CN205766225U - A kind of loading and unloading clamping device and robot - Google Patents
A kind of loading and unloading clamping device and robot Download PDFInfo
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- CN205766225U CN205766225U CN201620468740.2U CN201620468740U CN205766225U CN 205766225 U CN205766225 U CN 205766225U CN 201620468740 U CN201620468740 U CN 201620468740U CN 205766225 U CN205766225 U CN 205766225U
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- chuck
- loading
- clamping device
- workpiece
- floating part
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Abstract
This utility model provides a kind of loading and unloading clamping device, including mounting seat with for clamping the clip claw mechanism of workpiece, clip claw mechanism includes multiple chuck, each chuck is flexibly connected with mounting seat, each chuck has work surface and multiple relocation mechanism, multiple relocation mechanisms are positioned on work surface, and each relocation mechanism includes floating part, floating part and chuck floating connection.By the multiple floating parts arranged on the work surface of chuck, carry out clamping in work to workpiece at clip claw mechanism, when workpiece is by multiple grips, multiple floating part effects are on the surface of the workpiece, it is achieved clamping function, and owing to floating part and chuck use floating connection, workpiece also has certain free activity space after being clamped, avoid workpiece by " folder is dead ", realize flexible installing the most smoothly and put in place, moreover it is possible to rigidity is damaged to avoid surface of the work to occur.Additionally, this utility model additionally provides a kind of robot being provided with above-mentioned loading and unloading clamping device.
Description
Technical field
This utility model relates to industrial automation equipment field, upper and lower in particular to one
Material clamping device and robot.
Background technology
At present, rise along with human cost and recruitment famine phenomenon spreads day by day, replace with robot
Manual operation, it is achieved mechanical automation has become the developing direction of manufacturing industry.Industrial robot
Can replace in the industrial production manually doing dullness, frequent, the long working of repetition.At present
Industrial machine automatic production line complete set of equipments has become the main flow of automated arm and future
Industrial development direction, domestic project machinery industry has begun to use industrial robot automatic in a large number
Change production line, go back while ensureing product quality, improving production efficiency, reduction cost of labor
Security incident can be avoided.Understanding the universal of industrial robot from the big data analysis of industry in recent years is
Realize automated production, improve social production efficiency, promote enterprise and social productive forces to develop
Effective means.China's industry can be realized turn to intellectuality by people intensive by robot is universal
Type.
But, the loading and unloading clamping device of existing robot is when clamping workpiece, easily work
Part " folder is dead " so that no longer have free activity space when workpiece is held, causes installing
Time, workpiece installation is not in place and damage easily occurs in surface of the work.
Utility model content
The purpose of this utility model is to provide a kind of loading and unloading clamping device, this loading and unloading clamping
Device can not only be by Workpiece clamping, and when workpiece is held, workpiece also has certain freedom
Activity space, it is possible to more easily install and put in place.
Another object of the present utility model is to provide a kind of robot, and this robot includes above-mentioned
Loading and unloading clamping device so that this robot operationally, can not only by Workpiece clamping, and
When workpiece is held, workpiece also has certain free activity space, and workpiece can be more easily
Installation puts in place.
Embodiment of the present utility model is achieved in that
A kind of loading and unloading clamping device, including mounting seat with for clamping the clip claw mechanism of workpiece,
Clip claw mechanism includes that multiple chuck, each chuck are flexibly connected with mounting seat, and each chuck has
Work surface and multiple relocation mechanism, multiple relocation mechanisms are positioned on work surface, each relocation mechanism
Including floating part, floating part and chuck floating connection.
Further, in this utility model preferred embodiment, relocation mechanism includes fixing seat
And elastic component, floating part is arranged in fixing seat, and floating part is by elastic component with fixing seat even
Connecing, fixing seat is connected with chuck.
Further, in this utility model preferred embodiment, work surface is provided with multiple peace
Tankage, multiple relocation mechanisms are placed in mounting groove correspondingly, and floating part is toward away from peace
The direction of tankage is protruded.
Further, in this utility model preferred embodiment, chuck is two, two folders
Head is oppositely arranged, and the relocation mechanism on each chuck is nine, nine relocation mechanism uniform intervals
Be arranged on work surface.
Further, in this utility model preferred embodiment, chuck includes three clamping plate,
Three clamping plate are sequentially connected with from top to bottom, and each clamping plate have three relocation mechanisms.
Further, in this utility model preferred embodiment, work surface is arc.
Further, in this utility model preferred embodiment, floating part is spherical.
Further, in this utility model preferred embodiment, each clip claw mechanism also includes
Multiple linking arms, the quantity of linking arm is corresponding with the quantity of chuck, multiple linking arm one_to_one corresponding
Ground is fixing with multiple chucks to be connected, and linking arm is flexibly connected with mounting seat away from one end of chuck.
Further, in this utility model preferred embodiment, clip claw mechanism also include for
The driving means of drive connection arm motion, driving means is arranged in mounting seat.
A kind of robot, including any of the above-described loading and unloading clamping device.
A kind of loading and unloading clamping device of this utility model embodiment and the beneficial effect of robot
It is: by the multiple floating parts arranged on the work surface of chuck, at clip claw mechanism, workpiece is entered
In row clamping work, when workpiece is by multiple grips, multiple floating parts act on surface of the work
On, it is achieved clamping function, and owing to floating part and chuck use floating connection, workpiece
Also there is after Bei Jiajining certain free activity space, it is to avoid workpiece " is pressed from both sides dead ", the most suitable
Profit realizes flexible installing and puts in place, moreover it is possible to rigidity is damaged to avoid surface of the work to occur.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be to enforcement
In example, the required accompanying drawing used is briefly described, it will be appreciated that the following drawings illustrate only
Some embodiment of the present utility model, is therefore not construed as the restriction to scope, for this
From the point of view of the those of ordinary skill of field, on the premise of not paying creative work, it is also possible to according to
These accompanying drawings obtain the accompanying drawing that other are relevant.
The structural representation of the loading and unloading clamping device that Fig. 1 provides for this utility model embodiment；
The structure of the chuck of the loading and unloading clamping device that Fig. 2 provides for this utility model embodiment
Schematic diagram.
Figure acceptance of the bid note is respectively as follows: loading and unloading clamping device 100, clip claw mechanism 110, chuck 111,
Clamping plate 112, linking arm 113, driving means 114, work surface 115, relocation mechanism 116,
Floating part 117.
Detailed description of the invention
At present, rise along with human cost and recruitment famine phenomenon spreads day by day, replace with robot
Manual operation, it is achieved mechanical automation has become the developing direction of manufacturing industry.Industrial robot
Can replace in the industrial production manually doing dullness, frequent, the long working of repetition.At present
Industrial machine automatic production line complete set of equipments has become the main flow of automated arm and future
Industrial development direction, domestic project machinery industry has begun to use industrial robot automatic in a large number
Change production line, go back while ensureing product quality, improving production efficiency, reduction cost of labor
Security incident can be avoided.Understanding the universal of industrial robot from the big data analysis of industry in recent years is
Realize automated production, improve social production efficiency, promote enterprise and social productive forces to develop
Effective means.China's industry can be realized turn to intellectuality by people intensive by robot is universal
Type.
But, the loading and unloading clamping device of existing robot is when clamping workpiece, easily work
Part " folder is dead " so that no longer have free activity space when workpiece is held, causes installing
Time, workpiece installation is not in place and damage easily occurs in surface of the work.
Designer of the present utility model finds under study for action, and the main cause producing the problems referred to above exists
In: the chuck of existing loading and unloading clamping device is typically rigid structure, say, that chuck
Work surface is usually rigid face, when grips workpiece, acts on surface of the work and and workpiece
The rigid face of power of having an effect contact does not have flexible structure, therefore so that workpiece is pressed from both sides by chuck
Time tight, workpiece is pressed from both sides extremely, and workpiece can not be movable again on chuck.
In consideration of it, designer of the present utility model is by long-term exploration and trial, and repeatedly
Experiment and effort, constantly reform and innovate, devise a kind of loading and unloading clamping device, on this
Blanking clamping device is by being provided with multiple floating part, floating part and folder on the work surface of chuck
Head uses the mode of floating connection so that when clamping, be floating part rather than existing rigidity
Face contacts with the surface of the work power of having an effect, and then realizes flexible clamping effect.Therefore, on this
Blanking clamping device can not only be by Workpiece clamping, and when workpiece is held, workpiece chuck it
Between also there is certain free activity space avoid by " folder dead ", workpiece can more easily by
Installation puts in place.
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, below
The accompanying drawing in this utility model embodiment will be combined, to the technical side in this utility model embodiment
Case is clearly and completely described, it is clear that described embodiment is this utility model one
Divide embodiment rather than whole embodiments.Generally herein described in accompanying drawing and the basis that illustrates
The assembly of utility model embodiment can be arranged with various different configurations and design.
Therefore, below to the detailed description of the embodiment of the present utility model provided in the accompanying drawings also
It is not intended to be limiting claimed scope of the present utility model, but is merely representative of this utility model
Selected embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art exist
Do not make the every other embodiment obtained under creative work premise, broadly fall into this practicality
Novel protected scope.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is carried out in accompanying drawing subsequently
Definition and explanation further.
In description of the present utility model, it should be noted that term " on ", D score, " interior ",
Orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship,
Or this utility model product orientation usually put or position relationship when using, merely to
It is easy to describe this utility model and simplify description rather than instruction or the device of hint indication or unit
Part must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that
To restriction of the present utility model.
Additionally, the terms such as term " level " are not offered as requiring parts abswolute level or pendency,
But can be slightly tilted.As " level " only refers to for its direction relatively " vertically " more
Add level, be not to represent that this structure must be perfectly level, but can be slightly tilted.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clear and definite regulation
And restriction, term " is arranged ", " installation ", " connection " should be interpreted broadly, for example, it is possible to
It it is fixing connection, it is also possible to be to removably connect, or be integrally connected；Can be to be mechanically connected；
Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, in can being two elements
The connection in portion.For the ordinary skill in the art, can understand above-mentioned with concrete condition
Term concrete meaning in this utility model.
Embodiment
Referring to Fig. 1～Fig. 2, the loading and unloading clamping device 100 that the present embodiment provides, including peace
Fill seat and for clamping the clip claw mechanism 110 of workpiece.Can be by this loading and unloading clamping by mounting seat
Device 100 is installed on various robotic arm.
Specifically, in the present embodiment, clip claw mechanism 110 includes multiple chuck 111, multiple
Linking arm 113 and the driving means 114 of drive connection arm 113 motion.Linking arm 113
Quantity is corresponding with the quantity of chuck 111, multiple linking arms 113 correspondingly with multiple chucks
111 fixing connections, linking arm 113 is flexibly connected with mounting seat away from one end of chuck 111.
Wherein, driving means 114 is arranged in mounting seat.Certainly, the quantity of driving means 114 with
The quantity of linking arm 113 is corresponding.Preferably, in the present embodiment, driving means 114 is gas
Cylinder, linking arm 113 is connected with the piston of cylinder.Certainly, driving means 114 can also be liquid
Hydraulic driver 114 etc..
It should be noted that chuck 111 is for directly clamping workpiece, have an effect power with workpiece,
Multiple chucks 111 cooperate and can clamp workpiece.The quantity of chuck 111 can be according to practical situation
Determine, but at least two.
Preferably, in the present embodiment, the quantity of chuck 111 is two, two chucks 111
It is oppositely arranged.Correspondingly, the quantity of linking arm 113 and driving means 114 is also two.?
Under the piston of cylinder drives, two chucks 111 occur can occurred level direction towards or away from
Motion, it is achieved clamping or the absent-mindedness to workpiece.Certainly, in other examples, chuck
The quantity of 111 can be three or four or five etc..
Additionally, in the present embodiment, each chuck 111 is provided with work surface 115 (i.e. two
The one side that chuck 111 is relative) and multiple relocation mechanism 116, multiple relocation mechanisms 116 are positioned at
On work surface 115.Each relocation mechanism 116 includes floating part 117, floating part 117 and folder
111 floating connections.
Structure and work process to relocation mechanism 116 are described in detail below.
In the present embodiment, relocation mechanism 116 can also include fixing seat and elastic component.Float
Part 117 is arranged in fixing seat, and floating part 117 is connected with fixing seat by elastic component.Gu
Reservation is connected with chuck 111.In the present embodiment, the setting by fixing seat and elastic component can
Realize the floating connection of floating part 117 and chuck 111.Wherein it is preferred to, elastic component is bullet
Spring, certainly, elastic component can also be shell fragment or gum elastic etc. in other examples.
Preferably, in the present embodiment, the work surface 115 of chuck 111 is provided with multiple installation
Groove.The quantity of mounting groove is corresponding with the quantity of relocation mechanism 116, multiple relocation mechanisms 116 1
One is placed in mounting groove accordingly, and floating part 117 is toward the direction protrusion of remotely mounted groove.
Relocation mechanism 116 is arranged in mounting groove, it is to avoid relocation mechanism 116 is at chuck 111
Upper loosening is dropped, and strengthens the stability of relocation mechanism 116.
Preferably, in the present embodiment, floating part 117 is spherical.Use the floating of spherical structure
Moving part 117 so that when floating part 117 contacts with surface of the work, multiple peptizaiton forces are executed
Being added in surface of the work, workpiece stress is evenly, it is achieved point-contact type clamping effect.Effectively change
It is apt to the situation of the surface of the work discontinuity that face contact-type clamping causes.It is highly preferred that
In the present embodiment, floating part 117 is steel ball.Certainly, in other examples, floating part
117 can also be cylindrical, or rugby etc. has the shape of arcwall face structure.
Giving in actual work process, each portion of shape of workpiece is identical, the shape of chuck 111
Also just can ensure that clamping effect with the mating shapes of workpiece.Preferably, at the present embodiment
In, the work surface 115 on chuck 111 is arc.The work surface 115 of arc makes chuck 111
Can coordinate with column type workpiece, increase the contact area of chuck 111 and column type workpiece, add
Strong clamping effect.Certainly, the shape of work surface 115 can be designed according to the shape of workpiece,
The two is mutually matched, and such as work surface 115 is square, is used for clamping square workpiece.
Preferably, in the present embodiment, the relocation mechanism 116 on each chuck 111 is nine,
Nine relocation mechanisms 116 are evenly spaced apart to be arranged on work surface 115.Certainly, relocation mechanism
The quantity of 116 can be configured according to actual situation.
Additionally, in the present embodiment, each chuck 111 includes three clamping plate 112, three folders
Plate 112 is sequentially connected with from top to bottom, and each clamping plate 112 have three relocation mechanisms 116,
Three relocation mechanisms 116 are along horizontally arranged.Each chuck 111 is made up of three clamping plate 112,
Have an advantage in that when needing after wherein certain relocation mechanism 116 damages to change, need not change whole
Individual chuck 111, it is only necessary to change the clamping plate 112 at its corresponding place, in order to safeguard.
During work, two chucks 111 move under the driving of cylinder horizontally towards each other, to column type work
Part clamps.When floating part 117 contacts workpiece, floating part 117 is by the retroaction of workpiece
Power, floating part 117 moves in groove, and compression elastic piece stores power and clamps workpiece further.Also
It is exactly the active forces that applied by 18 steel balls of the both sides of workpiece, is also equivalent to by 18
Active force on individual different directions, it is ensured that workpiece can be clamped and not drop, but not " folder
Extremely " workpiece.Workpiece still can have the most movable space under the clamping of two chucks 111.
When workpiece is held in other words, workpiece can also freely swing certain angle, thus
Make workpiece when entering lathe rigidity and installing mandrel, the most automatically just can borrow, realize flexibility smoothly
Installation puts in place, reaches artificial flexible installing effect, improves production efficiency.Additionally, employing steel
The floating part 117 of pearl has radian with the position of absorption surface, has damage when can occasionally avoid clamping
Workpiece, it is possible to meet precision workpiece appearance requirement.
To sum up, the loading and unloading clamping device 100 of the present embodiment uses " defeating a force with a tenderness " design reason
Read, by two chucks 111 with totally 18 steel balls arranged that float, it is achieved chuck 111
With the accurate loading and unloading location coordinated transitional between workpiece, improve workpiece holding success rate, reduction
Workpiece surface damage, reaches to improve production efficiency and product quality, and reduces the purpose of manufacturing cost,
Can be applicable in the cylindrical workpiece of required precision high (internal-external circle concentricity≤0.025)
Blanking process, it has broad application prospects.
Additionally, the present embodiment additionally provides a kind of robot, this robot includes the above
Loading and unloading clamping device 100.This loading and unloading clamping device 100 is arranged on this by mounting seat
On the arm of robot, and then workpiece can be carried out clipping operation.
The foregoing is only preferred embodiment of the present utility model, be not limited to this reality
With novel, for a person skilled in the art, this utility model can have various change and
Change.All within spirit of the present utility model and principle, any amendment, the equivalent made are replaced
Change, improvement etc., within should be included in protection domain of the present utility model.
Claims (10)
1. a loading and unloading clamping device, it is characterised in that include mounting seat and for clamping work
The clip claw mechanism of part, described clip claw mechanism includes multiple chuck, each described chuck and described peace
Dress seat is flexibly connected, and each described chuck has work surface and multiple relocation mechanism, multiple described
Relocation mechanism is positioned at described work surface, and each described relocation mechanism includes floating part, described floating
Part and described chuck floating connection.
Loading and unloading clamping device the most according to claim 1, it is characterised in that described floating
Motivation structure includes fixing seat and elastic component, and described floating part is arranged in described fixing seat, and institute
State floating part to be connected with described fixing seat by described elastic component, described fixing seat and described chuck
Connect.
Loading and unloading clamping device the most according to claim 2, it is characterised in that described work
Be provided with multiple mounting groove as face, multiple described relocation mechanisms are placed in described peace correspondingly
In tankage, and described floating part protrudes toward the direction away from described mounting groove.
Loading and unloading clamping device the most according to claim 2, it is characterised in that described folder
Head is two, and two described chucks are oppositely arranged, the described relocation mechanism on each described chuck
Being nine, nine described relocation mechanisms are evenly spaced apart to be arranged on described work surface.
Loading and unloading clamping device the most according to claim 4, it is characterised in that described folder
Head includes that three clamping plate, three described clamping plate are sequentially connected with from top to bottom, on each described clamping plate
There are three described relocation mechanisms.
6. according to the loading and unloading clamping device described in any one of Claims 1 to 5, it is characterised in that
Described work surface is arc.
7. according to the loading and unloading clamping device described in any one of Claims 1 to 5, it is characterised in that
Described floating part is spherical.
Loading and unloading clamping device the most according to claim 1, it is characterised in that Mei Gesuo
State clip claw mechanism and also include the quantity of multiple linking arm, the quantity of described linking arm and described chuck
Correspondence, multiple described linking arms are fixing with multiple described chucks correspondingly to be connected, described company
Connect arm to be flexibly connected with described mounting seat away from one end of described chuck.
Loading and unloading clamping device the most according to claim 8, it is characterised in that described folder
Pawl mechanism also includes the driving means for driving described linking arm to move, and described driving means is pacified
It is contained in described mounting seat.
10. a robot, it is characterised in that include as described in any one of claim 1～9
Loading and unloading clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620468740.2U CN205766225U (en) | 2016-05-20 | 2016-05-20 | A kind of loading and unloading clamping device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620468740.2U CN205766225U (en) | 2016-05-20 | 2016-05-20 | A kind of loading and unloading clamping device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766225U true CN205766225U (en) | 2016-12-07 |
Family
ID=58114479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620468740.2U Expired - Fee Related CN205766225U (en) | 2016-05-20 | 2016-05-20 | A kind of loading and unloading clamping device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205766225U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945981A (en) * | 2016-05-20 | 2016-09-21 | 黄石艾博科技发展有限公司 | Clamping device for feeding and discharging and robot |
| CN106737619A (en) * | 2016-12-27 | 2017-05-31 | 嘉兴高维智控有限公司 | Mechanical paw |
| TWI637418B (en) * | 2017-03-31 | 2018-10-01 | 群光電子股份有限公司 | Grabbing device and plug-in method of plug-in machine |
| CN109625927A (en) * | 2018-12-05 | 2019-04-16 | 北京发那科机电有限公司 | A kind of manipulator and industrial robot |
| CN110355342A (en) * | 2019-08-14 | 2019-10-22 | 宁波伊泽机器人有限公司 | Mold insert fetching device |
-
2016
- 2016-05-20 CN CN201620468740.2U patent/CN205766225U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945981A (en) * | 2016-05-20 | 2016-09-21 | 黄石艾博科技发展有限公司 | Clamping device for feeding and discharging and robot |
| CN105945981B (en) * | 2016-05-20 | 2018-04-13 | 黄石艾博科技发展有限公司 | A kind of loading and unloading clamping device and robot |
| CN106737619A (en) * | 2016-12-27 | 2017-05-31 | 嘉兴高维智控有限公司 | Mechanical paw |
| TWI637418B (en) * | 2017-03-31 | 2018-10-01 | 群光電子股份有限公司 | Grabbing device and plug-in method of plug-in machine |
| CN109625927A (en) * | 2018-12-05 | 2019-04-16 | 北京发那科机电有限公司 | A kind of manipulator and industrial robot |
| CN110355342A (en) * | 2019-08-14 | 2019-10-22 | 宁波伊泽机器人有限公司 | Mold insert fetching 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: 20161207 Termination date: 20200520 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |