CN209111102U - Grab fixture and robot - Google Patents
Grab fixture and robot Download PDFInfo
- Publication number
- CN209111102U CN209111102U CN201821685503.7U CN201821685503U CN209111102U CN 209111102 U CN209111102 U CN 209111102U CN 201821685503 U CN201821685503 U CN 201821685503U CN 209111102 U CN209111102 U CN 209111102U
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- Prior art keywords
- crawl
- frame
- grabbing device
- strap
- fixture
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Abstract
The utility model discloses a kind of crawl fixture and robots, grab crawl and dispensing of the fixture for material on production line, including the crawl frame being installed in robot, the multiple groups grabbing device being installed on crawl frame, the multiple groups driving device that material is grabbed and launched for respectively driving multiple groups grabbing device being installed on crawl frame, multiple groups grabbing device is set to the lateral of crawl frame along planar cloth respectively.The crawl fixture of the utility model, it is transported simultaneously after grabbing multiple materials by multiple groups grabbing device, the travelling speed of material is accelerated, and multiple groups grabbing device is set to the whole height reduction for laterally making to grab fixture of crawl frame along planar cloth, when crawl fixture integrally can not be protruded into when the height dimension of material outlet or input port is smaller, the crawl or dispensing of single material are carried out by protruding into the grabbing device for grabbing frame side, the grabbing device of the other side is protruded into again, is sequentially completed the crawl or dispensing of multiple materials.
Description
Technical field
The utility model relates to clamp arts, particularly, are related to a kind of crawl fixture, in addition, further relating to a kind of use
In the robot for transporting material on production line.
Background technique
With the development of production automation, on the production lines such as part processing, assembling parts, material is carried through installation
It is launched in the equipment for being transported to next process after the fixture in robot automatically grabs the material after one procedure of completion
To designated position, the shipping time of material needs to adjust control, and material after the completion of previous procedure is avoided to be transported to down not in time
Processing is carried out in the equipment of one procedure leads to the equipment dry running of next process, causes the waste of the energy, extends production
Period also will cause material lagging in the operation for influencing equipment on preceding processing apparatus together.
In the prior art, robot is that single material conveys one by one using single crawl, when single crawl is in speed
On when not catching up with productive temp, grabbed simultaneously by increasing many places crawl point by multiple robots, but input cost obviously increases,
And it is limited by production space, or meets the requirement that production line transports material by accelerating the speed that robot transports,
Input cost obviously increases, and robot is easy to appear failure after sending speed to accelerate, and there is also accident potential when serious.
Utility model content
The utility model provides a kind of crawl fixture and robot, to solve the speed that existing robot transports material
It is unable to meet production the technical issues of line transports the requirement of material.
The utility model provides a kind of crawl fixture, the crawl and dispensing of material on production line, including is installed on
Crawl frame in robot, the multiple groups grabbing device being installed on crawl frame, be installed on crawl frame for distinguishing
It drives the crawl of multiple groups grabbing device and launches the multiple groups driving device of material, multiple groups grabbing device is set to crawl along planar cloth respectively
Frame it is lateral.
Further, central symmetry of the multiple groups grabbing device about crawl frame.
Further, grabbing device includes the strap being fixedly arranged on crawl frame and is oppositely arranged with strap
And the floating clamping plate being connect with the movable end of driving device, drive floating clamping plate close to or far from strap by driving device
To realize the crawl and dispensing of material.
Further, crawl frame is equipped with the sliding rail for floating clamping plate to strap direction mobile guide, floats
Clamping plate is installed on crawl frame by being set to the sliding seat connecting on sliding rail and with the movable end of driving device；The laying of sliding rail
Direction is parallel with the driving direction of driving device.
Further, strap and the floating clamping plate of original state are fixedly arranged on the ipsilateral both ends of crawl frame respectively.
Further, strap and floating clamping plate are laid in the one of crawl frame along the vertical direction or in the horizontal direction
Side.
Further, the material contact surface of the material contact surface of strap and/or floating clamping plate is laid with buffer layer.
Further, driving device is oil cylinder, cylinder and/servo motor.
Further, crawl frame is installed in robot by being set to the connecting flange at crawl frame roof center.
The utility model also provides a kind of robot, and material, including above-mentioned crawl fixture are transported on production line.
The utility model has the following beneficial effects:
The crawl fixture of the utility model, when the material after the completion of a upper procedure is multiple outputs, by that will grab
Frame is placed between multiple materials to be captured, and the lateral multiple groups grabbing device by being set to crawl frame grabs multiple objects simultaneously
It is transported in equipment and processes after material, or the material after the completion of a upper procedure is when exporting one by one, to pass through the crawl of side
After device grabs a material, make the grabbing device of the other side towards material to be captured after robot control crawl frame rotation
It is grabbed, successively grabbed after multiple materials while being transported, the travelling speed of material is accelerated, and multiple groups grabbing device is along plane
The whole height for laterally making to grab fixture for being laid in crawl frame reduces, when the height dimension of material outlet or input port ratio
It is smaller and can not will crawl fixture when integrally protruding into, carry out single material by protruding into the grabbing device for grabbing frame side
Crawl is launched, then the grabbing device of the other side is protruded into the crawl or dispensing for carrying out another material, is sequentially completed multiple objects
The crawl or dispensing of material, when material outlet or input port are located above, then will crawl fixture from top protrude into delivery outlet or
Multiple materials are grabbed or launched simultaneously in input port, when material outlet or input port are located at side, then will first grab fixture
The grabbing device of upper side protrudes into delivery outlet or input port from side grabs or launches single material, then will crawl fixture rotation
The grabbing device of the other side is protruded into delivery outlet or input port from side afterwards and grabs or launch another material, therefore applicability
It is stronger.
