CN208841003U - A kind of intelligence clamping bar mechanism - Google Patents

A kind of intelligence clamping bar mechanism Download PDF

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Publication number
CN208841003U
CN208841003U CN201821548862.8U CN201821548862U CN208841003U CN 208841003 U CN208841003 U CN 208841003U CN 201821548862 U CN201821548862 U CN 201821548862U CN 208841003 U CN208841003 U CN 208841003U
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China
Prior art keywords
mechanical grip
robot
guide rail
support frame
moving guide
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Active
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CN201821548862.8U
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Chinese (zh)
Inventor
张智勇
褚冰川
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Iwa Industrial Technology (tianjin) Co Ltd
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Iwa Industrial Technology (tianjin) Co Ltd
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Abstract

The utility model discloses a kind of intelligence clamping bar mechanisms, are made of robot, mechanical grip A, cylinder, support frame, vision system, mechanical grip B, moving guide rail;Mechanical grip A includes: mobile sliding block, pin, fastener, intelligent sensing detection device, protective device;Support frame is installed on robot front end, screw hole is equipped among support frame, support frame is installed fastened by screw by screw hole and is connected in robot, supporting framing front end two sides are equipped with cylinder by fastening, moving guide rail is installed between cylinder and mechanical grip A, the mobile sliding block of mechanical grip A is mounted in moving guide rail, and mechanical grip A is mounted on mobile sliding block by pin, fastener, and mobile sliding block can slide on moving guide rail;The utility model is suitable for the clamping of different bar works using intelligence clamping bar mechanism, ingenious in design, improves the machining accuracy and processing efficiency of workpieces processing, saves manpower and reduce costs.

Description

A kind of intelligence clamping bar mechanism
Technical field
The utility model belongs to field of automation technology, in particular to a kind of intelligence clamping bar mechanism.
Background technique
In industrial production, the use of gripper is more and more wider, and large-scale gripper can be applied in industrial production, such as Profile is grabbed, profile is stacked and is conveyed;And small-sized gripper can then be applied in work or life, for example, It write, painted by robot manipulation gripper crawl pen tool;Or gripper crawl experiment is manipulated by robot Apparatus is tested.However, existing gripper common configuration is complicated, need to combine using to components such as connecting rod, crank, sliding blocks It can realize the opening and closing of control gripper;In addition, the gripper that multi-part is assembled into, not only assembling process is more numb Tired, production cost is higher, and kinematic accuracy of the gripper when carrying out opening and closing can reduce, and when grabbing object, driving source The power of generation is by each component deterioration a part, so that clamping force be caused to reduce, grabs the stability decline of object, exists certain Security risk.
Application No. is the Chinese patents of CN201420052186.0 to disclose a kind of metal bar material clamping robot, including machine Device human body, robot body connect a clamp hand, and the clamp hand includes clamping main body and leads at least two with the clamping The clamping of body connection refers to that each clamping, which refers to, forms an adjustable clamping space around main center's line.The gold of the patent Belong to bar clamping robot and replace manpower to clamp metal bar material due to passing through clamp hand, cooperates robot body, it can be by metal bar Material is picked up from previous processing apparatus, is put into later procedure equipment, and this avoid workers under high-temperature operation production environment accidentally to grasp Make or tired operation causes burn and scald or pressure break finger, avoids industrial injury etc. from surprisingly occurring, while efficiency greatly improves.But the technology Application range is small, cannot meet the clamping of a variety of bars simultaneously.
By artificial or clamping machine carry out clamping bar efficiency and the degree of automation it is low, adapt to different-diameter and The chucking device of size bar is few, and relatively inefficient so as to cause the automation of clamping, cost of labor is higher, mismachining tolerance Greatly, and the clamping bar mechanism of intelligence machine can efficiently solve the above problem, accelerate clamping bar process, improve work Make efficiency, reduces mismachining tolerance.
Summary of the invention
The purpose of this utility model is to provide a kind of intelligence clamping bar mechanisms, it is intended to solve existing clamp bar equipment Or system effectiveness is low, the not high technical problem of clamping precision.
The utility model adopts the following technical solution: a kind of intelligence clamping bar mechanism, by robot, mechanical grip A, gas Cylinder, support frame, vision system, mechanical grip B, moving guide rail composition;
The artificial six-axis linkage robot of machine is connected by electric wiring and mechanical connecting element between each axis It connects;
The cylinder, moving guide rail, mechanical grip A, mechanical grip B, vision system installation are on the support frame;
The mechanical grip A includes: mobile sliding block, pin, fastener, intelligent sensing detection device, protective device;
Support frame as described above is installed on robot front end, and screw hole is equipped among support frame, and support frame is installed by screw hole Fastened by screw is connected in robot, and supporting framing front end two sides are equipped with cylinder by fastening, is pacified between cylinder and mechanical grip A Equipped with moving guide rail, the mobile sliding block of mechanical grip A is mounted in moving guide rail, and mechanical grip A is installed by pin, fastener On mobile sliding block, mobile sliding block can slide on moving guide rail, and intelligent sensing detection device is equipped in mechanical grip A, For incuding the dimension information of bar;
Support frame as described above front end is equipped with vision system, and vision system is used to identify the length of bar;
The mechanical grip A and mechanical grip B is equipped with gap, facilitates clamping bar;
The utility model proposes technical solution, in the industrial production, the shaft of robot rotates to the feeding of feeding bin Belt position, vision system detect detected bar, and the collection optical system image of vision system converts images into number Word format and incoming computer storage, computer processor identifies and quantifies the length and thickness of bar image, then by this A little data transmissions are judged to program, the control program of processor is controlled according to the data received, and robot calls institute right The operation program answered instructs mechanical grip to start to act, and electric control unit issues signal, and cylinder starts ventilation movement, cylinder Moving guide rail is driven to be laterally moved to suitable position, moving guide rail drives mechanical grip A and the movement of mechanical grip B reverse landscape, Mechanical paw opens, and robot travels forward, and mechanical grip A and mechanical grip B are moved toward one another, and mechanical paw clamps, and clamps stick Material, the six-axis linkage drive bar of robot are moved to the upper discharge position of lathe, and machine tool fixture clamps bar, the machinery of robot Clamping jaw A and mechanical grip B opens, and robot returns to initial position, so far completes feeding movement.
When needing from lathe feeding, the six-axis linkage of robot is moved near bar, and gas source controls cylinder movement, gas Cylinder drives moving guide rail to move to suitable position, and moving guide rail drives mechanical grip A and mechanical grip B movement, mechanical paw It opens, the shaft cooperation of robot is moved to crawl billet position, and gas source zone of aeration moves cylinder movement, and cylinder drives guide rail, guide rail Mechanical paw A and mechanical paw B movement is driven, bar is clamped, the fixture of lathe unclamps, and robot is displaced outwardly, and bar is mobile Out after lathe, the six-axis linkage of robot is reached above blanking bin, release mechanism gripper A and mechanical paw B, so far, is completed whole A blanking process.
