CN208117884U - robot clamp - Google Patents
robot clamp Download PDFInfo
- Publication number
- CN208117884U CN208117884U CN201820226182.8U CN201820226182U CN208117884U CN 208117884 U CN208117884 U CN 208117884U CN 201820226182 U CN201820226182 U CN 201820226182U CN 208117884 U CN208117884 U CN 208117884U
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- CN
- China
- Prior art keywords
- robot
- clamp
- claw
- pneumatic clamper
- workpiece
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- 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.)
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- 210000000078 claw Anatomy 0.000 claims description 37
- 238000009434 installation Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 1
- 206010054949 Metaplasia Diseases 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000015689 metaplastic ossification Effects 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot clamp, which comprises a connecting seat and is arranged on a robot main body; the first clamping device and the second clamping device are used for loosening or clamping workpieces, the connecting seat is provided with a first working area for feeding workpieces and a second working area for blanking workpieces, the first clamping device is arranged in the first working area, the second clamping device is arranged in the second working area, the first clamping device and the second clamping device are respectively driven by independently controlled driving devices, feeding and blanking can be simultaneously realized on an automatic production line, the moving time of a robot is saved, and mutual influence can be avoided due to the arrangement of the first working area and the second working area on the connecting seat in the feeding and blanking operations, and further the reliability of feeding and blanking is also guaranteed.
Description
Technical field
The utility model relates to automate processing technique field, and in particular to a kind of robot clamp.
Background technique
Currently, with popularizing for industrial robot, robot is due to having on the decelerator body process automation production line
High-freedom degree, excellent positioning accuracy and load on a large scale, and can satisfy numerous demands on automatic production line,
Use accounting on automatic production line is higher and higher.
In the prior art, for the robot clamp in robot for automatic production line feeding and blanking, such as Fig. 1 institute
Show, on robot clamp have first clamping finger 91 ' and second clamping finger 92 ', automate line on need feeding or
When efficiency, clamping cylinder 93 ' is controlled by the control system of robot, the first cylinder claw 94 ' and the are controlled by clamping cylinder
The synchronization telescope of two cylinder claws 95 ', and then the first clamping finger 91 ' and the second clamping finger 92 ' is driven to unclamp or clamp,
The release or clamping for realizing workpiece then by shifting robot clamp, and then realize the function of blanking and feeding.
But above-mentioned robot clamp is used, although can guarantee the reliability of feeding and blanking, feeding and blanking
Working efficiency is lower, by taking machine tooling as an example, can only first take out workpiece in lathe, put using above-mentioned robot clamp
To discharging area, feeding area is then moved again to, workpiece to be added is clamped and moves back and move to designated position, workpiece to be added is put into lathe dress
Clamp device, whole process need repeatedly round-trip, inefficiency.
Utility model content
The main purpose of the utility model is to provide a kind of robot clamp, to guarantee workpiece feeding and blanking
While reliability, solve the problems, such as that automatic production line feeding in the prior art and blanking efficiency are lower.
To achieve the above object, the utility model provides a kind of robot clamp, feeding and blanking for workpiece,
The robot clamp includes：Attachment base is mounted on robot body；First clamp device, the pine for the workpiece
It opens or clamps；Second clamp device, release or clamping for the workpiece, wherein the attachment base, which has, to be used for
First working region of the workpiece feeding and the second working region for the workpiece blanking, the first clamping dress
It sets and is mounted on first working region, second clamp device is mounted on second working region, and first folder
Device and second clamp device is taken to be driven respectively by the driving device of independent control.
Further, the attachment base is in " 7 " font, and first working region and second working region are located respectively
In the both ends of " 7 " the font attachment base.
Further, the mounting portion that the attachment base is connect with the robot body is in described " 7 " font attachment base
Middle part.
Further, first clamp device includes the first pneumatic clamper, movable the be arranged in first pneumatic clamper
One claw, and the first finger that being mounted on can be mobile and mobile with first claw on first claw.
Further, first pneumatic clamper is in the form of annular discs, and the quantity of first claw and first finger is three
And it is evenly distributed in first pneumatic clamper.
Further, the driving device includes cooperating with first pneumatic clamper to control first pneumatic clamper and stretch out or contract
The electromagnetic actuator device returned, and the pneumatic actuating device that driving first claw is mobile.
Further, second clamp device includes the second pneumatic clamper, movable the be arranged in second pneumatic clamper
Two claws, and the second finger that being mounted on can be mobile and mobile with second claw on second claw.
Further, second pneumatic clamper is in the form of annular discs, and the quantity of second claw and the second finger is three
And it is evenly distributed in second pneumatic clamper.
Further, the robot clamp further includes the blowning installation being arranged on the attachment base, the air blowing dress
It sets including air gun, the connection air gun fixed block for air gun connection and the air gun mounting base for air gun installation.
Further, the robot clamp is the decelerator body processing line robot clamp.
Technical solutions of the utility model have the following advantages that：
In robot clamp provided by the utility model, workpiece is used for by being arranged on the attachment base of robot clamp
First working region of feeding and the second working region for workpiece blanking, and respectively in the first working region and the second work
Make to be arranged on region and be clamped by what the driving device of independent control drove for the first clamp device of processing frame clamping and second
Device, and then feeding and blanking can be achieved at the same time on automatic production line, saves robot traveling time, and feeding and
Blanking is operated since the setting of the first working region and the second working region on attachment base can avoid influencing each other, and then simultaneously
It ensure that the reliability of feeding and blanking.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of robot clamp in the prior art；
Fig. 2 is the schematic perspective view of robot clamp in the utility model embodiment；
Fig. 3 is the present invention looks up structural representation of robot clamp shown in Fig. 1.
Wherein, the appended drawing reference in above-mentioned attached drawing is：
10, the first clamp device；11, the first pneumatic clamper；12, the first claw；13, the first clamping finger；
20, the second clamp device；21, the second pneumatic clamper；22, the second claw；23, the second clamping finger；
40, attachment base；41, the first working region；43, the second working region；
50, blowning installation；51, air gun；53, air gun fixed block；55, air gun mounting base；
91 ', first clamping finger；92 ', second clamping finger；93 ', clamping cylinder；94 ', first cylinder claw；95',
Second cylinder claw.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figures 2 and 3, the robot clamp in the present embodiment is specially the decelerator body processing line robot clamp,
Feeding and blanking for workpiece, including：Attachment base 40, is mounted on robot body；First clamp device 10, for adding
The release or clamping of workpiece；Second clamp device 20, release or clamping for workpiece, wherein attachment base 40 has
The first working region 41 for workpiece feeding and the second working region 43 for workpiece blanking, the first clamp device 10
It is mounted on the first working region 41, the second clamp device 20 is mounted on the second working region 43, and the first clamp device 10 and
Two clamp devices 20 are driven by the driving device of independent control respectively, so for automatic production line feeding in the prior art and
The lower problem of blanking efficiency is used for the first workspace of workpiece feeding by being arranged on the attachment base 40 of robot clamp
Domain 41 and the second working region 43 for workpiece blanking, and respectively on the first working region 41 and the second working region 43
It is arranged by the first clamp device 10 and the second clamp device 20 for processing frame clamping of the driving device driving of independent control,
And then feeding and blanking can be achieved at the same time on automatic production line, such as robot clamp first clamps a processing to be processed
Machined workpiece after having arrived designated place, first is clamped out, then workpiece to be processed is put in by part, is saved
Robot traveling time, and feeding and blanking operation are due to the first working region 41 on attachment base 40 and the second working region 43
Setting can avoid influencing each other, and then also ensure the reliability of feeding and blanking simultaneously.
Specifically, the attachment base 40 in the present embodiment is in " 7 " font, and the first working region 41 and the second working region 43 are divided
In the both ends of " 7 " font attachment base 40, and then on robot clamp, the first clamp device 10 and the second clamp device 20 be not or not other places
Easily interferes and influence, the better reliability of workpiece feeding and blanking.And the peace that attachment base 40 is connect with robot body
Dress portion is in the middle part of " 7 " font attachment base 40, equally can guarantee to add far from the first clamp device 10 and the second clamp device 20
The reliability of workpiece feeding and blanking.
Preferably, the robot clamp in the present embodiment further includes the blowning installation 50 being arranged on attachment base 40, is blown
Device 50 includes air gun 51, the connection air gun fixed block 53 for the connection of air gun 51 and the air gun installation for the installation of air gun 51
Seat 55, wherein air gun 51, connection air gun fixed block 53 and air gun mounting base 55 are fastened by the screw as threaded fastener,
Robot is moved in this way, and robot clamp is moved to the position of blanking, can system control machine device people's connecting shaft rotation, and
The air gun 51 in air gun mounting base 55 is driven to blow, side is blown, and side is mobile, can be played in this way in the decelerator body processing line
To a cleaning action of workpiece, clast etc. is avoided to be bonded on workpiece, and then ensure that robot clamp clamping processing
The precision of part further improves reliability of the workpiece in feeding and blanking process.
Preferably, robot clamp can also add cleaning solution spray equipment, such as cleaning solution spray head etc., in this way can be real
The now cleaning of most of tooling, advanced optimizes the structure of automation wire body.On the other hand, since robot end loads
Difference, the change which can carry out according to reality, to better adapt to Flexible Manufacture.
Illustrate in the present embodiment below with reference to Fig. 2 and Fig. 3 for the first clamp device 10 of processing frame clamping and the second folder
Take device 20.
First clamp device 10 include the first pneumatic clamper 11, movable the first claw 12 being arranged in the first pneumatic clamper 11, with
And be mounted on the first claw 12 can be mobile and mobile with the first claw 12 the first finger, wherein the cooperation of the first pneumatic clamper 11 and electricity
Magnetic device driving cooperation, can be stretched out or be retracted, the first claw 12 is movably mounted in the first pneumatic clamper 11, in pneumatic driving
It is moved under the driving of dynamic device, and then drives the first finger mobile.It is preferred that the first pneumatic clamper 11 in the present embodiment is in the form of annular discs,
The quantity of first claw 12 and the first finger is three and is evenly distributed in the first pneumatic clamper 11, is grabbed more to workpiece in this way
What is added is reliable, further improves reliability of the workpiece in feeding and blanking process.
Second clamp device 20 include the second pneumatic clamper 21, movable the second claw 22 being arranged in the second pneumatic clamper 21, with
And be mounted on the second claw 22 can be mobile and mobile with the second claw 22 second finger, wherein the cooperation of the second pneumatic clamper 21 and electricity
Magnetic device driving cooperation, can be stretched out or be retracted, the second claw 22 is movably mounted in the second pneumatic clamper 21, in pneumatic driving
It is moved under the driving of dynamic device, and then drives second finger mobile.Second pneumatic clamper 21 is in the form of annular discs, the second claw 22 and second
The quantity of finger is three and is evenly distributed in the second pneumatic clamper 21, equally can further improve workpiece in feeding and blanking
Reliability in the process.
The robot clamp course of work is illustrated below with reference to Fig. 2 and Fig. 3.Firstly, robot goes to fixed position,
The first claw 12 is stretched out under the control of electromagnetic actuator device such as solenoid valve control by the first pneumatic clamper 11, drives the first clamping hand
Refer to 13 inner holes for propping up workpiece outward；Then, robot is moved, and is moved to the position of blanking, system control machine device people
The rotation of connecting shaft, and the air gun 51 in air gun mounting base 55 is driven to blow, side is blown, and side is mobile, is waited and is dried up workpiece
After net, the second pneumatic clamper 21 is placed on fixed position by the rotation of system control machine device people's connecting shaft；Later, the second pneumatic clamper 21 is in electricity
Magnetic drive unit such as the second claw of solenoid valve control 22 carries out claw stretch out motion, to make the second support outward of clamping finger 23
The firmly inner hole of machined part, after propping up inner hole, robot lifting drives workpiece to leave clamping position, robot connecting shaft rotation
Turn, air gun 51 is directed at clamping tooling and is blown, is rotated after the completion of blowing, then by robot connecting shaft, by the first pneumatic clamper
Workpiece clamped by 11 is placed on clamping tooling；Finally, this is just real by the clamping tooling Automatic-clamping part on assembly line
Clamped one time is showed.Whole process also improves automatic metaplasia while ensure that the reliability of workpiece feeding and blanking
Workpiece feeding and blanking efficiency in producing line.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (10)
1. a kind of robot clamp, feeding and blanking for workpiece, which is characterized in that the robot clamp includes：Even
Joint chair (40), is mounted on robot body；First clamp device (10), release or clamping for the workpiece；The
Two clamp devices (20), release or clamping for the workpiece, wherein the attachment base (40) has to be added for described
The first working region (41) of workpiece feeding and the second working region (43) for the workpiece blanking, first clamping
Device (10) is mounted on first working region (41), and second clamp device (20) is mounted on second working region
(43), and first clamp device (10) and second clamp device (20) are driven by the driving device of independent control respectively
It is dynamic.
2. robot clamp according to claim 1, which is characterized in that the attachment base (40) is in " 7 " font, and described the
One working region (41) and second working region (43) are respectively at the both ends of described " 7 " font attachment base (40).
3. robot clamp according to claim 2, which is characterized in that the attachment base (40) and the robot body
The mounting portion of connection is in the middle part of described " 7 " font attachment base (40).
4. robot clamp according to any one of claim 1 to 3, which is characterized in that first clamp device
(10) include the first pneumatic clamper (11) movable the first claw (12) being arranged on first pneumatic clamper (11), and be mounted on
It can the first finger mobile with first claw (12) and movement on first claw (12).
5. robot clamp according to claim 4, which is characterized in that first pneumatic clamper (11) is in the form of annular discs, described
The quantity of first claw (12) and first finger is three and is evenly distributed on first pneumatic clamper (11).
6. robot clamp according to claim 4, which is characterized in that the driving device includes and first pneumatic clamper
(11) cooperate to control the electromagnetic actuator device that first pneumatic clamper (11) is stretched out or retracted, and driving first claw
(12) mobile pneumatic actuating device.
7. robot clamp according to claim 4, which is characterized in that second clamp device (20) includes the second gas
Pawl (21), movable the second claw (22) being arranged on second pneumatic clamper (21), and it is mounted on second claw
It (22) can second finger mobile with second claw (22) and movement on.
8. robot clamp according to claim 7, which is characterized in that second pneumatic clamper (21) is in the form of annular discs, described
The quantity of second claw (22) and the second finger is three and is evenly distributed on second pneumatic clamper (21).
9. robot clamp according to any one of claim 1 to 3, which is characterized in that the robot clamp also wraps
The blowning installation (50) being arranged on the attachment base (40) is included, the blowning installation (50) includes air gun (51), for described
The connection air gun fixed block (53) of air gun (51) connection and the air gun mounting base (55) installed for the air gun (51).
10. robot clamp according to any one of claim 1 to 3, which is characterized in that the robot clamp is to subtract
Fast casing processing line robot clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226182.8U CN208117884U (en) | 2018-02-08 | 2018-02-08 | robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226182.8U CN208117884U (en) | 2018-02-08 | 2018-02-08 | robot clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117884U true CN208117884U (en) | 2018-11-20 |
Family
ID=64207564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820226182.8U Active CN208117884U (en) | 2018-02-08 | 2018-02-08 | robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117884U (en) |
-
2018
- 2018-02-08 CN CN201820226182.8U patent/CN208117884U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |