CN203779505U - Robot clamp - Google Patents

Robot clamp Download PDF

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Publication number
CN203779505U
CN203779505U CN201420213633.6U CN201420213633U CN203779505U CN 203779505 U CN203779505 U CN 203779505U CN 201420213633 U CN201420213633 U CN 201420213633U CN 203779505 U CN203779505 U CN 203779505U
Authority
CN
China
Prior art keywords
fixed
clamp
robot
sides
support
Prior art date
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.)
Expired - Fee Related
Application number
CN201420213633.6U
Other languages
Chinese (zh)
Inventor
黄勇
石祥林
程志雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WUHAN SHEN'AN E&C ENGINEERING Co Ltd
Original Assignee
WUHAN SHEN'AN E&C ENGINEERING Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by WUHAN SHEN'AN E&C ENGINEERING Co Ltd filed Critical WUHAN SHEN'AN E&C ENGINEERING Co Ltd
Priority to CN201420213633.6U priority Critical patent/CN203779505U/en
Application granted granted Critical
Publication of CN203779505U publication Critical patent/CN203779505U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A robot clamp comprises a fixed frame, wherein the fixed frame is fixedly connected onto arms of a robot; two clamping air cylinders are fixed onto the peripheries of two sides of the fixed frame respectively; two fixed brackets are fixed onto the lower ends of two sides of the fixed frame, and two sliding brackets are arranged on the fixed brackets in a sliding manner; a free end of the piston rod of each of the clamping air cylinders is connected onto each of the sliding brackets through a clamping connecting piece; extension rods extending downwards are arranged at the lower ends of the fixed brackets and the sliding brackets; the tail ends of the extension rods at the lower ends of the fixed brackets and the sliding brackets are connected onto two sides of two clamping arms; a plurality of vacuum chucks are arranged on the inner sides of the clamping arms at intervals; clamping jaw components are arranged between each of the extension rods and each of the clamping arms. According to the utility model, the manner of sucking and holding on the side surface is adopted, so that the clamping range is wide, and the load-bearing capacity is great; in addition, the side surface of the clamp is made of soft material, the clamp is automatically adaptive to products of different shapes and is high in adaptive capacity.

Description

A kind of robot clamp
Technical field
The utility model relates to the technical field of robot, relates in particular to a kind of simple in structure, robot clamp that practicality is good.
Background technology
In the prior art, the application of robot is more and more extensive, and in concrete operations, the action of robot also more and more flexibly accurately, in order to further expand the application of robot, the robot accessory that can better coordinate production line workpiece products characteristics need to be provided, especially in the time of holding workpiece, robot arm self is difficult to the demand that adaptation clamps different workpieces, and on production line, because needs clamp difform workpiece, therefore the fixture that can realize various piece-holder has been proposed to requirement.
For this reason, designer of the present utility model is because above-mentioned defect, by concentrating on studies and designing, is comprehensively engaged in for a long time experience and the achievement of related industry for many years, and research and design goes out a kind of robot clamp, to overcome above-mentioned defect.
Utility model content
Problem to be solved in the utility model is to improve defect of the prior art, and a kind of robot clamp simple in structure, easy to operate, widely applicable is provided.
For addressing the above problem, the utility model discloses a kind of robot clamp, it is characterized in that comprising:
One fixed frame, is affixed on robot arm so that robot clamp is fixed on robot arm;
The both sides outer rim of described fixed frame is fixed with respectively a clamping cylinder;
The lower end, both sides of described fixed frame is fixed with respectively a fixed support and slip is arranged at support bracket fastened sliding support, and the piston rod free end of the clamping cylinder of described fixed frame both sides is connected to described sliding support by a clamp connection respectively;
The lower end of each fixed support and sliding support is provided with the extension rod to downward-extension, the end of two extension rods of each fixed support lower end connects respectively the both sides of a clamp arm, the end of two extension rods of each sliding support lower end connects respectively the both sides of another clamp arm, and the inner side of two clamp arms is provided with multiple spaced vacuum cups.
Wherein: between each extension rod and clamp arm, be also provided with clip claw assembly, described clip claw assembly comprises the jaw switching mechanism and the V-arrangement jaw that are fixed between extension rod and clamp arm, described jaw switching mechanism comprises and is fixed on the mechanism body between extension rod and clamp arm and is arranged at the jaw cylinder in mechanism body, and described V-arrangement jaw is fixed on the piston-rod end of described jaw cylinder.
Wherein: described fixed support is formed as the stairstepping that two ends size does not wait, lower edge one side of described fixed frame is fixed in larger-size one end, and the other end that size is less is relatively fixed on the lower edge opposite side of fixed frame and as supplying sliding support to slide, rail portion is thereon set.
Wherein: described fixed support is square-section pipe fitting, described sliding support is the encirclement framework of surrounding described rail portion.
Wherein: between extension rod, be provided with between two bracing piece.
Wherein: the inner side of each clamp arm is at least provided with four vacuum cups, and each vacuum cup is connected with vacuum generator.
Wherein: described V-arrangement jaw is provided with elastic layer.
Known by said structure, robot clamp of the present utility model has been realized following technique effect:
1, adopt side to draw the mode of clasping, gripping scope is long, and heavy burden ability is large;
2, adopt the fixture of side soft material, automatically adapt to the product of various shapes, fixture is adaptable;
3, adopt cylinder clamping and release, avoid landing, can adapt to machine profile in various cabinet-type air conditioners;
4, simple in structure, handling are convenient.
Detailed content of the present utility model can obtain by explanation described later and institute's accompanying drawing.
Brief description of the drawings
Fig. 1 has shown the structural representation of the utility model robot clamp;
Fig. 2 has shown the schematic diagram of the utility model clamping circular work pieces;
Fig. 3 has shown the schematic diagram of the utility model clamping square workpiece;
Description of reference numerals: 11, fixed frame; 12, clamping cylinder; 121, clamp connection; 13, fixed support; 14, sliding support; 15, rail portion; 16, extension rod; 17, bracing piece; 18, clamp arm; 19, vacuum cup; 20, jaw switching mechanism; 21, V-arrangement jaw.
Detailed description of the invention
Referring to Fig. 1, show robot clamp of the present utility model.
Described robot clamp comprises fixed frame 11, and this fixed frame 11 can be quadra (square or rectangular), and this fixed frame 11 can be affixed on robot arm, so that the application's robot clamp is fixed on robot arm.
The both sides outer rim of described fixed frame 11 is fixed with respectively a clamping cylinder 12, and the body of described clamping cylinder 12 is laterally fixed on described fixed frame 11, and its piston rod stretches out along the horizontal activity of fixed frame.
The lower end, both sides of described fixed frame 11 is fixed with respectively a fixed support 13 and slides and is arranged at the sliding support 14 of fixed support 13, and the piston rod free end of the clamping cylinder 12 of fixed frame 11 both sides is connected to described sliding support 14 by a clamp connection 121 respectively, drive sliding support 14 to slide on fixed support 13 with the stretching motion by clamping cylinder 12.
Optionally, described fixed support 13 can be square-section pipe fitting, it is formed as the stairstepping that two ends size does not wait, lower edge one side of described fixed frame 11 is fixed in larger-size one end, the other end that size is less is relatively fixed on the lower edge opposite side of fixed frame 11 and as sliding rail portion 15 is thereon set for sliding support 14, described sliding support 14 can be the encirclement framework of surrounding described rail portion 15.
Wherein, the lower end of each fixed support 13 and sliding support 14 is provided with the extension rod 16 to downward-extension, optionally, between extension rod 16, can be provided with bracing piece 17 between two, to improve the intensity of extension rod 16, the end of two extension rods 16 of each fixed support 13 lower ends is connected and fixed respectively the both sides of a clamp arm 18, the end of two extension rods 16 of each sliding support 14 lower ends is connected and fixed respectively the both sides of another clamp arm 18, the inner side of two clamp arms 18 is provided with multiple spaced vacuum cups 19, wherein, the inner side of each clamp arm 18 is at least provided with four vacuum cups 19, preferably, be provided with six vacuum cups, each vacuum cup 19 is connected with vacuum generator (not shown).
Wherein, between each extension rod 16 and clamp arm 18, be also provided with clip claw assembly, described clip claw assembly comprises the jaw switching mechanism 20 and the V-arrangement jaw 21 that are fixed between extension rod 16 and clamp arm 18, described jaw switching mechanism 20 comprises and is fixed on the mechanism body between extension rod 16 and clamp arm 18 and is arranged at the jaw cylinder in mechanism body, and described V-arrangement jaw 21 is fixed on the piston-rod end of described jaw cylinder.
Optionally, described V-arrangement jaw 21 is provided with elastic layer, to avoid injuring workpiece in clamping process.
As can be seen here, the application's fixture has the function of " suction " and " folder ", can complete clamping, movement and the upset of various workpiece, to coordinate following process, meanwhile, can also avoid defective work piece, improves acceptance rate.
Wherein, fixture is selected vacuum cup and vacuum generator, and folder mode adsorbing mechanism is embraced in configuration, has designed the V-arrangement jaw of compatible circular air-conditioning simultaneously, is connected with robot by rigid frame, makes it and robot coordinated work.
Introduce the specific works process of fixture below:
When fixture arrives behind workpiece holding position, according to workpiece type, select suitable gripping mode, the action of jaw switching mechanism, V-arrangement fixture is in opened condition near workpiece, and clamping cylinder moves, drive sliding support to drive clamp arm to complete and clamp action, V-arrangement jaw clamps round piece (referring to Fig. 2) or vacuum cup 8 absorption clamp square cross (referring to Fig. 3), locking clamped position, and robot completes workpiece handling transfer subsequently.
This fixture is safe, light, quick, stable, can meet the crawl of multiple product simultaneously, and its main structure has:
1, adopt side to draw the mode of clasping, gripping scope is long, and heavy burden ability is large;
2, adopt the fixture of side soft material, automatically adapt to the product of various shapes, fixture is adaptable;
3, adopt cylinder clamping and release, avoid landing, can adapt to machine profile in various cabinet-type air conditioners;
4, simple in structure, handling are convenient.
It is evident that above description and to record be only for example instead of in order to limit disclosure of the present utility model, application or use.Although described in an embodiment and be described in the drawings embodiment, but the utility model does not limit by accompanying drawing example and the optimal mode thought at present of conduct of describing in an embodiment to implement the specific examples of instruction of the present utility model, scope of the present utility model will comprise any embodiment that falls into description above and appended claim.

Claims (7)

1. a robot clamp, is characterized in that comprising:
One fixed frame, is affixed on robot arm so that robot clamp is fixed on robot arm;
The both sides outer rim of described fixed frame is fixed with respectively a clamping cylinder;
The lower end, both sides of described fixed frame is fixed with respectively a fixed support and slip is arranged at support bracket fastened sliding support, and the piston rod free end of the clamping cylinder of described fixed frame both sides is connected to described sliding support by a clamp connection respectively;
The lower end of each fixed support and sliding support is provided with the extension rod to downward-extension, the end of two extension rods of each fixed support lower end connects respectively the both sides of a clamp arm, the end of two extension rods of each sliding support lower end connects respectively the both sides of another clamp arm, and the inner side of two clamp arms is provided with multiple spaced vacuum cups.
2. robot clamp as claimed in claim 1, it is characterized in that: between each extension rod and clamp arm, be also provided with clip claw assembly, described clip claw assembly comprises the jaw switching mechanism and the V-arrangement jaw that are fixed between extension rod and clamp arm, described jaw switching mechanism comprises and is fixed on the mechanism body between extension rod and clamp arm and is arranged at the jaw cylinder in mechanism body, and described V-arrangement jaw is fixed on the piston-rod end of described jaw cylinder.
3. robot clamp as claimed in claim 1 or 2, it is characterized in that: described fixed support is formed as the stairstepping that two ends size does not wait, lower edge one side of described fixed frame is fixed in larger-size one end, and the other end that size is less is relatively fixed on the lower edge opposite side of fixed frame and as supplying sliding support to slide, rail portion is thereon set.
4. robot clamp as claimed in claim 3, is characterized in that: described fixed support is square-section pipe fitting, and described sliding support is the encirclement framework of surrounding described rail portion.
5. robot clamp as claimed in claim 1 or 2, is characterized in that: between extension rod, be provided with between two bracing piece.
6. robot clamp as claimed in claim 1 or 2, is characterized in that: the inner side of each clamp arm is at least provided with four vacuum cups, and each vacuum cup is connected with vacuum generator.
7. robot clamp as claimed in claim 1 or 2, is characterized in that: described V-arrangement jaw is provided with elastic layer.
CN201420213633.6U 2014-04-29 2014-04-29 Robot clamp Expired - Fee Related CN203779505U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420213633.6U CN203779505U (en) 2014-04-29 2014-04-29 Robot clamp

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420213633.6U CN203779505U (en) 2014-04-29 2014-04-29 Robot clamp

Publications (1)

Publication Number Publication Date
CN203779505U true CN203779505U (en) 2014-08-20

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ID=51315730

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420213633.6U Expired - Fee Related CN203779505U (en) 2014-04-29 2014-04-29 Robot clamp

Country Status (1)

Country Link
CN (1) CN203779505U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737171A (en) * 2016-12-14 2017-05-31 惠州市哈罗德科技有限公司 Surface disposal facility
CN107030631A (en) * 2017-04-06 2017-08-11 佛山市南海区广工大数控装备协同创新研究院 One kind is based on robot door of elevator component assembling flexible fixture
CN109382841A (en) * 2018-09-28 2019-02-26 大族激光科技产业集团股份有限公司 A kind of both hands jaw arrangement
CN111890406A (en) * 2020-08-07 2020-11-06 江苏昱博自动化设备有限公司 Clamping type clamp for power-assisted manipulator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737171A (en) * 2016-12-14 2017-05-31 惠州市哈罗德科技有限公司 Surface disposal facility
CN106737171B (en) * 2016-12-14 2018-11-23 淮北市菲美得环保科技有限公司 Surface disposal facility
CN107030631A (en) * 2017-04-06 2017-08-11 佛山市南海区广工大数控装备协同创新研究院 One kind is based on robot door of elevator component assembling flexible fixture
CN107030631B (en) * 2017-04-06 2018-10-30 佛山市南海区广工大数控装备协同创新研究院 One kind assembling flexible fixture based on robot door of elevator component
CN109382841A (en) * 2018-09-28 2019-02-26 大族激光科技产业集团股份有限公司 A kind of both hands jaw arrangement
CN111890406A (en) * 2020-08-07 2020-11-06 江苏昱博自动化设备有限公司 Clamping type clamp for power-assisted manipulator

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140820

Termination date: 20180429

CF01 Termination of patent right due to non-payment of annual fee