CN208812086U - A kind of multi-functional gripping apparatus - Google Patents
A kind of multi-functional gripping apparatus Download PDFInfo
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- CN208812086U CN208812086U CN201821515306.0U CN201821515306U CN208812086U CN 208812086 U CN208812086 U CN 208812086U CN 201821515306 U CN201821515306 U CN 201821515306U CN 208812086 U CN208812086 U CN 208812086U
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- connecting rod
- gripping apparatus
- robot
- electrode holder
- foundation frame
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Abstract
The utility model relates to a kind of multi-functional gripping apparatus, belong to technical field of automation in industry, including foundation frame, robot terminal pad, servo electrode holder, positioning unit, clamping unit, detection switch and relaying box；Robot terminal pad is fixedly connected with one end of foundation frame, and one end of foundation frame is fixedly connected with servo electrode holder, and servo electrode holder is electrically connected with robot control system, and positioning unit, clamping unit, detection switch and relaying box are each attached to the other end of foundation frame；Detection switch is electrically connected by relaying box with robot control system；Positioning unit includes cross slide way, baffle, connecting plate and positioning pin；Clamping unit includes electromagnetism valve island, cylinder, cylinder block, first connecting rod, second connecting rod, third connecting rod, lower clamping element, upper clamping element and fixed plate.The utility model makes multi-functional gripping apparatus and intelligent robot be fused into a system, and two large systematic engineerings of carrying and welding only can be achieved at the same time with a robot, save 50% or more space and equipment cost.
Description
Technical field
The utility model relates to technical field of automation in industry, more particularly to a kind of multi-functional gripping apparatus.
Background technique
Industrial automation technology is a kind of with control theory, instrument and meter, computer and other information technology, to industry
Production process realize detection, control, optimization, scheduling, management and decision, reach increase yield, improve quality, reduce consumption, really
The comprehensive high-tech for the purpose of ensuring safety.In industrial automation technology, machinery equipment or production process are not needed manually
Direct intervention can as expected realization of goal measurement, manipulation etc..Robot is widely used in industrial production, further mentions
High industrial efficiency, but the gripping apparatus function of robot is more single at present, it is past in the process to components
Toward the machine person cooperative work for needing robot frequently to replace gripping apparatus or needing more to carry different tools, just it is able to achieve not
Same processing program, working space needed for this results in parts machining is big, equipment input cost is higher, processing efficiency has
Limit.
Utility model content
Based on this, it is necessary to working space needed for the processing for current components is big, equipment input cost it is higher with
And the problem that processing efficiency is limited, a kind of multi-functional gripping apparatus is provided.
To solve the above problems, the utility model takes the following technical solution:
A kind of multi-functional gripping apparatus, including foundation frame, robot terminal pad, servo electrode holder, positioning unit, clamping unit, inspection
Survey switch and relaying box；
The robot terminal pad is fixedly connected with one end of the foundation frame, and one end of the foundation frame is fixedly connected
The servo electrode holder, the servo electrode holder are electrically connected with robot control system, the positioning unit, the clamping unit, institute
It states detection switch and the relaying box is each attached to the other end of the foundation frame；
The detection switch is electrically connected by the relaying box with the robot control system；
The positioning unit includes cross slide way, baffle, connecting plate and positioning pin, and one end of the cross slide way is fixed with
The baffle, the connecting plate are slidably connected with the cross slide way, and the positioning pin is fixed on the connecting plate and is located at
The lower section of the connecting plate, and the positioning pin can be matched with the location hole on workpiece；
The clamping unit includes electromagnetism valve island, cylinder, cylinder block, first connecting rod, second connecting rod, third connecting rod, lower folder
Tight part, upper clamping element and fixed plate, the cylinder are electrically connected with the electromagnetism valve island, and the electromagnetism valve island passes through the relaying box
It is electrically connected with robot control system；The movable end of the cylinder is fixedly connected with one end of the first connecting rod, and described first
The other end of connecting rod and the lower clamping element are hinged；The second connecting rod is arranged in parallel with the first connecting rod, and described second connects
One end of bar is fixedly connected with the cylinder block and the fixed plate respectively, and the fixed plate is fixedly connected with the connecting plate,
The other end of the second connecting rod connects the upper clamping element, and by described between the lower clamping element and the upper clamping element
Third connecting rod connection.
Compared with prior art, the utility model has the following beneficial effects:
The utility model by servo electrode holder and relays box and machine by connecting robot terminal pad with intelligent robot
The connection of device people's control system, makes multi-functional gripping apparatus and intelligent robot be fused into a system, only can be same with a robot
Shi Shixian is carried and two large systematic engineerings of welding, has saved 50% or more space and equipment cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multi-functional gripping apparatus of the utility model；
Fig. 2 is the structural schematic diagram of positioning unit in the multi-functional gripping apparatus of the utility model；
Fig. 3 is the structural schematic diagram of clamping unit in the multi-functional gripping apparatus of the utility model；
Fig. 4 is the usage state diagram of the multi-functional gripping apparatus of the utility model.
Specific embodiment
The technical solution of the utility model is described in detail below in conjunction with attached drawing and preferred embodiment.
In one of the embodiments, as shown in Figs 1-4, a kind of multi-functional gripping apparatus of the utility model includes foundation frame 1, machine
Device people terminal pad 2, servo electrode holder 3, positioning unit, clamping unit, detection switch 4 and relaying box 5.
Specifically, in the present embodiment, robot terminal pad 2 is fixedly connected with one end of foundation frame 1, and foundation frame 1
One end be fixedly connected with servo electrode holder 3, servo electrode holder 3 is electrically connected with robot control system, positioning unit, clamping unit, inspection
It surveys switch 4 and relays the other end that box 5 is each attached to foundation frame 1.3 can completely of servo electrode holder is integrated into entire intelligent gripping apparatus system
System, the welding in each orientation, each frequency is realized by the robot control system carried on intelligent robot.
Detection switch 4 is electrically connected by relaying box 5 with robot control system.Detection switch 4 can accurately provide workpiece
10 situation in place effectively avoids generating the damage to workpiece 10 due to workpiece 10 is not to designated position.
Positioning unit includes cross slide way 6, baffle 7, connecting plate 8 and positioning pin 9, and one end of cross slide way 6 is fixed with gear
Plate 7, connecting plate 8 are slidably connected with cross slide way 6, and positioning pin 9 is fixed on the lower section on connecting plate 8 and being located at connecting plate 8, and
Positioning pin 9 can be matched with the location hole on workpiece 10.Positioning pin 9 can accurately cooperate with the location hole on workpiece 10,
Play the effect of the accurate positionin to workpiece 10.Gap control in the present embodiment on positioning pin 9 and workpiece 10 between location hole
In ± 0.1mm.
Clamping unit includes electromagnetism valve island 11, cylinder 12, cylinder block 13, first connecting rod 14, second connecting rod 15, third connecting rod
16, lower clamping element 17, upper clamping element 18 and fixed plate 19, cylinder 12 are electrically connected with electromagnetism valve island 11, during electromagnetism valve island 11 passes through
It is electrically connected after box 5 with robot control system；The movable end of cylinder 12 is fixedly connected with one end of first connecting rod 14, first connecting rod
14 other end and lower clamping element 17 are hinged；Second connecting rod 15 is arranged in parallel with first connecting rod 14, one end point of second connecting rod 15
It is not fixedly connected with cylinder block 13 and fixed plate 19, fixed plate 19 is fixedly connected with connecting plate 8, and the other end of second connecting rod 15 connects
Clamping element 18 is connected, and is connected between lower clamping element 17 and upper clamping element 18 by third connecting rod 16.In the present embodiment, it presss from both sides
Tight unit provides the clamping force of 300N or more by cylinder 12, it is ensured that the workpiece 10 being crawled, which is stablized, to be fixed, and is carried entirely
Displacement is not generated in journey.
The course of work of multi-functional gripping apparatus is as follows in the present embodiment:
When workpiece 10 is in place in workpiece placement station, robot carries multi-functional gripping apparatus and reaches crawl position, more at this time
Detection switch 4 in function gripping apparatus first detects workpiece 10, and such as detection 10 position of workpiece is accurate, then is grabbed, such as
10 positional shift of workpiece is detected, then robot carries multi-functional gripping apparatus and withdraws crawl position；
When multi-functional crawl grabs workpiece 10, the positioning pin 9 first in control positioning unit is inserted into workpiece 10
In location hole, then controls clamping unit and fixation is clamped to workpiece 10, after the completion of everything, robot carries multi-functional
Workpiece 10 is transported at welding fixture by gripping apparatus, and the clamping unit in multi-functional gripping apparatus unclamps workpiece 10 and at random far from weld clip
Tool, welding fixture, which clamps workpiece 10 and clamping is finished signal, later notifies that robot, robot are pressed from both sides by center system
After having clamping signal, the top that multi-functional gripping apparatus comes welding fixture is carried, 3 butt welding of servo electrode holder on multi-functional gripping apparatus is utilized
Workpiece 10 on welding fixture is welded；
After the completion of welding, robot carries multi-functional gripping apparatus and leaves, and welding fixture is opened, and robot carries multi-functional grab again
Workpiece 10 is grabbed and is carried on distal workpiece blanking bench by tool, and the clamping unit in multi-functional gripping apparatus is opened, and robot carries
Multi-functional gripping apparatus returns to initial position.Participated in during the work of multi-functional gripping apparatus without personnel, system carry workpiece it is accurate,
Stablize, safety, ultrahigh in efficiency.
In the present embodiment, by the way that robot terminal pad to be connect with intelligent robot, and by servo electrode holder and box is relayed
It is connect with robot control system, so that multi-functional gripping apparatus and intelligent robot is fused into a system, be only with a robot
Two large systematic engineerings of carrying and welding can be achieved at the same time, saved 50% or more space and equipment cost.
As a kind of specific embodiment, positioning unit further includes the limited block 20 being fixedly connected with the lower end of baffle 7；
Limited block 20 has V-notch of the notch direction towards workpiece 10.As shown in Figure 1, Figure 2 and Figure 4, limited block 20 is fixedly mounted on
The lower end of baffle 7, and limited block 20 has V-notch of the notch direction towards workpiece 10, and V-notch is to the workpiece being crawled
10 play the role of limit and fixation.
As a kind of specific embodiment, the quantity of positioning unit and clamping unit is two, and two positioning
Unit and two clamping units are located at the two sides of foundation frame 1.In the present embodiment, the complete phase of the structure of two positioning units
Together, the structure of two clamping units is also identical, is distributed a positioning unit in the same side of foundation frame 1 and a clamping is single
Member by the setting of two positioning units and two clamping units, is conducive to the crawl for improving workpiece 10 as shown in Figure 1 and Figure 4
Stability, for large-scale workpiece, present embodiment can guarantee the stability of crawl, guarantee that multi-functional gripping apparatus is removed
The safety of fortune process.
As a kind of specific embodiment, cross slide way 6 is high accuracy circular rail, to improve the movement of positioning unit and determine
Position precision.
As a kind of specific embodiment, as shown in Figure 1 and Figure 4, robot terminal pad 2 is circular flange disk, to protect
Demonstrate,prove the fastness connected between multi-functional gripping apparatus and intelligent robot.
Servo electrode holder (Servo Gun) is also known as servo torch, is a kind of to be driven using servo motor and ball screw
And the resistance welding to pressurize, it is generally divided into c-type servo electrode holder and X-type servo electrode holder, in the present embodiment, X-type is selected to watch
Take servo electrode holder 3 of the soldering turret as multi-functional gripping apparatus.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (6)
1. a kind of multi-functional gripping apparatus, which is characterized in that including foundation frame (1), robot terminal pad (2), servo electrode holder (3), determine
Bit location, clamping unit, detection switch (4) and relaying box (5)；
The robot terminal pad (2) is fixedly connected with one end of the foundation frame (1), and one end of the foundation frame (1) is solid
Surely it connects the servo electrode holder (3), the servo electrode holder (3) is electrically connected with robot control system, the positioning unit, described
Clamping unit, the detection switch (4) and relaying box (5) are each attached to the other end of the foundation frame (1)；
The detection switch (4) is electrically connected by the relaying box (5) with the robot control system；
The positioning unit includes cross slide way (6), baffle (7), connecting plate (8) and positioning pin (9), the cross slide way (6)
One end be fixed with the baffle (7), the connecting plate (8) is slidably connected with the cross slide way (6), the positioning pin (9)
It is fixed on the connecting plate (8) and is located at the lower section of the connecting plate (8), and the positioning pin (9) can be with workpiece (10)
On location hole match；
The clamping unit includes electromagnetism valve island (11), cylinder (12), cylinder block (13), first connecting rod (14), second connecting rod
(15), third connecting rod (16), lower clamping element (17), upper clamping element (18) and fixed plate (19), the cylinder (12) and the electricity
Magnet valve island (11) electrical connection, the electromagnetism valve island (11) are electrically connected by the relaying box (5) with robot control system；It is described
The movable end of cylinder (12) is fixedly connected with one end of the first connecting rod (14), the other end of the first connecting rod (14) and institute
It is hinged to state lower clamping element (17)；The second connecting rod (15) is arranged in parallel with the first connecting rod (14), the second connecting rod
(15) one end is fixedly connected with the cylinder block (13) and the fixed plate (19) respectively, the fixed plate (19) and the company
Fishplate bar (8) is fixedly connected, and the other end of the second connecting rod (15) connects the upper clamping element (18), and the lower clamping element
(17) it is connected between the upper clamping element (18) by the third connecting rod (16).
2. a kind of multi-functional gripping apparatus according to claim 1, which is characterized in that the positioning unit further includes and the gear
The limited block (20) that the lower end of plate (7) is fixedly connected；
The limited block (20) has V-notch of the notch direction towards the workpiece (10).
3. a kind of multi-functional gripping apparatus according to claim 1 or 2, which is characterized in that
The quantity of the positioning unit and the clamping unit is two, and two positioning units and two clampings
Unit is located at the two sides of the foundation frame (1).
4. a kind of multi-functional gripping apparatus according to claim 1 or 2, which is characterized in that
The cross slide way (6) is high accuracy circular rail.
5. a kind of multi-functional gripping apparatus according to claim 1 or 2, which is characterized in that
The robot terminal pad (2) is circular flange disk.
6. a kind of multi-functional gripping apparatus according to claim 1 or 2, which is characterized in that
The servo electrode holder (3) is X-type servo electrode holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821515306.0U CN208812086U (en) | 2018-09-17 | 2018-09-17 | A kind of multi-functional gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821515306.0U CN208812086U (en) | 2018-09-17 | 2018-09-17 | A kind of multi-functional gripping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208812086U true CN208812086U (en) | 2019-05-03 |
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ID=66277412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821515306.0U Active CN208812086U (en) | 2018-09-17 | 2018-09-17 | A kind of multi-functional gripping apparatus |
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| Country | Link |
|---|---|
| CN (1) | CN208812086U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030870A (en) * | 2021-11-02 | 2022-02-11 | 襄阳光瑞汽车零部件有限公司 | Welding production line with automatic frame system of adorning at end of line |
-
2018
- 2018-09-17 CN CN201821515306.0U patent/CN208812086U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030870A (en) * | 2021-11-02 | 2022-02-11 | 襄阳光瑞汽车零部件有限公司 | Welding production line with automatic frame system of adorning at end of line |
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