CN204094794U - A kind of concertina type clamp structure for robot gripping material - Google Patents
A kind of concertina type clamp structure for robot gripping material Download PDFInfo
- Publication number
- CN204094794U CN204094794U CN201420472013.4U CN201420472013U CN204094794U CN 204094794 U CN204094794 U CN 204094794U CN 201420472013 U CN201420472013 U CN 201420472013U CN 204094794 U CN204094794 U CN 204094794U
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- CN
- China
- Prior art keywords
- clamp structure
- longitudinally
- gripping material
- jig arm
- type clamp
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Abstract
The utility model discloses a kind of concertina type clamp structure for robot gripping material, comprise the holder body for being connected with robot movable end, holder body is provided with the force piece for generation of pinching action, and force piece is at least provided with two horizontal activity jig arm; Horizontal activity jig arm produces transverse shifting under the driving of force piece, comprises clamping shift action and opens shift action; The outer end of horizontal activity jig arm is provided with the longitudinally-moving chuck of longitudinal sliding motion connection; Longitudinal sliding motion connects the longitudinal extension forming chuck; Also comprise the spring stretched out outward by longitudinally-moving chuck.The utility model is provided with being slidably connected under spring pre-tightening effect between horizontal activity jig arm and longitudinally-moving chuck, make workpiece in gripping process, the compensation of lengthwise position can be realized, thus eliminate the rigid interference of clamp structure and material box or production equipment and so on.The utility model is particularly suitable for clamp structure needs to realize workpiece an installation action simultaneously occasion when blowing.
Description
Technical field
The utility model relates to a kind of clamp structure, more particularly refers to a kind of concertina type clamp structure for robot gripping material.
Background technology
In prior art; for the production of the robot in process, in the process of material folding material, usually clamp structure can be adopted; these clamp structures are when feeding and blowing; due to the thickness error and so on of material itself, the chuck of clamp structure is made to there are some tiny errors in the feed distance of longitudinal direction, these tiny errors; easily in the process of gripping material; produce collision, and cause the damage of clamp structure, even can destroy the dynamical system of robot.
Therefore, be necessary to develop the clamp structure made new advances, with the longitudinal error of Compensating Robot in reclaiming process, thus improve the service life of clamp structure and robot.
Utility model content
The purpose of this utility model is the defect overcoming prior art, provides a kind of concertina type clamp structure for robot gripping material.
For achieving the above object, the utility model is by the following technical solutions:
For a concertina type clamp structure for robot gripping material, comprise the holder body for being connected with robot movable end, holder body is provided with the force piece for generation of pinching action, and force piece is at least provided with two horizontal activity jig arm; Horizontal activity jig arm produces transverse shifting under the driving of force piece, comprises clamping shift action and opens shift action; The outer end of described horizontal activity jig arm is provided with the longitudinally-moving chuck of longitudinal sliding motion connection; Described longitudinal sliding motion connects the longitudinal extension forming chuck; Also comprise the spring stretched out outward by longitudinally-moving chuck.
Its further technical scheme is: described horizontal activity jig arm is provided with the linear slide rail for being slidably connected with longitudinally-moving chuck, and the inner of chuck is provided with described spring.
Its further technical scheme is: described linear slide rail comprises slide rail portion and slide unit portion; Horizontal activity jig arm is fixed in the inner in described slide rail portion, and slide unit portion and longitudinally-moving chuck are fixedly connected; Longitudinally-moving chuck is strip and block structure, and outer end is clamping part, and slide unit portion is extended in the inner, is configured for the spring seat portions of fixing spring.
Its further technical scheme is: the outside of described horizontal activity jig arm is provided with lug boss, and described lug boss is provided with pilot hole and is positioned at the gathering sill of pilot hole both sides; The guide pad that described longitudinally-moving chuck is provided with the lead corresponding with pilot hole and coordinates with gathering sill; Described lead passes pilot hole and the crown of roll portion be provided with in the inner of lug boss for locating; Described spring housing is located on the lead of lug boss outer end.
Its further technical scheme is: described force piece is electric cylinder, and described electric cylinder is provided with the movable end of two symmetrical expressions.
Its further technical scheme is: described force piece is finger cylinder, and described finger cylinder is provided with the movable end of two symmetrical expressions.
Its further technical scheme is: described holder body is also provided with the magazine chuck for gripping material box.
Its further technical scheme is: described holder body is also provided with the image collecting device for Workpiece fixing.
Its further technical scheme is: the body of clamping part and longitudinally-moving chuck is removable Split type structure.
Its further technical scheme is: be block article by the workpiece of gripping.
The utility model beneficial effect is compared with prior art: the utility model is provided with being slidably connected under spring pre-tightening effect between horizontal activity jig arm and longitudinally-moving chuck, make workpiece in gripping process, the compensation of lengthwise position can be realized, thus eliminate the rigid interference of clamp structure and material box or production equipment and so on.The utility model is particularly suitable for clamp structure needs to realize workpiece an installation action simultaneously occasion when blowing, in this applied environment, by increasing travel switch as induced signal, the feed motion (i.e. installation action) of robot can be stopped with this.
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of a kind of concertina type clamp structure specific embodiment for robot gripping material of the utility model;
Fig. 2 is the three-dimensional structure diagram that clamp structure embodiment illustrated in fig. 1 is fixed in robot;
Fig. 3 is that a kind of concertina type clamp structure for robot gripping material of the utility model adopts electric cylinder to be the first example structure figure (only showing electric cylinder, horizontal activity jig arm and longitudinally-moving collet segment) of force piece;
Fig. 4 is the three-dimensional structure diagram of another angle of Fig. 3;
Fig. 5 is the Facad structure figure of Fig. 3;
Fig. 6 is that a kind of concertina type clamp structure for robot gripping material of the utility model adopts electric cylinder to be the second example structure figure (only showing electric cylinder, horizontal activity jig arm and longitudinally-moving collet segment) of force piece;
Fig. 7 is the three-dimensional structure diagram of another angle of Fig. 6;
Fig. 8 is the Facad structure figure of Fig. 6.
Reference numeral
The electric cylinder of 10 holder body 12
131,132 horizontal activity jig arm
The horizontal activity jig arm of 131A, 132A
137 gathering sill 138 pilot holes
139 lug bosses
141,142 longitudinally-moving chucks
141A, 142A longitudinally-moving chuck
143 clamping part 144 spring seat portions
147 guide pad 148 leads
149 crown of roll portions
151,152 springs
151A, 152A spring
16 magazine chuck 161 magazine cylinders
17 image collecting device 171 camera light sources
18 linear slide rail 181 slide rail portions
182 slide unit portion S robot movable ends
19 connecting columns
Detailed description of the invention
In order to more fully understand technology contents of the present utility model, below in conjunction with specific embodiment the technical solution of the utility model being introduced further and illustrating, but being not limited to this.
As shown in Figure 1 to Figure 2, a kind of concertina type clamp structure for robot gripping material of the utility model, comprise the holder body 10 be connected with robot movable end S by connecting column 19, holder body 10 is provided with the electric cylinder 12 (this electric cylinder is provided with the movable end of two symmetrical expressions) for generation of pinching action, and electric cylinder 12 is provided with two horizontal activity jig arm 131,132 (as in Figure 3-5); Horizontal activity jig arm 131,132 produces transverse shifting under the driving of electric cylinder 12, comprises clamping shift action and opens shift action.The outer end of horizontal activity jig arm 131,132 is provided with the longitudinally-moving chuck 141,142 (as in Figure 3-5) of longitudinal sliding motion connection; Longitudinal sliding motion connects the longitudinal extension forming longitudinally-moving chuck 141,142; Also comprise the spring 151,152 (as in Figure 3-5) stretched out outward by longitudinally-moving chuck 141,142, spring 151,152 can produce pretightning force, allows longitudinally-moving chuck 141,142 without under the effect of external force, is in outermost end all the time.Holder body 10 is also provided with the magazine chuck 16 for gripping material box, and this magazine chuck 16 is driven by magazine cylinder 161; Holder body 10 is also provided with the image collecting device 17 (what adopt in the present embodiment is CCD industrial camera) for Workpiece fixing, and provides the camera light source 171 of light source for IMAQ.In the present embodiment, be block article, mobile phone or panel computer by the workpiece of gripping.By IMAQ, transfer to control system, by main frame, image is identified, thus play the effect of location feeding or location blowing.Image collector is set on clamp structure, image collecting device can be allowed to move along with the movable end of robot, at feeding, blowing, and in moving process, carry out the location of image recognition.Especially, image collecting device wherein can by pickup area in alignment with the workpiece being in clamp position, at workpiece by the process transferred, image recognition is carried out to workpiece simultaneously, according to recognition result, the position of adjustment blowing, can save time widely like this, enhance productivity.Such structure is particularly suitable for the situation that workpiece has special identifier or identified region.
Concrete structure as shown in Figures 3 to 5, the outside of horizontal activity jig arm 131,132 is provided with lug boss 139, and lug boss 139 is provided with pilot hole 138 and is positioned at the gathering sill 137 of pilot hole 138 both sides; The guide pad 147 that longitudinally-moving chuck 141,142 is provided with the lead 148 corresponding with pilot hole 138 and coordinates with gathering sill 137; Lead 148 passes pilot hole 138 and the crown of roll portion 149 be provided with in the inner of lug boss 139 for locating; Spring 151,152 is sheathed on the lead 148 of lug boss 139 outer end.When not being subject to external force, longitudinally-moving chuck 141,142 is under the effect of spring 151,152, all the time protruding, when when feeding or blowing, when the outer end of longitudinally-moving chuck 141,142 is subject to hindering, spring is compressed power, produce distortion, thus the rigid interference eliminated between chuck and other object, improve the flexibility of robot in gripping material process, improve the adaptive capacity of robot gripping material.The shortcoming of the present embodiment structure is: pilot hole and lead, and there is gap between gathering sill and guide pad, during gripping material, there is Small errors.Advantage is that cost is low.
Another kind of concrete structure as Figure 6-Figure 8, horizontal activity jig arm 131A, 132A are provided with the linear slide rail 18 for being slidably connected with longitudinally-moving chuck 141A, 142A, and the inner of longitudinally-moving chuck 141A, 142A is provided with described spring 151A, 152A.Linear slide rail 18 comprises slide rail portion 181 and slide unit portion 182; Horizontal activity jig arm 131A, 132A are fixed in the inner in slide rail portion 181, and slide unit portion 182 and longitudinally-moving chuck 141A, 142A are fixedly connected; Longitudinally-moving chuck 141A, 142A are strip and block structure, and outer end is clamping part 143, and slide unit portion 182 is extended in the inner, are configured for the spring seat portions 144 of fixing spring 151A, 152A.The shortcoming of the present embodiment structure is: the gap of linear slide rail is very small, and during gripping material, very steadily, reliability is high, and energy Long-Time Service, shortcoming is that cost is high.
In other embodiment, force piece also can be finger cylinder, and finger cylinder is provided with the movable end of two symmetrical expressions.
In other embodiment, the movable end of force piece can be provided with three, connects rotund article for gripping, also can be four, for gripping out-of-shape or larger article.
In other embodiment, the body of clamping part and longitudinally-moving chuck can adopt removable Split type structure, when gripping for different workpieces, can change difform clamping part.
In sum, the utility model is provided with being slidably connected under spring pre-tightening effect between horizontal activity jig arm and longitudinally-moving chuck, make workpiece in gripping process, the compensation of lengthwise position can be realized, thus eliminate the rigid interference of clamp structure and material box or production equipment and so on.The utility model is particularly suitable for clamp structure needs to realize workpiece an installation action simultaneously occasion when blowing, in this applied environment, by increasing travel switch as induced signal, the feed motion (i.e. installation action) of robot can be stopped with this.
Above-mentionedly only further illustrate technology contents of the present utility model with embodiment; so that reader is easier to understand; but do not represent embodiment of the present utility model and be only limitted to this, any technology done according to the utility model extends or recreation, all by protection of the present utility model.Protection domain of the present utility model is as the criterion with claims.
Claims (10)
1. the concertina type clamp structure for robot gripping material, comprise the holder body for being connected with robot movable end, it is characterized in that holder body is provided with the force piece for generation of pinching action, force piece is at least provided with two horizontal activity jig arm; Horizontal activity jig arm produces transverse shifting under the driving of force piece, comprises clamping shift action and opens shift action; The outer end of described horizontal activity jig arm is provided with the longitudinally-moving chuck of longitudinal sliding motion connection; Described longitudinal sliding motion connects the longitudinal extension forming chuck; Also comprise the spring stretched out outward by longitudinally-moving chuck.
2. a kind of concertina type clamp structure for robot gripping material according to claim 1, it is characterized in that described horizontal activity jig arm is provided with the linear slide rail for being slidably connected with longitudinally-moving chuck, the inner of chuck is provided with described spring.
3. a kind of concertina type clamp structure for robot gripping material according to claim 2, is characterized in that described linear slide rail comprises slide rail portion and slide unit portion; Horizontal activity jig arm is fixed in the inner in described slide rail portion, and slide unit portion and longitudinally-moving chuck are fixedly connected; Longitudinally-moving chuck is strip and block structure, and outer end is clamping part, and slide unit portion is extended in the inner, is configured for the spring seat portions of fixing spring.
4. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that the outside of described horizontal activity jig arm is provided with lug boss, and described lug boss is provided with pilot hole and is positioned at the gathering sill of pilot hole both sides; The guide pad that described longitudinally-moving chuck is provided with the lead corresponding with pilot hole and coordinates with gathering sill; Described lead passes pilot hole and the crown of roll portion be provided with in the inner of lug boss for locating; Described spring housing is located on the lead of lug boss outer end.
5. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that described force piece is electric cylinder, and described electric cylinder is provided with the movable end of two symmetrical expressions.
6. a kind of concertina type clamp structure for robot gripping material according to claim 1, it is characterized in that described force piece is finger cylinder, described finger cylinder is provided with the movable end of two symmetrical expressions.
7. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that described holder body is also provided with the magazine chuck for gripping material box.
8. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that the image collecting device described holder body is also provided with for Workpiece fixing.
9. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that the body of clamping part and longitudinally-moving chuck is removable Split type structure.
10. a kind of concertina type clamp structure for robot gripping material according to claim 1, is characterized in that by the workpiece of gripping be block article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420472013.4U CN204094794U (en) | 2014-08-19 | 2014-08-19 | A kind of concertina type clamp structure for robot gripping material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420472013.4U CN204094794U (en) | 2014-08-19 | 2014-08-19 | A kind of concertina type clamp structure for robot gripping material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204094794U true CN204094794U (en) | 2015-01-14 |
Family
ID=52263259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420472013.4U Expired - Fee Related CN204094794U (en) | 2014-08-19 | 2014-08-19 | A kind of concertina type clamp structure for robot gripping material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204094794U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619537A (en) * | 2016-01-22 | 2016-06-01 | 东莞市南兴家具装备制造股份有限公司 | Cross beam and clamp structure for double-machine-head double-clamp drilling machining center |
| CN112091697A (en) * | 2019-12-12 | 2020-12-18 | 领镒精密五金制造(无锡)有限公司 | Automatic material taking chuck device |
-
2014
- 2014-08-19 CN CN201420472013.4U patent/CN204094794U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619537A (en) * | 2016-01-22 | 2016-06-01 | 东莞市南兴家具装备制造股份有限公司 | Cross beam and clamp structure for double-machine-head double-clamp drilling machining center |
| CN105619537B (en) * | 2016-01-22 | 2019-05-07 | 南兴装备股份有限公司 | The crossbeam and clamp structure of Double-head double fastener pincers drill hole processing center |
| CN112091697A (en) * | 2019-12-12 | 2020-12-18 | 领镒精密五金制造(无锡)有限公司 | Automatic material taking chuck device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150114 Termination date: 20180819 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |