CN208289920U - Clamping device and robot with it - Google Patents
Clamping device and robot with it Download PDFInfo
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- CN208289920U CN208289920U CN201820902913.6U CN201820902913U CN208289920U CN 208289920 U CN208289920 U CN 208289920U CN 201820902913 U CN201820902913 U CN 201820902913U CN 208289920 U CN208289920 U CN 208289920U
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- clamping
- clamping device
- mounting assembly
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Abstract
The utility model provides a kind of clamping device and the robot with it, clamping device are mounted in robot, and for clamping multiple workpiece, clamping device includes: mounting assembly, and mounting assembly is used to be mounted on the motion arm of robot；Multiple clamping portions, multiple clamping portions are arranged at intervals in mounting assembly, so that clamping device clamps multiple workpiece by multiple clamping portions simultaneously；Wherein, mounting assembly has sliding part for positioning multiple clamping portions, and multiple clamping portions are slidably mounted in mounting assembly by sliding part, with realize the clipping room between each clamping portion away from adjustable setting.The clamping device of the utility model solves the problems, such as that the scope of application of clamping device in the prior art is small.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of clamping device and with its machine
People.
Background technique
Currently, during clamping is with product is piled up, it is general to drive fixture to be clamped and piled up using by robot,
The fixture with multiple clamping jaws is generallyd use in order to improve robot clamping with the speed piled up, multiple clamping jaws in the fixture are logical
It is standing be calculated as centering away from.
However, center away from fixture may be only available for the clamping and stacking of a kind of product, narrow application range causes to produce
Cost is excessively high.
Utility model content
The main purpose of the utility model is to provide a kind of clamping device and with its robot, to solve existing skill
The small problem of the scope of application of clamping device in art.
To achieve the goals above, one aspect according to the present utility model provides a kind of clamping device, is mounted on machine
On device people, for clamping multiple workpiece, clamping device includes: mounting assembly, and mounting assembly is used to be mounted on the operation of robot
On arm；Multiple clamping portions, multiple clamping portions are arranged at intervals in mounting assembly so that clamping device by multiple clamping portions simultaneously
Clamp multiple workpiece；Wherein, mounting assembly has the sliding part for positioning multiple clamping portions, and multiple clamping portions pass through sliding part
Be slidably mounted in mounting assembly, with realize the clipping room between each clamping portion away from adjustable setting.
Further, clamping device further include: multiple connecting plates, multiple connecting plates are set correspondingly with multiple clamping portions
It sets, each clamping portion is connected with corresponding connecting plate；Connecting plate far from clamping portion one end have slide protrusion, sliding part be with
The sliding slot that slide protrusion matches, so that the slide protrusion of connecting plate is fastened in sliding slot.
Further, the extending direction of sliding slot is identical as the distribution arrangement in multiple clamping portions, and sliding slot is multiple, how many sliding slot
It is arranged in parallel；Clamping portion has multiple slide protrusions, and multiple slide protrusions are arranged correspondingly with multiple sliding slots, each sliding
Protrusion is slidably mounted in corresponding sliding slot.
Further, clamping portion includes moving portion and the clamping jaw that connect with moving portion, and moving portion is removable with respect to connecting plate
Ground setting, clamping jaw are connect with connecting plate, so that connecting plate relatively is swingably arranged under clamping jaw in moving portion drives.
Further, moving portion includes the first terminal pad and the second terminal pad, between the first terminal pad and the second terminal pad
With accommodation space, one end that clamping jaw is connect with moving portion is provided with bearing, and bearing is rotatably arranged in accommodation space, the
There is the first holding tank in one terminal pad, there is the second holding tank being oppositely arranged with the first holding tank in the second terminal pad, with
It is fixed on bearing between the first holding tank and the second holding tank.
Further, connecting plate is provided with mounting portion far from the side of mounting assembly, and clamping jaw is connect and opposite with mounting portion
Mounting portion is swingably arranged.
Further, clamping device further include: multiple driving cylinders, multiple driving cylinders and multiple clamping portions correspond
Ground setting, each driving cylinder is drivingly connected with corresponding clamping portion so that clamping portion opened under the action of driving cylinder or
Closure.
Further, clamping device further include: sensing device, sensing device are multiple, multiple sensing devices and clamping portion
It is arranged correspondingly and each sensing device is mounted in corresponding clamping portion；Multiple sensing devices and multiple driving cylinders one
One is arranged in correspondence with, and the detector of each sensing device is to detect in predetermined clamping position towards the setting of predetermined clamping position
No there are workpiece, and there are enabling signal is sent to corresponding driving cylinder when workpiece in predetermined clamping position, so that driving
Cylinder drives clamping portion to clamp workpiece.
Further, mounting assembly includes the first mounting portion and the second mounting portion for connecting with the first mounting portion, the first peace
Dress portion is connect far from one end of the second mounting portion with robot, and one of the second mounting portion far from the first mounting portion is arranged in sliding part
End.
Another aspect according to the present utility model provides a kind of robot, including clamping device, wherein clamping device
For above-mentioned clamping device.
The clamping device of the utility model includes multiple clamping portions, and multiple clamping portions are arranged in mounting assembly far from robot
Side, multiple clamping portions may be implemented to clamp multiple multi-work pieces simultaneously, improve work efficiency, also, the clamping device is also
Sliding part with positioning clamping portion, clamping portion are slidably mounted, and such setting can clamp various sizes of workpiece
When, by adjusting the spacing between multiple clamping portions, so that the clamping device is applicable in the workpiece of different size model numbers, improve folder
The scope of application of mechanism is held, and then reduces production cost.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows the perspective view of the embodiment of clamping device according to the present utility model；
Fig. 2 shows the front views of the embodiment of clamping device according to the present utility model；
Fig. 3 shows the side view of the embodiment of clamping device according to the present utility model；And
Fig. 4 shows the top view of the embodiment of clamping device according to the present utility model.
Wherein, the above drawings include the following reference numerals:
10, mounting assembly；12, the first mounting portion；13, the second mounting portion；20, clamping portion；21, moving portion；211, first
Terminal pad；212, the second terminal pad；22, clamping jaw；221, bearing；30, connecting plate；31, mounting portion；40, cylinder is driven；50, feel
Answer device.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The utility model provides a kind of clamping device, and please refer to figs. 1 to 4, is mounted in robot, more for clamping
A workpiece, clamping device include: mounting assembly 10, and mounting assembly 10 is used to be mounted on the motion arm of robot；Multiple clampings
Portion 20, multiple clamping portions 20 are arranged at intervals in mounting assembly 10, so that clamping device is clamped simultaneously by multiple clamping portions 20
Multiple workpiece；Wherein, mounting assembly 10 has the sliding part for positioning multiple clamping portions 20, and multiple clamping portions 20 pass through sliding
Portion is slidably mounted in mounting assembly 10, with realize the clipping room between each clamping portion 20 away from adjustable setting.
The clamping device of the utility model includes multiple clamping portions 20, and multiple settings of clamping portion 20 are separate in mounting assembly 10
The side of robot, multiple clamping portions 20 may be implemented to clamp multiple multi-work pieces simultaneously, improve work efficiency, also, the folder
Holding mechanism also has the sliding part in positioning clamping portion 20, and clamping portion 20 is slidably mounted, and such setting can clamp not
With size workpiece when, by adjusting the spacing between multiple clamping portions 20, so that the clamping device is applicable in different size model numbers
Workpiece, improve the scope of application of clamping device, and then reduce production cost.
In one embodiment, multiple clamping portions 20 include three clamping portions 20, with three folders in a clamping movement
Portion 20 and three workpiece is taken to correspond, so that three clamping portions 20 clamp three workpiece simultaneously.
In the present embodiment, as shown in Figure 1 and Figure 4, clamping device further includes multiple connecting plates 30, multiple connecting plates 30 with
Multiple clamping portions 20 are arranged correspondingly, and each clamping portion 20 is connected with corresponding connecting plate 30；Connecting plate 30 is far from clamping
The one end in portion 20 has slide protrusion, and sliding part is the sliding slot matched with slide protrusion, so that the slide protrusion of connecting plate 30
It is fastened in sliding slot.
When it is implemented, the extending direction of sliding slot is identical as the distribution arrangement in multiple clamping portions 20, sliding slot be it is multiple, how much
Sliding slot is arranged in parallel；Clamping portion 20 has multiple slide protrusions, and multiple slide protrusions are arranged correspondingly with multiple sliding slots, respectively
A slide protrusion is slidably mounted in corresponding sliding slot.
In the present embodiment, as shown in Fig. 2, clamping portion 20 includes moving portion 21 and the clamping jaw 22 connecting with moving portion 21,
Moving portion 21 is movably disposed with respect to connecting plate 30, and clamping jaw 22 is connect with connecting plate 30, so that clamping jaw 22 is on 21 ground of moving portion
Lower opposite connecting plate 30 is driven swingably to be arranged, clamping jaw 22 is closed when moving portion 21 moves up, when moving portion is to moving down
Clamping jaw 22 opens when dynamic.
When it is implemented, first connects as shown in figure 3, moving portion 21 includes the first terminal pad 211 and the second terminal pad 212
Connecing has accommodation space between disk 211 and the second terminal pad 212, one end that clamping jaw 22 is connect with moving portion 21 is provided with bearing
221, bearing 221 is rotatably arranged in accommodation space, has the first holding tank, the second terminal pad in the first terminal pad 211
There is the second holding tank being oppositely arranged with the first holding tank, so that bearing 221 is fixed on the first holding tank and second and holds on 212
It receives between slot.
In order to install clamping jaw 22, as shown in Fig. 2, connecting plate 30 is provided with mounting portion 31 far from the side of mounting assembly 10,
Clamping jaw 22 is connect with mounting portion 31 and opposite mounting portion 31 is swingably arranged.
In order to drive moving portion 21, as shown in figure 3, fixture further includes multiple driving cylinders 40, multiple driving cylinders 40 with
Multiple clamping portions 20 are arranged correspondingly, and each driving cylinder 40 is drivingly connected with corresponding clamping portion 20, so that clamping portion
20 open or are closed under the action of driving cylinder 40.
When it is implemented, driving the distance between cylinder 40 and moving portion 21 are adjustably arranged, gas is driven by adjusting
The distance between cylinder 40 and moving portion 21 can change the size of the opening and closing degree of clamping jaw, drive between cylinder 40 and moving portion 21
The angle opened during the motion of the bigger clamping jaw of distance it is bigger, such setting can make clamping device adapt to different rulers
Very little workpiece, increases the scope of application.
In the present embodiment, as shown in figure 3, clamping device further includes sensing device 50, sensing device 50 be it is multiple, it is multiple
Sensing device 50 is arranged correspondingly with clamping portion 20 and each sensing device is mounted in corresponding clamping portion 20；Multiple senses
Device 50 is answered to be arranged correspondingly with multiple driving cylinders 40, the detector of each sensing device 50 clamps position towards predetermined
Setting whether there is workpiece to detect in predetermined clamping position, and there are drive when workpiece to corresponding in predetermined clamping position
Cylinder 40 of taking offence sends enabling signal, so that driving cylinder 40 drives clamping portion 20 to clamp workpiece.
In the present embodiment, as shown in Fig. 2, mounting assembly 10 includes the first mounting portion 12 and connect with the first mounting portion 12
The second mounting portion 13, the first mounting portion 12 connect far from one end of the second mounting portion 13 with robot, and sliding part setting is the
The one end of two mounting portions 13 far from the first mounting portion 12.The installation and removal of clamping jaw are convenient in such setting, and are installing and tearing open
It can avoid the damage of the second mounting portion 13 during unloading.
In one embodiment, as shown in Figure 1, the second mounting portion 13 is frame structure, including first connecting rod and second
Connecting rod, first connecting rod and the second connecting rod are oppositely arranged and are parallel to each other, and first connecting rod and the second connecting rod are close to even
One end of fishplate bar 30 is provided with sliding slot, so that connecting plate is fixed on the second mounting portion 13 by slide protrusion and sliding slot.
The utility model additionally provides a kind of robot, including clamping device, wherein clamping device is above-described embodiment
Clamping device.
The machine of the utility model artificial four axis robot, the robot drive clamping device to carry out oil drum and quickly clamp code
Pile, efficiency is fast, beat is fast, clamping is piled up steadily, and fixture crawl center can be adjusted according to oil drum interval away from compatible more specification products
Clamping and stacking, it is easy to adjust.
It can be seen from the above description that the above embodiments of the utility model achieve the following technical effects:
The clamping device of the utility model includes multiple clamping portions 20, and multiple settings of clamping portion 20 are separate in mounting assembly 10
The side of robot, multiple clamping portions 20 may be implemented to clamp multiple multi-work pieces simultaneously, improve work efficiency, also, the folder
Holding mechanism also has the sliding part in positioning clamping portion 20, and clamping portion 20 is slidably mounted, and such setting can clamp not
With size workpiece when, by adjusting the spacing between multiple clamping portions 20, so that the clamping device is applicable in different size model numbers
Workpiece, improve the scope of application of clamping device, and then reduce production cost.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of clamping device, is mounted in robot, for clamping multiple workpiece, which is characterized in that the clamping device packet
It includes:
Mounting assembly (10), the mounting assembly (10) are used to be mounted on the motion arm of the robot；
Multiple clamping portions (20), multiple clamping portions (20) are arranged at intervals on the mounting assembly (10), so that the folder
Mechanism is held by the multiple clamping portion (20) while clamping the multiple workpiece；
Wherein, the mounting assembly (10) has the sliding part for positioning multiple clamping portions (20), multiple clampings
Portion (20) is slidably mounted on the mounting assembly (10) by the sliding part, to realize each clamping portion (20)
Between clipping room away from adjustable setting.
2. clamping device according to claim 1, which is characterized in that the clamping device further include:
Multiple connecting plates (30), multiple connecting plates (30) are arranged correspondingly with multiple clamping portions (20), each
The clamping portion (20) connects with the corresponding connecting plate (30)；The one of the separate clamping portion (20) of the connecting plate (30)
End has slide protrusion, and the sliding part is the sliding slot matched with the slide protrusion, so that the cunning of the connecting plate (30)
Dynamic protrusion is fastened in the sliding slot.
3. clamping device according to claim 2, which is characterized in that the extending direction of the sliding slot and multiple clampings
The distribution arrangement in portion (20) is identical, the sliding slot be it is multiple, how much sliding slots are arranged in parallel；The clamping portion (20) has more
A slide protrusion, multiple slide protrusions are arranged correspondingly with multiple sliding slots, and each slide protrusion can be slided
It is mounted in the corresponding sliding slot dynamicly.
4. clamping device according to claim 2, which is characterized in that the clamping portion (20) include moving portion (21) and with
The clamping jaw (22) of moving portion (21) connection, the relatively described connecting plate (30) of the moving portion (21) are movably disposed, institute
It states clamping jaw (22) to connect with the connecting plate (30), so that the clamping jaw (22) drives lower opposite institute in the moving portion (21)
Connecting plate (30) is stated swingably to be arranged.
5. clamping device according to claim 4, which is characterized in that the moving portion (21) includes the first terminal pad
(211) and the second terminal pad (212), have between first terminal pad (211) and second terminal pad (212) accommodate it is empty
Between, one end that the clamping jaw (22) connect with the moving portion (21) is provided with bearing (221), and the bearing (221) can be rotated
Ground is arranged in the accommodation space, has the first holding tank, second terminal pad on first terminal pad (211)
(212) there is the second holding tank for being oppositely arranged with first holding tank, so that the bearing (221) is fixed on described the on
Between one holding tank and second holding tank.
6. clamping device according to claim 4, which is characterized in that the connecting plate (30) is far from the mounting assembly
(10) side is provided with mounting portion (31), and the clamping jaw (22) connect with the mounting portion (31) and the relatively described mounting portion
(31) swingably it is arranged.
7. clamping device according to claim 6, which is characterized in that the clamping device further include:
Multiple driving cylinders (40), multiple driving cylinders (40) are arranged correspondingly with multiple clamping portions (20),
Each driving cylinder (40) is drivingly connected with the corresponding clamping portion (20), so that the clamping portion (20) is in the drive
It takes offence and opens under the action of cylinder (40) or closure.
8. clamping device according to claim 7, which is characterized in that the clamping device further include:
Sensing device (50), the sensing device (50) are multiple, multiple sensing devices (50) and the clamping portion (20)
Setting and each sensing device are mounted on the corresponding clamping portion (20) correspondingly；Multiple sensing devices
(50) it is arranged correspondingly with multiple driving cylinders (40), the detector direction of each sensing device (50) is predetermined
Position setting is clamped, to detect with the presence or absence of the workpiece in the predetermined clamping position, and in the predetermined clamping position
There are enabling signal is sent to the corresponding driving cylinder (40) when the workpiece, so that the driving cylinder (40) drives institute
It states clamping portion (20) and clamps the workpiece.
9. clamping device according to claim 1, which is characterized in that the mounting assembly (10) includes the first mounting portion
(12) and with first mounting portion (12) the second mounting portion (13) connecting, first mounting portion (12) is far from described second
One end of mounting portion (13) is connect with the robot, and sliding part setting is in second mounting portion (13) far from described the
One end of one mounting portion (12).
10. a kind of robot, including clamping device, which is characterized in that the clamping device is any one of claims 1 to 9
The clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902913.6U CN208289920U (en) | 2018-06-11 | 2018-06-11 | Clamping device and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902913.6U CN208289920U (en) | 2018-06-11 | 2018-06-11 | Clamping device and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208289920U true CN208289920U (en) | 2018-12-28 |
Family
ID=64702018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820902913.6U Active CN208289920U (en) | 2018-06-11 | 2018-06-11 | Clamping device and robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208289920U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621181A (en) * | 2018-06-11 | 2018-10-09 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
-
2018
- 2018-06-11 CN CN201820902913.6U patent/CN208289920U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621181A (en) * | 2018-06-11 | 2018-10-09 | 珠海格力智能装备有限公司 | Clamping device and robot with it |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN112518634B (en) * | 2020-11-26 | 2022-05-27 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
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