CN206263977U - A kind of robot composite fixture - Google Patents
A kind of robot composite fixture Download PDFInfo
- Publication number
- CN206263977U CN206263977U CN201621249409.8U CN201621249409U CN206263977U CN 206263977 U CN206263977 U CN 206263977U CN 201621249409 U CN201621249409 U CN 201621249409U CN 206263977 U CN206263977 U CN 206263977U
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- China
- Prior art keywords
- driving lever
- connecting rod
- clamping fixture
- fixture seat
- seat
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- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 4
- 238000007598 dipping method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model provides a kind of robot composite fixture, including clamping fixture seat, driving lever is provided with clamping fixture seat, one end of driving lever is connected with drive device, driving lever both sides are provided with the first connecting rod set relative to driving lever mirror image, first connecting rod rotates pair and is connected with driving lever near one end of driving lever by first, the other end of first connecting rod rotates pair and is connected with the second connecting rod middle part set relative to driving lever mirror image by second, second connecting rod rotates pair and is connected with clamping fixture seat near one end of driving lever by the 3rd, when driving lever moves to two extreme positions, the other end of second connecting rod is on clamping fixture seat or stretches out outside clamping fixture seat respectively.The utility model simple structure, designs ingenious, and clamping is reliable, with low cost, production efficiency is improve, with wide market prospects.
Description
Technical field
The utility model belongs to robot field of fixture equipment, more particularly, to a kind of robot composite fixture.
Background technology
Need to be assembled by robot arm grabbing workpiece in production, on production line, it is existing suitable for robot
The fixture of arm, complex structure, precision is not high.
The content of the invention
In view of this, the utility model is directed to a kind of robot composite fixture, and work is quickly captured to solve robot
The technical problem that part is assembled.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of robot composite fixture, including clamping fixture seat, are provided with driving lever, one end and the driving of driving lever on clamping fixture seat
Device is connected, and driving lever both sides are provided with the first connecting rod set relative to driving lever mirror image, and first connecting rod is near driving lever
One end rotates pair and is connected with driving lever by first, the other end of first connecting rod and relative to the setting of driving lever mirror image second
Connecting rod middle part rotates pair connection by second, and second connecting rod rotates pair even near one end of driving lever and clamping fixture seat by the 3rd
Connect, when driving lever moves to two extreme positions, the other end of second connecting rod is on clamping fixture seat or stretches out folder respectively
Outside tool seat.
Further, the both sides near driving lever free end are respectively arranged with the 3rd company set relative to driving lever mirror image
Bar, the third connecting rod is obliquely installed, and third connecting rod rotates pair and is connected with driving lever near one end of driving lever by the 4th, the
The other end of three connecting rods rotates pair and is connected with the middle part of fourth link by the 5th, and fourth link is near the second connecting rod
One end rotates pair and is connected with clamping fixture seat by the 6th, and the other end of fourth link is provided with the hook for turning up, when driving lever fortune
Move during to two extreme positions, the other end of fourth link is on clamping fixture seat or stretches out outside clamping fixture seat respectively.
Further, set fluted on the clamping fixture seat, be respectively arranged with the groove and second connecting rod and the 4th
Corresponding first opening of connecting rod and the second opening, the driving lever, first connecting rod, second connecting rod, third connecting rod and fourth link
It is embedded in groove respectively.
Further, the clamping fixture seat top is provided with shrouding, and the driving lever, first connecting rod, second connecting rod, the 3rd connect
Bar and fourth link are respectively between clamping fixture seat and shrouding.
Further, one end top on the clamping fixture seat near drive device is provided with pressure sensor, the pressure
Sensor protrudes from clamping fixture seat upper surface.
Further, the quantity of the pressure sensor is two, and pressure sensor is symmetrical arranged relative to driving lever, pressure
Force snesor is positioned close to the clamping fixture seat top of clamping fixture seat side wall.
Further, the gear for limiting driving lever movement travel is provided with the clamping fixture seat of the free end of driving lever
Plate, the baffle plate can adjust.
Further, the clamping fixture seat is provided near one end of drive device and protrudes from clamping fixture seat upper surface and clamping fixture seat
Vertical riser, two upper lateral parts of riser are respectively and fixedly connected with the side guide parallel with clamping fixture seat, and the side guide is towards clamping fixture seat
Length direction extend.
Further, the clamping fixture seat is connected with adpting flange near one end of drive device.
Further, the clamping fixture seat is provided with position scanner, position scanner near one end top of drive device
Side set position sensor.
Relative to prior art, robot composite fixture described in the utility model has the advantage that：
(1) the utility model simple structure, designs ingenious, and clamping is reliable, with low cost, improves production efficiency, has
Wide market prospects；
(2) the utility model can be accurately positioned, and increased pressure sensor, and workpiece can be prevented to be damaged.
Brief description of the drawings
The accompanying drawing for constituting a part of the present utility model is used for providing being further understood to of the present utility model, and this practicality is new
The schematic description and description of type is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is structural representation when the utility model embodiment is without shrouding；
Fig. 2 is the structural representation of the utility model embodiment.
Description of reference numerals：
1- clamping fixture seats；101- grooves；102- first is open；103- second is open；104- risers；1041- side guides；2- master
Lever；3- drive devices；4- first connecting rods；5- second connecting rods；6- third connecting rods；7- fourth links；701- hooks；First turn of 8-
Dynamic pair；9- second rotates pair；10- the 3rd rotates secondary；11- the 4th rotates secondary；12- the 5th rotates secondary；13- the 6th rotates secondary；14-
Shrouding；15- pressure sensors；16- baffle plates；17- adpting flanges；18- positions scanner；19- position sensors.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that the device or element of meaning with specific orientation, with specific azimuth configuration and operation, therefore must not be understood that
It is to limitation of the present utility model.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " is meant that two or more.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
Can be two connections of element internal.For the ordinary skill in the art, can be by concrete condition understanding
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As depicted in figs. 1 and 2, a kind of robot composite fixture, including clamping fixture seat 1, is provided with driving lever 2 on clamping fixture seat 1,
One end of driving lever 2 is connected with drive device 3, and drive device 3 is cylinder.The both sides of driving lever 2 are provided with relative to the mirror of driving lever 2
As the first connecting rod 4 for setting, one end outward-dipping setting of the first connecting rod 4 away from drive device 3.First connecting rod 4 is near actively
One end of bar 2 rotates secondary 8 and is connected with driving lever 2 by first, the other end of first connecting rod 4 and relative to the mirror image of driving lever 2
The middle part of second connecting rod 5 of setting rotates secondary 9 and connects by second, and second connecting rod 5 leads near one end of driving lever 2 with clamping fixture seat 1
Cross the 3rd rotation secondary 10 to connect, when driving lever 2 moves to two extreme positions, the other end of second connecting rod 5 is in respectively
On clamping fixture seat 1 or stretch out outside clamping fixture seat 1.Driving lever 2 is respectively arranged with relative to the mirror image of driving lever 2 near the both sides of free end
The third connecting rod 6 of setting, one end outward-dipping setting of the third connecting rod 6 away from drive device 3.Third connecting rod 6 is near driving lever 2
One end rotate secondary 11 by the 4th and be connected with driving lever 2, the other end of third connecting rod 6 rotates pair 12 and the 4th by the 5th
The middle part connection of connecting rod 7, fourth link 7 rotates secondary 13 and is connected with clamping fixture seat 1 near one end of second connecting rod 5 by the 6th, the
The other end of double leval jib 7 is provided with the hook 701 for turning up, when driving lever 2 moves to two extreme positions, fourth link 7
Other end be in respectively on clamping fixture seat 1 or stretch out outside clamping fixture seat 1.
Fluted 101 are set on clamping fixture seat 1, is respectively arranged with groove 101 corresponding with second connecting rod 5 and fourth link 7
First opening 102 and second opening 103,7 points of driving lever 2, first connecting rod 4, second connecting rod 5, third connecting rod 6 and fourth link
It is not embedded in groove 101 and can be moved in groove 101.In order to more beautiful generous, while preventing the motion of connecting rod to be subject to
Influence, the top of clamping fixture seat 1 is provided with shrouding 14, driving lever 2, first connecting rod 4, second connecting rod 5, third connecting rod 6 and fourth link 7
It is respectively between clamping fixture seat 1 and shrouding 14, and moves therebetween.
One end top on clamping fixture seat 1 near drive device 3 is provided with pressure sensor 15, and pressure sensor 15 is protruded from
The upper surface of clamping fixture seat 1.The quantity of pressure sensor 15 is two, and pressure sensor 15 is symmetrical arranged relative to driving lever 2, pressure
Sensor 15 is positioned close to the top of clamping fixture seat 1 of the side wall of clamping fixture seat 1.Set on the clamping fixture seat 1 of the free end of driving lever 2
There is the baffle plate 16 for limiting the movement travel of driving lever 2, baffle plate 16 is arranged in groove 101, baffle plate 16 can adjust.On baffle plate 16
Two bolts hole are provided with, the corresponding racetrack that is provided with slides elongated slot on clamping fixture seat 1, and sliding elongated slot is used for installation bolt, spiral shell
Bolt can be slided in sliding elongated slot, so that the position of controllable register 16.
Clamping fixture seat 1 near drive device 3 one end be provided with protrude from the upper surface of clamping fixture seat 1 it is vertical with clamping fixture seat 1 erect
Plate 104, cylinder is arranged on the outside of riser 104.Two upper lateral parts of riser 104 are respectively and fixedly connected with the side pressure parallel with clamping fixture seat 1
Plate 1041, side guide 1041 extends towards the length direction of clamping fixture seat 1.When grabbing workpiece, side guide 1041 is located at workpiece
Both sides, play position-limiting action, prevent workpiece from dropping.The outside of riser 104, is provided with adpting flange 17 above cylinder, connection
One end of flange 17 is affixed with riser 104.Clamping fixture seat 1 is provided with position scanner 18, position near one end top of drive device 3
The side for putting scanner 18 sets position sensor 19.
Operation principle of the present utility model：
The utility model is connected with the arm of robot by adpting flange 17.Workpiece is placed on the pallet of production line
On, the both sides of workpiece are provided with two strip plates, and strip plate causes to leave space between workpiece and pallet, and this space supplies clamping fixture seat
1 stretches into.During original state, driving lever 2 is motionless, and the free end of second connecting rod 5 and fourth link 7 does not stretch out clamping fixture seat 1, works as folder
When tool seat 1 is extend into space, start drive device 3, drive device 3 drives driving lever 2 to travel forward, and driving lever 2 is pushed away respectively
Dynamic first connecting rod 4 and third connecting rod 6 are moved, and first connecting rod 4 and third connecting rod 6 promote second connecting rod 5 and fourth link 7 respectively
Free end expands outwardly, and is supported on the inside of free end and the strip plate of second connecting rod 5 and fourth link 7, now by workpiece
Promptly.
Robot arm drives the utility model to move, and whether scanner scanning reaches installation region in mobile process,
Position sensor 19 is also carried out measurement, and whether measurement reaches installation site.When installation site is reached, robot arm band is started building
Part push-in mounting box in, if position do not align or mounting box bore less than workpiece bore, now workpiece pacified
The extruding of mounted box, pressure sensor 15 is under pressure, and in order to prevent workpiece to be damaged, pressure sensor 15 is connected with alarm set,
Staff is reminded to be intervened.
After workpiece loads mounting box inside, air cylinder driven driving lever 2 retracts, and loosens the clamping to workpiece, robot
Arm withdraws the utility model, carries out grasping movement next time.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of robot composite fixture, it is characterised in that：Including clamping fixture seat (1), driving lever (2) is provided with clamping fixture seat (1),
One end of driving lever (2) is connected with drive device (3), and driving lever (2) both sides are provided with what is set relative to driving lever (2) mirror image
First connecting rod (4), first connecting rod (4) rotates secondary (8) and is connected with driving lever (2) near one end of driving lever (2) by first, the
The other end of one connecting rod (4) rotates secondary with second connecting rod (5) middle part set relative to driving lever (2) mirror image by second
(9) connect, second connecting rod (5) rotates secondary (10) and is connected with clamping fixture seat (1) near one end of driving lever (2) by the 3rd, works as master
When lever (2) moves to two extreme positions, the other end of second connecting rod (5) is on clamping fixture seat (1) or stretches out respectively
Clamping fixture seat (1) is outward.
2. robot composite fixture according to claim 1, it is characterised in that：Near the both sides of driving lever (2) free end
The third connecting rod (6) set relative to driving lever (2) mirror image is respectively arranged with, the third connecting rod (6) is obliquely installed, the 3rd connects
Bar (6) rotates secondary (11) and is connected with driving lever (2) near one end of driving lever (2) by the 4th, and other the one of third connecting rod (6)
End rotates secondary (12) and is connected with the middle part of fourth link (7) by the 5th, and fourth link (7) is near the second connecting rod (5)
One end rotates secondary (13) and is connected with clamping fixture seat (1) by the 6th, and the other end of fourth link (7) is provided with the hook for turning up
(701), when driving lever (2) moves to two extreme positions, the other end of fourth link (7) is in clamping fixture seat (1) respectively
Go up or stretch out clamping fixture seat (1) outward.
3. robot composite fixture according to claim 2, it is characterised in that：Set fluted on the clamping fixture seat (1)
(101) the first opening (102) corresponding with second connecting rod (5) and fourth link (7), is respectively arranged with the groove (101)
With the second opening (103), the driving lever (2), first connecting rod (4), second connecting rod (5), third connecting rod (6) and fourth link
(7) it is embedded in respectively in groove (101).
4. robot composite fixture according to claim 3, it is characterised in that：Clamping fixture seat (1) top is provided with envelope
Plate (14), the driving lever (2), first connecting rod (4), second connecting rod (5), third connecting rod (6) and fourth link (7) are respectively at
Between clamping fixture seat (1) and shrouding (14).
5. robot composite fixture according to claim 1, it is characterised in that：Filled near driving on the clamping fixture seat (1)
One end top for putting (3) is provided with pressure sensor (15), and the pressure sensor (15) protrudes from clamping fixture seat (1) upper surface.
6. robot composite fixture according to claim 5, it is characterised in that：The quantity of the pressure sensor (15) is
Two, pressure sensor (15) is symmetrical arranged relative to driving lever (2), and pressure sensor (15) is positioned close to clamping fixture seat (1)
Clamping fixture seat (1) top of side wall.
7. robot composite fixture according to claim 1, it is characterised in that：Near the folder of the free end of driving lever (2)
The baffle plate (16) for limiting driving lever (2) movement travel is provided with tool seat (1), the baffle plate (16) can adjust.
8. robot composite fixture according to claim 1, it is characterised in that：The clamping fixture seat (1) is near drive device
(3) one end is provided with and protrudes from clamping fixture seat (1) the upper surface riser (104) vertical with clamping fixture seat (1), the two of riser (104)
Upper lateral part is respectively and fixedly connected with the side guide (1041) parallel with clamping fixture seat (1), and the side guide (1041) is towards clamping fixture seat (1)
Length direction extends.
9. robot composite fixture according to claim 1, it is characterised in that：The clamping fixture seat (1) is near drive device
(3) one end is connected with adpting flange (17).
10. robot composite fixture according to claim 1, it is characterised in that：The clamping fixture seat (1) is near drive device
(3) one end top is provided with position scanner (18), and the side of position scanner (18) sets position sensor (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249409.8U CN206263977U (en) | 2016-11-21 | 2016-11-21 | A kind of robot composite fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249409.8U CN206263977U (en) | 2016-11-21 | 2016-11-21 | A kind of robot composite fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263977U true CN206263977U (en) | 2017-06-20 |
Family
ID=59040415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621249409.8U Active CN206263977U (en) | 2016-11-21 | 2016-11-21 | A kind of robot composite fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263977U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393910A (en) * | 2018-03-07 | 2018-08-14 | 潍坊学院 | A kind of automation simple machine machinery claw |
| CN111605808A (en) * | 2019-02-22 | 2020-09-01 | 青岛萨沃特机器人有限公司 | Mechanical claw and packaging machine |
-
2016
- 2016-11-21 CN CN201621249409.8U patent/CN206263977U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393910A (en) * | 2018-03-07 | 2018-08-14 | 潍坊学院 | A kind of automation simple machine machinery claw |
| CN108393910B (en) * | 2018-03-07 | 2020-03-20 | 潍坊学院 | Automatic simple mechanical claw |
| CN111605808A (en) * | 2019-02-22 | 2020-09-01 | 青岛萨沃特机器人有限公司 | Mechanical claw and packaging machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231218 Address after: 101102, 1st Floor, Building 9, Courtyard 2, Jingsheng Middle Street, Tongzhou District, Beijing 101-02 Patentee after: Beijing Zhong Sheng Jia Automation Technology Co.,Ltd. Address before: 100101-02, 1st floor, building 9, yard 2, Jingsheng middle street, Tongzhou District, Beijing Patentee before: Liu Yuqian |
|
| TR01 | Transfer of patent right |