CN205310058U - Clamping device of coordinated type robot - Google Patents
Clamping device of coordinated type robot Download PDFInfo
- Publication number
- CN205310058U CN205310058U CN201620103037.1U CN201620103037U CN205310058U CN 205310058 U CN205310058 U CN 205310058U CN 201620103037 U CN201620103037 U CN 201620103037U CN 205310058 U CN205310058 U CN 205310058U
- Authority
- CN
- China
- Prior art keywords
- slide block
- base
- cylinder
- horizontal
- rotating disk
- 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.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a clamping device of coordinated type robot, its characterized in that: establish the slider on the base and rotate the carousel of connecting on the base including base, cylinder, a plurality of cunning, transverse groove and cannelure and transverse groove and cannelure mutually perpendicular have been seted up on the base, the transverse groove sets up the both sides at the carousel, the cannelure sets up the both sides at the carousel, slider smooth establishing is respectively installed in transverse groove and cannelure, the articulated connecting rod of installing of slider and carousel, the tip of cylinder and the output shaft end of cylinder partly do not connect on the slider of wherein two relative settings, all install the sucking disc on every slider, slider along transverse groove or cannelure removal that the cylinder stretches out or retracts and drive one side, the carousel rotates and drives the removal of opposite side slider, the sucking disc can the centre gripping or is loosened the work piece. It has the location rapidly, characteristics that production efficiency is high.
Description
Technical field
The present invention relates to polishing technology field, especially relate to a kind of linkage formula robot gripping unit.
Background technology
Existing safety helmet needs the outside surface to safety helmet to position polishing after roughing completes, prior art is adopt manual polishing when polishing safety helmet, grinding efficiency is low, labour intensity is big, adopt some simple fixtures to locate, streamline batch machining can not be adopted, cost height, efficiency is low, it is therefore desirable to improved.
Summary of the invention
For the deficiency that above-mentioned prior art exists, it is an object of the invention to provide a kind of linkage formula robot gripping unit, it has location rapidly, the feature that production efficiency is high.
In order to realize above-mentioned purpose, the technical solution adopted in the present invention is: a kind of linkage formula robot gripping unit, it is characterized in that: comprise base, cylinder, some the slide blocks being slidably installed on base and the rotating disk being rotatably connected on base, described base is offered horizontal groove mutually vertical with longitudinal slot with longitudinal slot and horizontal groove, described horizontal groove is arranged on the both sides of rotating disk, described longitudinal slot is arranged on the both sides of rotating disk, described slide block is slided respectively to establish and is arranged in horizontal groove and longitudinal slot, described slide block and rotating disk is hinged is provided with connecting rod, the end of described cylinder and the output shaft end of cylinder are connected to wherein on two slide blocks being oppositely arranged, each slide block is all provided with sucker, described cylinder stretch out or retract drive side slide block transversely groove or longitudinal slot move, described dial rotation drives another sideslip block to move, described sucker can clamp or unclamp workpiece.
In above-mentioned a kind of linkage formula robot gripping unit, also comprising installation post, described base is fixedly mounted on to be installed on post, and described rotating disk is hingedly mounted on the end installing post.
In above-mentioned a kind of linkage formula robot gripping unit, described slide block comprises horizontal slide block and longitudinal slide block, and described horizontal slide block is slidably installed in horizontal groove, and described longitudinal slide block is slidably installed in longitudinal slot, and described cylinder is arranged on horizontal slide block.
In above-mentioned a kind of linkage formula robot gripping unit, described horizontal slide block comprises slide groove portion, the connection section of vertical protrusion slide groove portion side and the installation portion of vertical protrusion another side of slide groove portion, described slide groove portion is slided on base and is clamped in the both sides of horizontal groove, described sucker is arranged in installation portion, described cylinder is hingedly mounted on connection section, and described rod hinge connection is arranged on connection section.
In above-mentioned a kind of linkage formula robot gripping unit, described longitudinal slide block comprises guiding portion, the articulated section of vertical protrusion side, guiding portion and the fixing portion of vertical protrusion another side, guiding portion, slide on base and be clamped in the both sides of longitudinal slot in described guiding portion, described sucker is arranged in fixing portion, and described rod hinge connection is arranged on articulated section.
In above-mentioned a kind of linkage formula robot gripping unit, horizontal slide block is protruded at the two ends being provided with coupling shaft and coupling shaft on described horizontal slide block, in the both sides of horizontal slide block, cylinder is all installed, the two ends of described cylinder are connected to the one end of the coupling shaft being oppositely arranged respectively, and the telescopic direction of two cylinders is back to setting.
In above-mentioned a kind of linkage formula robot gripping unit, described longitudinal slide block being provided with Connection Block, is provided with support at the two ends of Connection Block, described sucker is connected on support, and the axis of two suckers tilts to intersect.
In above-mentioned a kind of linkage formula robot gripping unit, limited location hole offered by described installation post, in described spacing hole, limit shaft is installed, one end of limit shaft is connected on slide block, the other end of limit shaft is provided with limited block, and described limit shaft slides along spacing hole and limited block limits the critical distance slided.
In above-mentioned a kind of linkage formula robot gripping unit, the cross section of described rotating disk is in " work " font, and the described connecting rod quartern is hingedly mounted on rotating disk, and the axis of described rotating disk is in the intersection of horizontal groove and longitudinal slot medullary ray.
In above-mentioned a kind of linkage formula robot gripping unit, the dull and stereotyped shape of described base ovalize, described horizontal groove and longitudinal slot along the major axis of base and short-axis direction by edge to third side to offering, the base separated between horizontal groove and longitudinal slot has been offered and has subtracted repeated hole.
Adopt after said structure, the present invention compared to the prior art advantageously:
1, adopting gripping unit positioning clamping safety helmet, promote slide block to move by cylinder, make the sucker on slide block can suck safety helmet, facilitate robot that the appearance of safety helmet is carried out polishing grinding, clamping is convenient, working (machining) efficiency height.
2, installing post is connected on equipment, whole clamping device can be made to be positioned on equipment, easy for installation, installation post arranges limit shaft, the limit position that control dial rotation band movable slider moves, it is convenient to the suction controlling and regulating between sucker and safety helmet, is conducive to the reliability of distortion amount and the absorption controlling safety helmet.
3, sucker is arranged on slide block, by the movement of the flexible principle control slide block of two cylinder, and fast response time.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described:
Fig. 1 is the use structural representation of the present invention;
Fig. 2 is the perspective view of the present invention;
Fig. 3 is the perspective view of another angle of the present invention.
Fig. 4 is the sectional structure schematic diagram of the present invention.
Fig. 5 is the structural representation that turntable of the present invention and slide block are installed.
In figure: base 10; Horizontal groove 11;Longitudinal slot 12; Subtract repeated hole 13; Slide block 20; Horizontal slide block 21; Slide groove portion 211; Connection section 212; Installation portion 213; Longitudinal slide block 22; Guiding portion 221; Articulated section 222; Fixing portion 223; Coupling shaft 23; Connection Block 24; Rotating disk 30; Post 40 is installed; Spacing hole 41; Bearing 42; Connecting rod 50; Sucker 60; Support 61; Limit shaft 70; Limited block 71; Workpiece 80; Cylinder 90.
Embodiment
The following stated is only the better embodiment of the present invention, does not therefore limit protection scope of the present invention.
Embodiment, see shown in Fig. 1 to Fig. 3: a kind of linkage formula robot gripping unit, comprise and post 40 is installed, base 10, cylinder 90, some the slide blocks 20 being slidably installed on base 10 and the rotating disk 30 being rotatably connected on base 10, install and step offered by post 40, base 10 is fixedly mounted on to be installed post 40 and is resisted against on step, rotating disk 30 is hingedly mounted on the end installing post 40, between rotating disk 30 and installation post 40, bearing 42 is installed, base 10 is offered horizontal groove 11 mutually vertical with longitudinal slot 12 with longitudinal slot 12 and horizontal groove 11, the center of base 10 is arranged on installs on post 40, horizontal groove 11 is arranged on the both sides of rotating disk 30, longitudinal slot 12 is arranged on the both sides of rotating disk 30, namely horizontal groove 11 is provided with two and symmetrical along rotating disk 30, longitudinal slot 12 is provided with two and symmetrical along rotating disk 30, slide block 20 is slided respectively to establish and is arranged in horizontal groove 11 and longitudinal slot 12, hinged between slide block 20 and rotating disk 30 connecting rod 50 is installed, the end of cylinder 90 and the output shaft end of cylinder 90 are connected to wherein on two slide blocks being oppositely arranged 20, each slide block 20 is all provided with sucker 60, cylinder 90 stretch out or retract drive side slide block 20 transversely groove 11 or longitudinal slot 12 move, the connecting rod 50 being arranged on moving slider 20 is transferred rotating disk 30 and is rotated, rotating disk 30 rotates through connecting rod 50 and drives the slide block 20 of another side to move, sucker 60 on slide block 20 outwards stretches out or to contract, make sucker 60 can clamp or unclamp workpiece 80.
Being moved by the contraction band movable slider 20 of cylinder 90, slide block 20 moves and drives rotating disk 30 to rotate, and rotating disk 30 drives the form of another group slide block 20 rotation, making gripping unit clamp safety helmet (workpiece 80) by sucker 60, be convenient to carry out polishing and install, clamping is convenient, action is rapid, working (machining) efficiency height, adsorbs safety helmet by sucker 60, damages little, suction is big, clamping firmly, is suitable for the workpiece 80 of processing different specification size, flexibly easy to adjust.
Slide block 20 comprises horizontal slide block 21 and longitudinal slide block 22, and horizontal slide block 21 is slidably installed in horizontal groove 11, and longitudinal slide block 22 is slidably installed in longitudinal slot 12, and cylinder 90 is arranged on horizontal slide block 21. Horizontal slide block 21 and longitudinal slide block 22 are provided with two pieces, are oppositely arranged the surrounding being slidably installed in rotating disk 30 between two, and connecting rod 50 can drive horizontal slide block 21 and longitudinal slide block 22 to slide simultaneously, synchronism is good, rotates flexibly, only arranges a driving source, flexibly, nothing is interfered in motion.
Horizontal slide block 21 comprises slide groove portion 211, the connection section 212 of vertical protrusion slide groove portion 211 side and the installation portion 213 of vertical protrusion another side of slide groove portion 211, slide groove portion 211 is slided on base 10 and is clamped in the both sides of horizontal groove 11, sucker 60 is arranged in installation portion 213, cylinder 90 is hingedly mounted on connection section 212, and connecting rod 50 is hingedly mounted on connection section 212. Horizontal slide block 21 is arranged to " soil " font, and bottom slide groove portion 211 is arranged on and by the groove Holding seat 10 on both sides, connection section 212 vertically protrudes slide groove portion 211 and installs cylinder 90, the slip of horizontal slide block 21 is convenient, guidance quality is good, and flexibly, cylinder 90 is easy for installation in motion.
Longitudinal slide block 22 comprises guiding portion 221, the articulated section 222 of vertical protrusion side, guiding portion 221 and the fixing portion 223 of vertical protrusion another side, guiding portion 221, slide on base 10 and be clamped in the both sides of longitudinal slot 12 in guiding portion 221, sucker 60 is arranged in fixing portion 223, connecting rod 50 is hingedly mounted on articulated section 222, longitudinal slide block 22 is provided with Connection Block 24, being provided with support 61 at the two ends of Connection Block 24, sucker 60 is connected on support 61, and the axis of two suckers 60 tilts to intersect. Longitudinal slide block 22 is also arranged to " soil " font, Connection Block 24 is fixed on the bottom of longitudinal slide block 22 and is perpendicular to the slip direction of longitudinal slide block 22, two stands 61 is fixed on the two ends of Connection Block 24, having offered open slot on Connection Block 24, sucker 60 clamps and is fixed in open slot, arranges the length and location that open slot can regulate sucker 60, sucker 60 is provided with union lever, union lever is fixed in open slot, is suitable for the workpiece 80 of processing different specification size, flexibly easy to adjust.
Horizontal slide block 21 is protruded at the two ends being provided with coupling shaft 23 and coupling shaft 23 on horizontal slide block 21, in the both sides of horizontal slide block 21, cylinder 90 is all installed, the two ends of cylinder 90 are connected to the one end of the coupling shaft 23 being oppositely arranged respectively, and the telescopic direction of two cylinders 90 is back to setting. The reactive force of two cylinders 90 energy balanced transversal slide blocks 21 is set, both sides balance does not deflect, ensure that the smooth of slip, meanwhile, the reactive force of cylinder 90 with side force in a small amount, contributes to the rotation of rotating disk 30 on the contrary, structure is ingenious, horizontal slide block 21 installs coupling shaft 23, is convenient to cylinder 90 is installed, easy for installation.
See shown in Fig. 3 and Fig. 4: on installation post 40, offer limited location hole 41, limit shaft 70 is installed in spacing hole 41, one end of limit shaft 70 is connected on slide block 20, the other end of limit shaft 70 is provided with limited block 71, and limit shaft 70 slides along spacing hole 41 and limited block 71 limits the critical distance slided. As preferentially, limited block 71 adopts adjustable double nuts structure, arranges limit shaft 70, it is possible to the rotation angle sliding Distance geometry rotating disk 30 of control slide block 20, it is convenient to regulate the pressure between sucker 60 and workpiece 80 and the workpiece 80 being suitable for processing different specification size, flexibly easy to adjust.
The cross section of rotating disk 30 is in " work " font, and connecting rod 50 quartern is hingedly mounted on rotating disk 30, and the axis of rotating disk 30 is in the intersection of horizontal groove 11 and longitudinal slot 12 medullary ray. Arc line shaped is arranged to by connecting rod 50, and two ends are hingedly mounted on rotating disk 30 and slide block 20 respectively, and connecting rod 50 is connected in an angle of inclination with rotating disk 30, and connecting rod 50 rotates convenient, and structure is ingenious.
As shown in Figure 5: the dull and stereotyped shape of base 10 ovalize, horizontal groove 11 and longitudinal slot 12 along the major axis of base 10 and short-axis direction by edge to third side to offering, the base 10 separated between horizontal groove 11 and longitudinal slot 12 has been offered and has subtracted repeated hole 13. The mating shapes of base 10 and workpiece 80.
Clamping device widely uses at present, and other structure and principle are same as the prior art, repeat no more here.
Claims (10)
1. a linkage formula robot gripping unit, it is characterized in that: comprise base, cylinder, some the slide blocks being slidably installed on base and the rotating disk being rotatably connected on base, described base is offered horizontal groove mutually vertical with longitudinal slot with longitudinal slot and horizontal groove, described horizontal groove is arranged on the both sides of rotating disk, described longitudinal slot is arranged on the both sides of rotating disk, described slide block is slided respectively to establish and is arranged in horizontal groove and longitudinal slot, described slide block and rotating disk is hinged is provided with connecting rod, the end of described cylinder and the output shaft end of cylinder are connected to wherein on two slide blocks being oppositely arranged, each slide block is all provided with sucker, described cylinder stretch out or retract drive side slide block transversely groove or longitudinal slot move, described dial rotation drives another sideslip block to move, described sucker can clamp or unclamp workpiece.
2. a kind of linkage according to claim 1 formula robot gripping unit, it is characterised in that: also comprising installation post, described base is fixedly mounted on to be installed on post, and described rotating disk is hingedly mounted on the end installing post.
3. a kind of linkage according to claim 1 and 2 formula robot gripping unit, it is characterized in that: described slide block comprises horizontal slide block and longitudinal slide block, described horizontal slide block is slidably installed in horizontal groove, and described longitudinal slide block is slidably installed in longitudinal slot, and described cylinder is arranged on horizontal slide block.
4. a kind of linkage according to claim 3 formula robot gripping unit, it is characterized in that: described horizontal slide block comprises slide groove portion, the connection section of vertical protrusion slide groove portion side and the installation portion of vertical protrusion another side of slide groove portion, described slide groove portion is slided on base and is clamped in the both sides of horizontal groove, described sucker is arranged in installation portion, described cylinder is hingedly mounted on connection section, and described rod hinge connection is arranged on connection section.
5. a kind of linkage according to claim 3 formula robot gripping unit, it is characterized in that: described longitudinal slide block comprises guiding portion, the articulated section of vertical protrusion side, guiding portion and the fixing portion of vertical protrusion another side, guiding portion, slide on base and be clamped in the both sides of longitudinal slot in described guiding portion, described sucker is arranged in fixing portion, and described rod hinge connection is arranged on articulated section.
6. a kind of linkage according to claim 3 formula robot gripping unit, it is characterized in that: horizontal slide block is protruded at the two ends being provided with coupling shaft and coupling shaft on described horizontal slide block, in the both sides of horizontal slide block, cylinder is all installed, the two ends of described cylinder are connected to the one end of the coupling shaft being oppositely arranged respectively, and the telescopic direction of two cylinders is back to setting.
7. a kind of linkage according to claim 5 formula robot gripping unit, it is characterised in that: being provided with Connection Block on described longitudinal slide block, be provided with support at the two ends of Connection Block, described sucker is connected on support, and the axis of two suckers tilts to intersect.
8. a kind of linkage according to claim 2 formula robot gripping unit, it is characterized in that: limited location hole offered by described installation post, in described spacing hole, limit shaft is installed, one end of limit shaft is connected on slide block, the other end of limit shaft is provided with limited block, and described limit shaft slides along spacing hole and limited block limits the critical distance slided.
9. a kind of linkage according to claim 1 and 2 formula robot gripping unit, it is characterized in that: the cross section of described rotating disk is in " work " font, the described connecting rod quartern is hingedly mounted on rotating disk, and the axis of described rotating disk is in the intersection of horizontal groove and longitudinal slot medullary ray.
10. a kind of linkage according to claim 1 and 2 formula robot gripping unit, it is characterized in that: the dull and stereotyped shape of described base ovalize, described horizontal groove and longitudinal slot along the major axis of base and short-axis direction by edge to third side to offering, the base separated between horizontal groove and longitudinal slot has been offered and has subtracted repeated hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620103037.1U CN205310058U (en) | 2016-02-01 | 2016-02-01 | Clamping device of coordinated type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620103037.1U CN205310058U (en) | 2016-02-01 | 2016-02-01 | Clamping device of coordinated type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205310058U true CN205310058U (en) | 2016-06-15 |
Family
ID=56187850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620103037.1U Withdrawn - After Issue CN205310058U (en) | 2016-02-01 | 2016-02-01 | Clamping device of coordinated type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205310058U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643455A (en) * | 2016-02-01 | 2016-06-08 | 宁波摩科机器人科技有限公司 | Linkage type robot clamping device |
-
2016
- 2016-02-01 CN CN201620103037.1U patent/CN205310058U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643455A (en) * | 2016-02-01 | 2016-06-08 | 宁波摩科机器人科技有限公司 | Linkage type robot clamping device |
| CN105643455B (en) * | 2016-02-01 | 2017-10-31 | 宁波摩科机器人科技有限公司 | A kind of coordinated type robot clamping device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209424992U (en) | A kind of drilling and milling center fixture | |
| CN110340700B (en) | Adjustable fixing device for perforating plate-shaped workpiece | |
| CN203003546U (en) | Two-degree freedom spatial position and orientation adjustable clamp device | |
| CN104440254A (en) | Parallel linkage clamping mechanism | |
| CN105643455A (en) | Linkage type robot clamping device | |
| CN105436767A (en) | Welding machine applicable to production and processing of aluminium profiles | |
| CN105690213A (en) | Hardware pliers type tool arc surface grinding device and method thereof | |
| CN103506919A (en) | Turbine blade polishing device having constant polishing force | |
| CN205310058U (en) | Clamping device of coordinated type robot | |
| CN105364571A (en) | Universal cutting machine | |
| CN201394773Y (en) | Ophthalmic lens groover | |
| CN219465505U (en) | Combined clamping fixture for cylinder machining | |
| CN209565796U (en) | Take turns frame drilling milling machine | |
| CN205218835U (en) | Shoe tree fixing device | |
| CN213532096U (en) | Burnishing device for machining | |
| CN214024637U (en) | But angle regulation's machine part machining platform | |
| CN103567908A (en) | Rotating pipe clamp | |
| CN209256051U (en) | A kind of two guarantor's welding machine of flange automatic positioning | |
| CN206748014U (en) | A kind of Numeric control milling machine fixture | |
| CN105364506A (en) | Four-point benchmark universal cutting machining fixture | |
| CN105773204A (en) | Workpiece machining device | |
| CN105415106A (en) | Automatic multi-cutting-edge grinding clamp for woodworking flat drill | |
| CN205290598U (en) | Bull circular arc board mill | |
| CN205285250U (en) | Shoe sole edge trimming machine | |
| CN109454274A (en) | Move horizontally positioning anchor ear Universal rotary milling drill tools |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20171031 |