CN208497036U - A kind of crawl fixture applied to robot arm - Google Patents

A kind of crawl fixture applied to robot arm Download PDF

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Publication number
CN208497036U
CN208497036U CN201821140109.5U CN201821140109U CN208497036U CN 208497036 U CN208497036 U CN 208497036U CN 201821140109 U CN201821140109 U CN 201821140109U CN 208497036 U CN208497036 U CN 208497036U
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China
Prior art keywords
connect
mobile support
support saddle
plate
robot arm
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CN201821140109.5U
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Chinese (zh)
Inventor
蒋成
高涛明
秦许朋
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Chengdu Yun Ao Intelligent Technology Co Ltd
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Chengdu Yun Ao Intelligent Technology Co Ltd
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Abstract

The utility model discloses a kind of crawl fixtures applied to robot arm, including total support base for being connect with robot arm, it is characterized by: being equipped at least two guiding devices on total support base, each guiding device is equipped with a mobile support saddle, mobile support saddle can slide on guiding device, clamping device is mounted below each mobile support saddle, each mobile support saddle is connect with the synchronising hinge mechanism being rotatably installed in below total support base, at least one driving device is also equipped on total support base, driving device is connect with mobile support saddle;The fixture can replace manually grabbing axle rear cover, and the labour that can be effectively reduced staff plays intensity, improves production efficiency, improve production automation level.

Description

A kind of crawl fixture applied to robot arm
Technical field
The utility model relates to a kind of auto parts and components automated assembling equipment technical fields, and in particular to one kind is applied to The crawl fixture of robot arm crawl automotive axle rear cover.
Background technique
Vehicle bridge is that the frame support of automobile frame lower rear or lower front is mounted on by suspension, due to vehicle bridge First vehicle frame overturning is come when vehicle bridge is installed positioned at the lower section of vehicle frame, suspension is installed, then vehicle bridge is mounted on suspension, vehicle Wheel is installed at the both ends of bridge, in automotive performance influence factor, suspension to the bonding strength of vehicle bridge and vehicle frame be it is most important because One of element, the directly stability of the driving experience and vehicle of decision automobile during high speed driving.
Vehicle bridge is divided into integral axle and broken bridge of car, is respectively suitable for rigid axle suspension and independent suspension, whole Formula vehicle bridge is like huge barbell, and vehicle bridge in total quality weight, especially heavy-duty car carries out vehicle bridge in vehicle bridge production line When assembling, axle rear cover is carried generally by the way of manual handling, is also had in existing vehicle bridge production line using electricity Dynamic cucurbit promotes axle rear cover, placed and is installed, and the electric block speed of service is slow, and raising efficiency is low, and due to electronic Cucurbit pulls axle rear cover using steel wire or iron chains, and friction is small between axle rear cover and steel wire or iron chains, steel wire or iron chains Slightly deflection, axle rear cover are easy to break away and shake, and the axle rear cover of shaking makes staff be difficult to position, unfavorable In the efficient assembly of axle rear cover, people need it is a kind of can replace manually axle rear cover is accurately grabbed, securely clamping and Stablize the axle rear cover grabbing arm carried, to reduce the labor intensity of staff, improves production automation level.
Utility model content
The purpose of this utility model is to provide a kind of crawl fixture for robot arm, which can be replaced Manually vehicle bridge is grabbed, the labour that can be effectively reduced staff plays intensity, improves production efficiency, and it is automatic to improve production Change horizontal.
In order to solve the above technical problems, the technical scheme adopted by the utility model is:
A kind of crawl fixture applied to robot arm, including total support for being connect with robot arm Seat, it is characterised in that: be equipped at least two guiding devices on total support base, each guiding device is equipped with one Mobile support saddle, mobile support saddle can slide on guiding device, be mounted on clamping device below each mobile support saddle, each A mobile support saddle is connect with the synchronising hinge mechanism being rotatably installed in below total support base, is also equipped at least on total support base One driving device, driving device are connect with mobile support saddle.
The synchronising hinge mechanism includes bearing block, terminal pad and connecting rod, and the connection side surface is connected with shaft, even It connects disc side and is provided with connection supporting plate, bearing block is fixedly mounted below total support base, and shaft and bearing block cooperate, connection Bar both ends are provided with pin hole, connect and are also equipped with pin hole on supporting plate, connecting rod one end by bolt with to connect supporting plate hinged, The other end is hinged by bolt and mobile support saddle.
Bearing is installed, bolt and bearing cooperate in the pin hole.
Total support base includes top plate and bottom plate, and branch identical with guiding device quantity is evenly equipped on top plate and bottom plate Frame, the bracket on bracket and bottom plate on top plate are connected by connecting plate, and driving device is mounted on connecting plate, driving device Driving end is connect after stretching out connecting plate with mobile support saddle.
The driving device includes cylinder, and cylinder is fixedly mounted on connecting plate, and the movable end of cylinder extends connecting plate It is connect afterwards with mobile support saddle;The guiding device includes line slide rail and sliding block, and line slide rail is fixedly mounted on the branch on bottom plate Below frame, sliding block is fixedly mounted on mobile support saddle, and line slide rail and sliding block cooperate.
The clamping device includes clamp arm, sensor and gripping block, and clamp arm is mounted below mobile support saddle, gripping block It is mounted on clamp arm, sensor is mounted on clamp arm by fixing seat and is connect with driving device.
The mobile support saddle includes that baffle, transverse slat and two support plates, baffle are vertically installed on transverse slat, support plate three Angular, two support plates are parallel to each other, and one right-angle side of support plate is connect with baffle, and another right-angle side is connect with transverse slat, cylinder Movable end is connect after extending connecting plate with baffle, and sliding block is fixedly mounted on transverse slat.
Be also connected with below the mobile support saddle and embrace a folder anti-falling mechanism, embrace a folder anti-falling mechanism include cylinder, linking arm, Connector, clamping head and two connection components, two connection components are parallel to each other, and connection component includes lever arm, I and of connecting rod Connecting rod II, cylinder are fixedly mounted below mobile support saddle, and the movable end of connector and cylinder connects, and linking arm is fixedly mounted on On cylinder, lever arm one end and linking arm are hinged, and the middle part of the other end and clamping head is hinged, and I one end of connecting rod and connector are cut with scissors It connects, hinged in the middle part of the other end and lever arm, II one end of connecting rod and connector are hinged, and the other end and clamping cephalic par are hinged.
Support tube is also connected between the top plate and bottom plate.
Compared with prior art, the utility model has the following beneficial effects:
1. total support base described in the utility model with robot arm for connecting, driving device is used to provide power, and is led To device for being oriented to, for clamping workpiece, synchronising hinge mechanism is arranged so that being mounted on mobile bracket clamping device For clamping device under the driving of driving device, mobile support saddle is mobile by Workpiece clamping to center simultaneously with clamping device;This When in use, total support base is mounted on the mechanical arm of robot utility model, as the movement of mechanical arm drives clamp movement Clamping workpiece is carried out, after visual imaging identifying system identification workpiece on the robotic arm, robot arm is mobile with fixture Mobile support saddle is driven to move under the guiding role of guiding device to center to the center of workpiece: driving device starting, driving device It is dynamic, meanwhile, under the action of synchronising hinge mechanism, enables all mobile support saddles mobile to center simultaneously, filled when clamping When resting against nearly workpiece and contacting with workpiece, driving device stops, and clamping device can be by Workpiece clamping;Driving device is at this time For self-locking device, it is in self-locking state, guarantees that clamping device tightly clamps workpiece, workpiece is avoided to loosen;The fixture being capable of generation For manually grabbing to axle rear cover, the labor intensity of staff is effectively reduced.Production efficiency is improved, while also being mentioned The high automatization level of production line, conducive to the development of factory.
Wherein, driving device can be set multiple, when in use can only starting one, remaining driving device do it is spare, When only starting a driving device, driving device drives the mobile support saddle being attached thereto mobile, at this point, remaining mobile support saddle Under the action of synchronising hinge mechanism, synchronising hinge mechanism plays the role of transmission at this time, realizes and clamps simultaneously to center movement The purpose of workpiece;Such as driving device appearance damage can switch other driving devices and be driven, so that the utility model It is more adaptable;When starting such as all driving devices, it need to guarantee that driving device moves synchronously, at this point, synchronising hinge machine Structure can guarantee that mobile support saddle is mobile to center simultaneously and then clamps workpiece.
2. synchronising hinge mechanism described in the utility model includes bearing block, terminal pad and connecting rod, the connection side surface It is connected with shaft, connection disc side is provided with connection supporting plate, and bearing block is fixedly mounted below total support base, shaft and bearing block Cooperate, connecting rod both ends are provided with pin hole, connect and be also equipped with pin hole on supporting plate, connecting rod one end by bolt with It is hinged to connect supporting plate, the other end is hinged by bolt and mobile support saddle;When driving device driving mobile support saddle is mobile, mobile branch Seat is drivingly connected supporting plate movement by driving the connecting rod being attached thereto, so that terminal pad rotates, terminal pad rotation Remaining the connection supporting plate movement that will also drive on rotating disc simultaneously, remaining connection supporting plate movement is to drive the connecting rod being attached thereto Movement drives remaining mobile support saddle mobile by connecting rod, realizes all mobile support saddles purpose mobile to center simultaneously, And then realize the purpose of gripping means grips workpiece;The setting of bearing block ensure that the smooth rotation of shaft.
3. being equipped with bearing in pin hole described in the utility model, bolt and bearing cooperate;This ensure that hinged Position is more smooth when rotated, stablizes, and then ensure that stability of the fixture in grabbing workpiece, so that grabbing workpiece process It is relatively reliable.
4. total support base described in the utility model includes top plate and bottom plate, it is evenly equipped on top plate and bottom plate and guiding device number Identical bracket is measured, the bracket on bracket and bottom plate on top plate is connected by connecting plate, and driving device is mounted on connecting plate, The driving end of driving device is connect after stretching out connecting plate with mobile support saddle;Connecting plate guarantees general branch for connecting top plate and bottom plate The stabilization of holder structure is supportted, while being also used to that driving device is installed.
5. driving device described in the utility model includes cylinder, cylinder is fixedly mounted on connecting plate, the movable end of cylinder It is connect after extending connecting plate with mobile support saddle;The guiding device includes line slide rail and sliding block, and line slide rail is fixedly mounted Below bracket on bottom plate, sliding block is fixedly mounted on mobile support saddle, and line slide rail and sliding block cooperate;Sliding rail, which plays, leads To effect, while also to mobile support saddle provide support, avoid mobile support saddle from falling;After the movable end of cylinder extends connecting plate It is connect with mobile support saddle, cylinder provides driving force, and when cylinder compression, driving mobile support saddle guarantees clamping device to center movement Workpiece is clamped;In cylinder elongation, driving mobile support saddle is moved out, convenient for unclamping the workpiece clamped;When driving fills When being equipped with multiple, since the movement of each cylinder can not be completely the same, thus it is easy to cause one, mobile bracket operation fast, One operation is slow, that is, moving the clamping device installed on bracket cannot move synchronously, and the setting of synchronising hinge mechanism can solve Certainly this problem, if the operation of cylinder is very fast, a cylinder operation is slower, due to connecting rod one end by bolt with connect Plate is hinged, and the other end is hinged by bolt and mobile support saddle;Hinge synchronization mechanism can constrain mobile support saddle in this way, into And realize the constraint to cylinder, realize the synchronous clamping of clamping device.
6. clamping device described in the utility model includes clamp arm, sensor and gripping block, clamp arm is mounted on mobile branch Seat lower section, gripping block are mounted on clamp arm, and sensor is mounted on clamp arm by fixing seat and is connect with driving device, when When clamp arm follows mobile support saddle to move, the gripping block on clamp arm will move closer to workpiece, and sensor detects workpiece, at this time Gripping block just contacts with workpiece and clamps workpiece, and when driving device stop motion, gripping block is by Workpiece clamping.
7. mobile support saddle described in the utility model includes that baffle, transverse slat and two support plates, baffle are vertically installed at transverse slat On, support plate is triangle, and two support plates are parallel to each other, and one right-angle side of support plate is connect with baffle, another right-angle side and cross Plate connection, the movable end of cylinder are connect after extending connecting plate with baffle, and sliding block is fixedly mounted on transverse slat;The setting of support plate So that the connection of baffle and transverse slat is more firm, when driving device driving mobile support saddle is mobile, the stress of mobile support saddle is more Uniformly, more steady when moving, improve the reliability of the utility model at runtime.
Folder anti-falling mechanism, after Workpiece clamping, machine are embraced 8. being also connected with below mobile support saddle described in the utility model The mechanical arm of device people is mobile with fixture, meanwhile, folder anti-falling mechanism starting is embraced, folder anti-falling mechanism left-hand thread is embraced, workpiece is buckled Firmly, it avoids when being transported through workpiece, workpiece is fallen;Embracing folder anti-falling mechanism includes cylinder, linking arm, connector, clamping head With two connection components, two connection components are parallel to each other, and connection component includes lever arm, connecting rod I and connecting rod II, cylinder It is fixedly mounted below mobile support saddle, the movable end of connector and cylinder connects, and linking arm is fixedly mounted on cylinder, lever arm One end is hinged with linking arm, and the middle part of the other end and clamping head is hinged, and I one end of connecting rod and connector are hinged, the other end and work Hinged in the middle part of swing arm, II one end of connecting rod and connector are hinged, and the other end and clamping cephalic par are hinged;In this way, working as cylinder moving When, cylinder movable end elongation, under the collective effect of linking arm, connector and two connection components, clamping head by workpiece into Row clasps;When the movable end compression of cylinder, clamping head becomes releasing orientation from buckling state.
9. being also connected with support tube between top plate described in the utility model and bottom plate, the setting of support tube is further ensured The stability of total clamping support.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram;
Fig. 2 is the connection relationship diagram of the utility model synchronising hinge mechanism and mobile support saddle;
Fig. 3 is the structural schematic diagram that the utility model embraces folder anti-falling mechanism;
Fig. 4 is the structural schematic diagram of the utility model guiding device;
Fig. 5 is the utility model usage state diagram.
Appended drawing reference: 1 transverse slat, 2 baffles, 3 connecting plates, 4 brackets, 5 cylinders, 6 top plates, 7 bottom plates, 8 support tubes, 9 straight lines are sliding Rail, 10 sliding blocks, 11 clamp arms, 12 gripping blocks, 13 fixing seats, 14 sensors, 15 connecting rods, 16 connection supporting plates, 17 terminal pads, 18 Bolt, 19 support plates, 20 bearing blocks, 21 linking arms, 22 connecting rods I, 23 lever arms, 24 connectors, 25 connecting rods II, 26 clampings Head, 27 workpiece.
Specific embodiment
Below with reference to embodiment, the utility model will be further described, and described embodiment is only that this is practical new Type a part of the embodiment is not whole embodiment.Based on the embodiments of the present invention, the ordinary skill people of this field Member's other embodiments used obtained without making creative work, belong to the protection model of the utility model It encloses.
Embodiment 1
The present embodiment includes total support base for connecting with robot arm, on total support base there are three installations Guiding device, each guiding device are equipped with a mobile support saddle, and mobile support saddle can slide on guiding device, each Be mounted on clamping device below a mobile support saddle, each mobile support saddle be rotatably installed in it is synchronous below total support base Linkage connects, and is also equipped with a driving device on total support base, driving device is connect with mobile support saddle.
It advanced optimizes, the synchronising hinge mechanism includes bearing block 20, terminal pad 17 and connecting rod 15, the terminal pad 17 end faces are connected with shaft, and 17 side of terminal pad is provided with connection supporting plate 16, and bearing block 20 is fixedly mounted below total support base, Shaft and bearing block 20 cooperate, and 15 both ends of connecting rod are provided with pin hole, connect and are also equipped with pin hole on supporting plate 16, even 15 one end of extension bar by bolt 18 with connect supporting plate 16 hingedly, the other end pass through bolt 18 and mobile support saddle it is hinged.
It advanced optimizes, bearing is installed in the pin hole, bolt 18 and bearing cooperate.
Embodiment 2
The present embodiment it is substantially the same manner as Example 1 the difference is that: be also equipped with three drivings on total support base and fill It sets, driving device is connect with mobile support saddle;I.e. each mobile support saddle is respectively connected with driving device.
Embodiment 3
The present embodiment is advanced optimized on the basis of embodiment 2, and total support base described in the present embodiment includes top Bracket 4 identical with guiding device quantity, bracket 4 and bottom plate on top plate 6 are evenly equipped on plate 6 and bottom plate 7, top plate 6 and bottom plate 7 Bracket 4 on 7 is connected by connecting plate 3, and driving device is mounted on connecting plate 3, and connecting plate 3 is stretched out at the driving end of driving device It is connect afterwards with mobile support saddle.
It advanced optimizes, is also connected with support tube 8 between the top plate 6 and bottom plate 7.
It advanced optimizes, the driving device includes cylinder 5, and cylinder 5 is fixedly mounted on connecting plate 3, the activity of cylinder 5 End is connect after extending connecting plate 3 with mobile support saddle;The guiding device includes line slide rail 9 and sliding block 10, and line slide rail 9 is solid Bracket 4 lower section of the Dingan County on bottom plate 7, sliding block 10 are fixedly mounted on mobile support saddle, line slide rail 9 and 10 phase interworking of sliding block It closes.
It advanced optimizes, the clamping device includes clamp arm 11, sensor 14 and the gripping block made of rubber material 12, clamp arm 11 is vertically installed at below mobile support saddle, and gripping block 12 is mounted on clamp arm 11, and sensor 14 passes through fixing seat 13 are mounted on clamp arm 11.
It advanced optimizes, the mobile support saddle includes that baffle 2, transverse slat 1 and two support plates 19, baffle 2 are vertically installed at On transverse slat 1, support plate 19 is triangle, and two support plates 19 are parallel to each other, and 19 1 right-angle side of support plate is connect with baffle 2, separately One right-angle side is connect with transverse slat 1, and the movable end of cylinder 5 is connect after extending connecting plate 3 with baffle 2, and sliding block 10 is fixedly mounted on On transverse slat 1.
It advanced optimizes, is also connected with below the mobile support saddle and embraces folder anti-falling mechanism, embracing folder anti-falling mechanism includes Cylinder 5, linking arm 21, connector 24, clamping head 26 and two connection components, two connection components are parallel to each other, connection component Including lever arm 23, connecting rod I 22 and connecting rod II 25, cylinder 5 is fixedly mounted below mobile support saddle, connector 24 and cylinder 5 movable end connection, linking arm 21 are fixedly mounted on cylinder 5, and 23 one end of lever arm and linking arm 21 are hinged, the other end and folder Hold first 26 middle part it is hinged, I 22 one end of connecting rod and connector 24 are hinged, and the other end and 23 middle part of lever arm are hinged, connecting rod II 25 one end and connector 24 are hinged, and the other end and 26 end of clamping head are hinged.
It advanced optimizes, the one side that the gripping block 12 is contacted with workpiece 27 is processed using annular knurl technique, and is done firmly to it Change processing increases the wearability of gripping block 12 and increases the frictional force of gripping block 12.

Claims (9)

1. a kind of crawl fixture applied to robot arm, including total support base for being connect with robot arm, It is characterized by: being equipped at least two guiding devices on total support base, each guiding device is equipped with a shifting Dynamic support, mobile support saddle can slide on guiding device, be mounted on clamping device below each mobile support saddle, each Mobile support saddle is connect with the synchronising hinge mechanism being rotatably installed in below total support base, and at least one is also equipped on total support base A driving device, driving device are connect with mobile support saddle.
2. a kind of crawl fixture applied to robot arm according to claim 1, it is characterised in that: the synchronization Linkage includes bearing block, terminal pad and connecting rod, and the connection side surface is connected with shaft, and connection disc side is provided with company Supporting plate is connect, bearing block is fixedly mounted below total support base, and shaft and bearing block cooperate, and connecting rod both ends are provided with bolt Hole connects and is also equipped with pin hole on supporting plate, connecting rod one end by bolt with connect supporting plate hinged, the other end pass through bolt and Mobile support saddle is hinged.
3. a kind of crawl fixture applied to robot arm according to claim 2, it is characterised in that: the bolt Bearing is installed, bolt and bearing cooperate in hole.
4. a kind of crawl fixture applied to robot arm according to claim 1, it is characterised in that: the general branch Support seat include top plate and bottom plate, bracket identical with guiding device quantity is evenly equipped on top plate and bottom plate, the bracket on top plate with Bracket on bottom plate is connected by connecting plate, and driving device is mounted on connecting plate, and connecting plate is stretched out at the driving end of driving device It is connect afterwards with mobile support saddle.
5. a kind of crawl fixture applied to robot arm according to claim 4, it is characterised in that: the driving Device includes cylinder, and cylinder is fixedly mounted on connecting plate, and the movable end of cylinder is connect after extending connecting plate with mobile support saddle; The guiding device includes line slide rail and sliding block, and line slide rail is fixedly mounted below the bracket on bottom plate, the fixed peace of sliding block On mobile support saddle, line slide rail and sliding block cooperate.
6. a kind of crawl fixture applied to robot arm according to claim 5, it is characterised in that: the clamping Device includes clamp arm, sensor and gripping block, and clamp arm is mounted below mobile support saddle, and gripping block is mounted on clamp arm, Sensor is mounted on clamp arm by fixing seat and is connect with driving device.
7. a kind of crawl fixture applied to robot arm according to claim 6, it is characterised in that: the movement Support includes that baffle, transverse slat and two support plates, baffle are vertically installed on transverse slat, and support plate is triangle, two support plates It is parallel to each other, one right-angle side of support plate is connect with baffle, and another right-angle side is connect with transverse slat, and the movable end of cylinder extends connection It is connect after plate with baffle, sliding block is fixedly mounted on transverse slat.
8. a kind of crawl fixture applied to robot arm according to any one of claims 1-7, feature It is: is also connected with below the mobile support saddle and embraces folder anti-falling mechanism, embracing folder anti-falling mechanism includes cylinder, linking arm, company Connector, clamping head and two connection components, two connection components are parallel to each other, and connection component includes lever arm, connecting rod I and connects Extension bar II, cylinder are fixedly mounted below mobile support saddle, and the movable end of connector and cylinder connects, and linking arm is fixedly mounted on gas On cylinder, lever arm one end and linking arm are hinged, and the middle part of the other end and clamping head is hinged, and I one end of connecting rod and connector are hinged, Hinged in the middle part of the other end and lever arm, II one end of connecting rod and connector are hinged, and the other end and clamping cephalic par are hinged.
9. a kind of crawl fixture applied to robot arm according to claim 7, it is characterised in that: the top plate Support tube is also connected between bottom plate.
CN201821140109.5U 2018-07-18 2018-07-18 A kind of crawl fixture applied to robot arm Active CN208497036U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821140109.5U CN208497036U (en) 2018-07-18 2018-07-18 A kind of crawl fixture applied to robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821140109.5U CN208497036U (en) 2018-07-18 2018-07-18 A kind of crawl fixture applied to robot arm

Publications (1)

Publication Number Publication Date
CN208497036U true CN208497036U (en) 2019-02-15

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Application Number Title Priority Date Filing Date
CN201821140109.5U Active CN208497036U (en) 2018-07-18 2018-07-18 A kind of crawl fixture applied to robot arm

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318546A (en) * 2020-10-22 2021-02-05 陈习 Clamp arm fixing mechanism of robot
CN115215200A (en) * 2022-07-31 2022-10-21 南通永成工业自动化有限公司 Large-scale bearing gripping apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318546A (en) * 2020-10-22 2021-02-05 陈习 Clamp arm fixing mechanism of robot
CN115215200A (en) * 2022-07-31 2022-10-21 南通永成工业自动化有限公司 Large-scale bearing gripping apparatus

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