plate, servomotor and adjustment clamping plate distance mounted thereto, anchor clamps are used for the clamping workpiece.
Chinese patent number discloses a kind of robot palletizer handgrip for the utility model patent of ZL200820153438.3; Robot is for the workpiece that grasps different size in this patent; Need on Artificial Control servomotor and the reverse-flighted screw so that adjustment is installed in distance between two clamping plate; Because two clamping plate are stretched out the qualification of distance, during as if piling sized different workpiece on same buttress plate, may cause colliding or damaging the workpiece on next door; And this robot palletizer handgrip scope of application is little, precision is not high, volume big, automaticity is not high.
Summary of the invention
The purpose of a kind of intelligentized robot handgrip anchor clamps that the utility model proposes is that it is little to overcome the existing robot palletizer handgrip scope of application, prevents to collide or damage the workpiece on next door, improves the automaticity of handgrip.
The technical scheme that the utility model adopts is: adopt the size of image system identification workpiece, use the distance between the servomotor adjustment clamping plate.
A kind of intelligentized robot handgrip anchor clamps comprise body frame and cylinder, two clamping plates and servomotor mounted thereto, and clamping plate are used for the clamping workpiece; It is characterized in that having the mechanism of image control system and adjustment clamp distance, said image control system is fixed on the body frame, and image control system discerns the workpiece size, and the control servomotor; The mechanism of described adjustment clamping plate distance is made up of cylinder, two band tooth drive links, two portable plates, gears; Gear and two band tooth drive link engagements; Cylinder connects wherein portable plate; One end of described band tooth drive link connects a portable plate through linear bearing, and the other end is fixed on another piece portable plate, and portable plate is connected with two clamping plates respectively.
Above-mentioned a kind of intelligentized robot handgrip anchor clamps; It is characterized in that being connected with on the described portable plate screw thread fine setting clamping plate mechanism; Described screw thread is finely tuned clamping plate mechanism and is made up of servomotor, screw rod, inner spline housing and external splines nut; On the portable plate that servomotor is fixed on cylinder is connected, and be connected with an end of screw rod, the other end of screw rod is connected with the external splines nut.On the portable plate that inner spline housing is fixed on not with cylinder is connected, the external splines nut cooperates with inner spline housing, the external splines nut with not be movingly between the portable plate that cylinder is connected.
Above-mentioned a kind of intelligentized robot handgrip anchor clamps, described clamping plate can be in the arc-shaped or square according to the shaped design of grabbing workpiece.
Above-mentioned clamping plate are provided with briquetting.
Above-mentioned briquetting adopts the elastomeric material with big frictional force and makes, and increases frictional force when being used for the gripping workpiece and protects workpiece not receive the rigidity extruding so that damage.
The utility model has been realized intelligent robotization ground grabbing workpiece, and image control system can discern the sized of workpiece automatically, can be on same buttress plate the workpiece of piling different size; Owing to fine setting clamping plate mechanism is arranged, prevents to collide or damage when the handgrip anchor clamps from unloading workpiece the workpiece on next door effectively; Volume is little, and is simple in structure, and precision is high, can be applicable to the grip of every profession and trade.
Description of drawings
Fig. 1 is the front view of the utility model.
Fig. 2 is the vertical view of the utility model.
Fig. 3 is that the A place of the utility model is the inner expanded view of body frame.
Among the figure: 1, body frame, 2, band tooth drive link A, 3, band tooth drive link B, 4, servomotor, 5, portable plate A; 6, contiguous block A, 7, clamping plate A, 8, briquetting, 9, image control system; 10, screw rod, 11, portable plate B, 12, contiguous block B, 13, clamping plate B; 14, gear, 15, cylinder, 16, the external splines nut, 17 inner spline housings.
The specific embodiment
At present with a concrete example explanation this programme; Fig. 1-3 has shown the structure and the correlation of a kind of intelligentized robot each parts of handgrip anchor clamps; Cylinder 15 is fixed on the body frame 1, the connector of cylinder 15 be fixed on the portable plate A5, the end of band tooth drive link A2 is connected on the portable plate A5 through linear bearing; The other end is fixed on the portable plate B with thread forms, and its band toothed portion stretches in the body frame 1; The end of band tooth drive link B3 is connected on the portable plate B11 through linear bearing, and the other end is fixed on the portable plate A5 with thread forms, and its band toothed portion stretches in the body frame 1.Gear 14 places in the body frame, with the band tooth drive link A2 that places both sides, band tooth drive link B3 engagement.Clamping plate A7 is connected with portable plate A5 through contiguous block A6 fixed thereon; Clamping plate B13 is connected with portable plate B11 through contiguous block B12 fixed thereon.Some briquettings 8 are fixed on clamping plate A7, the clamping plate B13.Image control system 9 is fixed on the body frame 1, and servomotor 4 is fixed on the portable plate A5, and is connected with an end of screw rod 10, and the other end of screw rod 10 is connected with external splines nut 16.Inner spline housing 17 is fixed on the portable plate B11, and external splines nut 16 cooperates with interior colored spiral shell guide pin bushing 17, and screw rod passes clamping plate A7, clamping plate B13, portable plate B11, inner spline housing 17 and is connected with external splines nut 16.
During the anchor clamps grabbing workpiece, cylinder 15 withdrawal, drive portable plate A5 and band tooth drive link A2 to the direction near workpiece move make clamping plate A7 to workpiece near.Simultaneously, band tooth drive link A2 driven gear 14 rotates, and gear 14 drives tooth drive link B3 again and is with tooth drive link A2 direction in the opposite direction to move, and portable plate B11 is moved to the direction near workpiece, make clamping plate B13 to workpiece near.Up to clamping plate A7, clamping plate B13 workpiece is clamped, robot motion is picked up workpiece.When described cylinder drove portable plate A activity, it was movable also to drive band tooth drive link A, band tooth drive link A driven gear rotation again.When gear rotated, band tooth drive link A, band tooth drive link B moved round about, thereby drove clamping plate A, clamping plate B is flexible.Said image system is fixed on the body frame, and during the anchor clamps grabbing workpiece, image system is discerned the workpiece size, gives the control system with feedback information.
When anchor clamps unloaded workpiece, at first, 9 pairs of workpiece sizes of image system were discerned; Give the control system with feedback information; By the control system image system 9 feedacks are passed to servomotor 4 again, thereby servomotor 4 opens through screw mandrel 10 drive external splines nuts 16 or tightens up and limited the distance that clamping plate A7, clamping plate B13 stretch out, cylinder just moves clamping plate A, clamping plate B is stretched out then; Then; Cylinder 15 is stretched out, and drives portable plate A5 and is with tooth drive link A2 to move to the direction away from workpiece, makes clamping plate A7 break away from workpiece.Simultaneously, band tooth drive link A2 driven gear 14 rotates, and gear 14 drives tooth drive link B3 again and moves with band tooth drive link A2 direction in the opposite direction, and portable plate B11 is moved to the direction away from workpiece, makes clamping plate B13 break away from workpiece.
When anchor clamps unload workpiece; At first; The control system passes to servomotor with the image system feedack; Open or tighten up the restriction cylinder and drive the distance that clamping plate A, clamping plate B stretch out thereby drive the external splines nut by servomotor through screw rod again, cylinder just moves clamping plate A, clamping plate B is stretched out then, thereby prevents to collide or damage the workpiece on next door effectively.
The utility model is given the control of closing servomotor through image control system, discerns the size of specification of workpieces automatically, intelligently accomplishes the extracting of workpiece, prevents to collide or damage the workpiece on next door effectively.Be applicable to that product to projects carries out piling and grasps, can be on same buttress plate the product of piling different size, simple in structure, volume is little, precision is high, flexibility is strong.
More than a disclosed practical implementation case that is merely the utility model, but the utility model is not limited thereto, the variation that any those skilled in the art can think all should drop within the protection domain of the utility model.
Claims (5)
1. intelligentized robot handgrip anchor clamps comprise body frame and cylinder, two clamping plates and servomotor mounted thereto, and clamping plate are used for the clamping workpiece; It is characterized in that having the mechanism of image control system and adjustment clamp distance, said image control system (9) is fixed on the body frame, and image control system discerns the workpiece size, and the control servomotor; The mechanism of described adjustment clamping plate distance is made up of cylinder (15), two band tooth drive links (2,3), portable plate (5,11), gears (14); Gear and the engagement of two band tooth drive links; Cylinder connects a wherein portable plate (2); One end of described band tooth drive link connects a portable plate (5 or 11) through linear bearing, and the other end is fixed on another piece portable plate (11 or 5), and portable plate (5,11) is connected with two clamping plates (12,13) respectively.
2. a kind of intelligentized robot according to claim 1 handgrip anchor clamps; It is characterized in that being connected with on the described portable plate (5) screw thread fine setting clamping plate mechanism; Described screw thread fine setting clamping plate mechanism is made up of servomotor (4), screw rod (10), inner spline housing (17) and external splines nut (16), and servomotor is fixed on the portable plate (5) that is connected with cylinder (15), and is connected with an end of screw rod (10); The other end of screw rod is connected with the external splines nut; Inner spline housing is fixed on the portable plate (11) that is not connected with cylinder, and the external splines nut cooperates with inner spline housing, is movingly between external splines nut and the portable plate that is not connected with cylinder (11).
3. a kind of intelligentized robot according to claim 1 handgrip anchor clamps is characterized in that described clamping plate can be in the arc-shaped or square according to the shaped design of grabbing workpiece.
4. a kind of intelligentized robot according to claim 3 handgrip anchor clamps is characterized in that described clamping plate are provided with briquetting (8).
5. a kind of intelligentized robot according to claim 4 handgrip anchor clamps is characterized in that described briquetting (8) makes with elastomeric material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202017047U CN202155887U (en) | 2011-06-15 | 2011-06-15 | Intelligentized robot tong clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202017047U CN202155887U (en) | 2011-06-15 | 2011-06-15 | Intelligentized robot tong clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202155887U true CN202155887U (en) | 2012-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202017047U Expired - Lifetime CN202155887U (en) | 2011-06-15 | 2011-06-15 | Intelligentized robot tong clamp |
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| Country | Link |
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| CN (1) | CN202155887U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103573716A (en) * | 2013-11-22 | 2014-02-12 | 重庆天勤材料有限公司 | Special equipment for disassembling fan |
| CN103935758A (en) * | 2014-02-21 | 2014-07-23 | 珠海格力电器股份有限公司 | Device for carrying compressor onto assembly line |
| CN104150136A (en) * | 2014-08-25 | 2014-11-19 | 长沙开元仪器股份有限公司 | Cabinet for coal samples for back-check, sample bottle clamping device and clamping method of sample bottle clamping device |
| CN104298143A (en) * | 2014-10-16 | 2015-01-21 | 江苏友谊汽车有限公司 | Tool clamp control circuit |
| CN104597269A (en) * | 2013-10-31 | 2015-05-06 | 希森美康株式会社 | A sample container taking-out device and a sample processing system |
| CN104625683A (en) * | 2015-01-22 | 2015-05-20 | 哈尔滨工业大学 | Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN105598526A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Clamping mechanism for dragging profile |
| CN106003127A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Clamping type mechanical arm |
| CN107340755A (en) * | 2016-05-03 | 2017-11-10 | Ykk株式会社 | The control method that the part grip device and its part of pull head grip |
| CN109129551A (en) * | 2018-11-05 | 2019-01-04 | 哈尔滨岛田大鹏工业股份有限公司 | A kind of robot clamp with the tight device of spring self-lock |
-
2011
- 2011-06-15 CN CN2011202017047U patent/CN202155887U/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104597269B (en) * | 2013-10-31 | 2017-11-07 | 希森美康株式会社 | Sample container withdrawing device and sample processing system |
| CN104597269A (en) * | 2013-10-31 | 2015-05-06 | 希森美康株式会社 | A sample container taking-out device and a sample processing system |
| CN103573716A (en) * | 2013-11-22 | 2014-02-12 | 重庆天勤材料有限公司 | Special equipment for disassembling fan |
| CN103935758B (en) * | 2014-02-21 | 2017-02-22 | 珠海格力电器股份有限公司 | Device for carrying compressor onto assembly line |
| CN103935758A (en) * | 2014-02-21 | 2014-07-23 | 珠海格力电器股份有限公司 | Device for carrying compressor onto assembly line |
| CN104150136A (en) * | 2014-08-25 | 2014-11-19 | 长沙开元仪器股份有限公司 | Cabinet for coal samples for back-check, sample bottle clamping device and clamping method of sample bottle clamping device |
| CN104150136B (en) * | 2014-08-25 | 2017-01-11 | 长沙开元仪器股份有限公司 | Cabinet for coal samples for back-check, sample bottle clamping device and clamping method of sample bottle clamping device |
| CN104298143B (en) * | 2014-10-16 | 2016-10-05 | 江苏友谊汽车有限公司 | A kind of frock clamp control circuit |
| CN104298143A (en) * | 2014-10-16 | 2015-01-21 | 江苏友谊汽车有限公司 | Tool clamp control circuit |
| CN104625683A (en) * | 2015-01-22 | 2015-05-20 | 哈尔滨工业大学 | Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN105598526A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Clamping mechanism for dragging profile |
| CN105563456B (en) * | 2016-03-10 | 2018-01-02 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of vertical section bar monorail traction robot |
| CN107340755A (en) * | 2016-05-03 | 2017-11-10 | Ykk株式会社 | The control method that the part grip device and its part of pull head grip |
| CN106003127A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Clamping type mechanical arm |
| CN109129551A (en) * | 2018-11-05 | 2019-01-04 | 哈尔滨岛田大鹏工业股份有限公司 | A kind of robot clamp with the tight device of spring self-lock |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 511442 No.68, wanbosi Road, Nancun Town, Panyu District, Guangzhou City, Guangdong Province 309 Patentee after: Guangzhou aopai Automation Technology Co., Ltd Address before: 511442, Guangdong, Guangzhou province Panyu District Village town hall, village benevolence, let Fang Fang Li Lane 17 Patentee before: Guangzhou Autopioneer Automatical Equipment Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120307 |