The utility model has significant advantages and beneficial effects compared with prior art: the utility model provides one kind Can by the intelligence clamping bar mechanism that intelligent recognition and clamping movement carry out simultaneously, bar through a upper process after processing is completed, Vision system can identify the length of bar, and intelligent sensing detection and protective device are capable of the diameter of test bar material by pressure, Intelligence clamping bar mechanism crawl bar is put on the chuck of machining tool, and lathe carries out the processing of subsequent processing to bar.Benefit The clamping of different bar works is suitable for intelligence clamping bar mechanism, it is ingenious in design, improve the machining accuracy of workpieces processing And processing efficiency, it saves manpower and reduces costs.
Detailed description of the invention
In figure:
Fig. 1 is the clamp position of the intelligence clamping bar mechanism of the utility model;
Fig. 2 is the feeding state of the intelligence clamping bar mechanism of the utility model;
Fig. 3 is the blanking state of the intelligence clamping bar mechanism of the utility model.
Wherein, 1. mechanical grip A, 2. cylinders, 3. support frames, 4. vision systems, 5. mechanical grip B, 6. moving guide rails, 7. Bar, 8. robot, 9. lathe, 10. feeding conveyer belts, 11. feeding bins, 12. blanking bins.
Specific embodiment
Specific embodiment of the utility model is described in detail below in conjunction with technical solution and attached drawing.
Embodiment: as shown in Figure 1, Figure 2, Figure 3 shows, a kind of intelligence clamping bar mechanism, comprising: robot 8, mechanical grip A1, cylinder 2, support frame 3, vision system 4, mechanical grip B5, moving guide rail 6;
Robot 8 is six-axis linkage robot, is attached between each axis by electric wiring and mechanical connecting element;
Cylinder 2, moving guide rail 6, mechanical grip A1, mechanical grip B5, vision system 4 are mounted on support frame 3;
Mechanical grip A1 includes: mobile sliding block, pin, fastener, intelligent sensing detection device, protective device;
Support frame 3 is installed on 8 front end of robot, and screw hole is equipped among support frame 3, and support frame 3 is installed by screw hole Fastened by screw is connected in robot 8, and 3 front end two sides of support frame are equipped with cylinder 2, cylinder 2 and mechanical grip A1 by fastening Between moving guide rail 6 is installed, the mobile sliding block of mechanical grip A1 is mounted in moving guide rail 6, mechanical grip A1 by pin, Fastener is mounted on mobile sliding block, and mobile sliding block can slide on moving guide rail 6, and intelligent biography is equipped in mechanical grip A1 Detection device is felt, for incuding the dimension information of bar 7;
3 front end of support frame is equipped with vision system 4, and vision system 4 is used to identify the length of bar 7;
Mechanical grip A1 and mechanical grip B5 is equipped with gap, facilitates clamping bar 7;
The technical solution that the present embodiment proposes, in the industrial production, the shaft of robot 8 rotates to the feeding of feeding bin 11 10 position of conveyer belt, vision system 4 detect detected bar 7, and the collection optical system image of vision system 4 turns image It changes number format into and incoming computer storage, computer processor identifies and quantify the length and thickness of 7 image of bar, so Afterwards by these data transmissions to control program, the control program of processor is judged according to the data received, and robot 8 adjusts With corresponding operation program, mechanical grip is instructed to start to act, electric control unit issues signal, and it is dynamic that cylinder 2 starts ventilation Make, cylinder 2 drives moving guide rail 6 to be laterally moved to suitable position, and moving guide rail 6 drives mechanical grip A1 and mechanical grip B5 anti- To transverse movement, mechanical paw opens, and robot 8 travels forward, and mechanical grip A1 and mechanical grip B5 are moved toward one another, manipulator Claw clip is tight, clamps bar 7, and the six-axis linkage drive bar 7 of robot 8 is moved to the upper discharge position of lathe 9,9 fixture of lathe folder Bar 7 is taken, the mechanical grip A1 and mechanical grip B5 of robot 8 open, and robot 8 returns to initial position, so far completes feeding Movement.
When needing from 9 feeding of lathe, the six-axis linkage of robot 8 is moved near bar 7, and it is dynamic that gas source controls cylinder 2 To make, cylinder 2 drives moving guide rail 6 to move to suitable position, and moving guide rail 6 drives mechanical grip A1 and mechanical grip B5 movement, Mechanical paw opens, and the cooperation of the shaft of robot 8 is moved to crawl 7 position of bar, and gas source zone of aeration is taken offence the movement of cylinder 2, cylinder 2 Drive guide rail, guide rail drives mechanical paw A and mechanical paw B movement, clamps bar 7, and the fixture of lathe 9 unclamps, robot 8 to Outer movement, after bar 7 moves out lathe 9, the six-axis linkage of robot 8 reaches the top of blanking bin 12, release mechanism gripper A and Mechanical paw B so far completes entire blanking process.
The present embodiment has significant advantages and beneficial effects compared with prior art: present embodiments providing one kind can be with The intelligence clamping bar mechanism that intelligent recognition and clamping movement are carried out simultaneously, bar 7 through a upper process after processing is completed, vision System 4 can identify the length of bar 7, and intelligent sensing detection and protective device are capable of the diameter of test bar material 7, intelligence by pressure It is capable of clamping bar mechanism crawl bar 7 to be put on the chuck of machining tool 9, lathe 9 carries out bar 7 processing of subsequent processing. The clamping of different 7 workpiece of bar is suitable for using intelligence clamping bar mechanism, it is ingenious in design, improve the processing essence of workpieces processing Degree and processing efficiency, save manpower and reduce costs.
The above, only specific embodiment of the utility model cannot limit the range that utility model is implemented, institute with it With the displacement of its equivalent assemblies, or according to equivalent variations made by the utility model patent protection scope and modification, should all still fall within The scope that the utility model is covered.

Claims (4)

1. it is a kind of intelligence clamping bar mechanism characterized by comprising robot (8), mechanical grip A(1), cylinder (2), branch Support (3), vision system (4), mechanical grip B(5), moving guide rail (6);
The robot (8) is six-axis linkage robot, is attached between each axis by electric wiring and mechanical connecting element;
The mechanical grip A(1) it include: mobile sliding block, pin, fastener, intelligent sensing detection device, protective device;
Support frame as described above (3) is installed on robot (8) front end, is equipped with screw hole, support frame as described above among support frame as described above (3) (3) fastened by screw is installed by screw hole to be connected on robot (8), support frame as described above (3) front end two sides pass through fastening installation Have cylinder (2), the cylinder (2) and mechanical grip A(1) between moving guide rail (6), the mechanical grip A(1 are installed) shifting Movable slider is mounted in moving guide rail (6), the mechanical grip A(1) it is mounted on mobile sliding block by pin, fastener, institute Stating mobile sliding block can slide on moving guide rail (6), the mechanical grip A(1) in intelligent sensing detection device is installed.
2. it is according to claim 1 intelligence clamping bar mechanism, which is characterized in that the cylinder (2), moving guide rail (6), Mechanical grip A(1), mechanical grip B(5), vision system (4) is mounted on support frame (3).
3. intelligence clamping according to claim 2 bar mechanism, which is characterized in that support frame as described above (3) front end is equipped with Vision system (4).
4. intelligence clamping according to claim 3 bar mechanism, which is characterized in that the mechanical grip A(1) and mechanical folder Pawl B(5) it is equipped with gap.
CN201821548862.8U 2018-09-21 2018-09-21 A kind of intelligence clamping bar mechanism Active CN208841003U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821548862.8U CN208841003U (en) 2018-09-21 2018-09-21 A kind of intelligence clamping bar mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821548862.8U CN208841003U (en) 2018-09-21 2018-09-21 A kind of intelligence clamping bar mechanism

Publications (1)

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CN208841003U true CN208841003U (en) 2019-05-10

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110609043A (en) * 2019-09-30 2019-12-24 江苏新鹏能源科技有限公司 Full-automatic welded pipe testing platform
CN112197699A (en) * 2020-09-27 2021-01-08 配天机器人技术有限公司 Method, system and device for measuring radial runout of machine tool spindle
CN113060538A (en) * 2021-02-06 2021-07-02 海天塑机集团有限公司 Multifunctional clamping jaw for assembling injection molding machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110609043A (en) * 2019-09-30 2019-12-24 江苏新鹏能源科技有限公司 Full-automatic welded pipe testing platform
CN112197699A (en) * 2020-09-27 2021-01-08 配天机器人技术有限公司 Method, system and device for measuring radial runout of machine tool spindle
CN113060538A (en) * 2021-02-06 2021-07-02 海天塑机集团有限公司 Multifunctional clamping jaw for assembling injection molding machine
CN113060538B (en) * 2021-02-06 2022-05-03 海天塑机集团有限公司 Multifunctional clamping jaw for assembling injection molding machine

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