Other than objects, features and advantages described above, there are also other purposes, feature and excellent for the utility model
Point.Below with reference to figure, the utility model is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model
Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing
In:
Fig. 1 is the structural schematic diagram of the crawl fixture of the preferred embodiment in the utility model.
Marginal data:
1, frame is grabbed；11, sliding rail；12, sliding seat；21, strap；22, floating clamping plate；3, driving device；4, delay
Rush layer；5, connecting flange.
Specific embodiment
The embodiments of the present invention are described in detail below in conjunction with attached drawing, but the utility model can be by following
The multitude of different ways for limiting and covering is implemented.
Fig. 1 is the structural schematic diagram of the crawl fixture of the preferred embodiment in the utility model.
As shown in Figure 1, the crawl fixture of the present embodiment, the crawl and dispensing of material on production line, including be installed on
Crawl frame 1 in robot, the multiple groups grabbing device being installed on crawl frame 1, be installed on crawl frame 1 for point
The crawl of multiple groups grabbing device and the multiple groups driving device 3 of material Qu Dong not be launched, multiple groups grabbing device is set to along planar cloth respectively
Grab the lateral of frame 1.The clamping part of grabbing device is outwardly.The crawl fixture of the utility model, after the completion of a upper procedure
Material when being multiple outputs, be placed between multiple materials to be captured by that will grab frame 1, grab frame 1 by being set to
The multiple groups grabbing devices of two opposite sides is grabbed to be transported in equipment after multiple materials simultaneously and be processed, or when a upper procedure is completed
Material afterwards is when exporting one by one, and after grabbing a material by the grabbing device of side, robot control crawl frame 1 rotates
It grabs the grabbing device of the other side towards material to be captured, is transported when after successively grabbing multiple materials simultaneously,
The speed that material transports is accelerated, and multiple groups grabbing device is set to the lateral of crawl frame 1 along planar cloth and makes to grab the whole of fixture
Body height reduces, and when can not integrally protrude into crawl fixture when the height dimension of material outlet or input port is smaller, leads to
It crosses to protrude into the grabbing device for grabbing 1 side of frame and carries out the crawl or dispensing of single material, then by the grabbing device of the other side
The crawl or dispensing for carrying out another material are protruded into, the crawl or dispensing of multiple materials are sequentially completed, when material outlet or defeated
When entrance is located above, then crawl fixture is protruded into delivery outlet or input port from top while grabbing or launching multiple materials,
When material outlet or input port are located at side, then the grabbing device for grabbing side on fixture is first protruded into delivery outlet from side
Or single material is grabbed or launched in input port, then will protrude into from side the grabbing device of the other side after crawl fixture rotation defeated
Another material is grabbed or launches in outlet or input port, therefore applicability is stronger.Multiple grabbing devices are circumferential along crawl frame 1
It lays.Driving device 3 connect grasp force when controlling grabbing device crawl and launch and grab with the control system of robot
Degree avoids grasping force is too small from causing material to fall and grasping force is excessive that material is caused to deform.
As shown in Figure 1, central symmetry of the multiple groups grabbing device about crawl frame 1.In the present embodiment, two groups of crawl dresses
Set the opposite sides for being located at crawl frame 1.Two materials are located at the opposite sides of crawl frame 1, therefore grab folder
The center of gravity of tool is more steady, avoids crawl fixture unbalance loading that material shaking during transporting is caused to fall damage.For most of life
Producing line material is inputted or is exported one by one by material conveyer belt, and the spacing between material is equal, when the grabbing device of side
After having grabbed a material, after controlling the crawl rotation 180 degree of frame 1 by robot, the grabbing device of the other side is then towards object
Expect that the position of the grabbing device crawl material of conveyer belt and two sides is identical, is grabbed at same position so that it is guaranteed that each material reaches
It takes device to grab, is moved without controlling crawl fixture along material conveyer belt, improve the precision of crawl.Pass through the defeated of control material
Send speed, it is ensured that a material reaches crawl position and has been crawled the time of next material arrival crawl position less than crawl frame
The time of the rotation 180 degree of frame 1.In another embodiment, crawl frame 1 is hexahedron.Four groups of grabbing devices are located at crawl
Four sides of frame 1.After the grabbing device of side has grabbed a material, crawl frame 1 is controlled by robot and is rotated by 90 °
Afterwards, position of the grabbing device of the other side then towards material conveyer belt and the grabbing device of two sides crawl material is identical, successively complete
At the crawl of four materials.
As shown in Figure 1, grabbing device include be fixedly arranged on crawl frame 1 on strap 21 and with 21 phase of strap
To being arranged and the floating clamping plate 22 that connect with the movable end of driving device 3, by the driving floating clamping plate 22 of driving device 3 it is close or
The crawl and dispensing of material are realized far from strap 21.Crawl frame 1 is equipped with for the clamping plate 22 that floats to strap
The sliding rail 11 of 21 direction mobile guides, floating clamping plate 22 are connect on sliding rail 11 and with the movable end of driving device 3 by being set to
Sliding seat 12 is installed on crawl frame 1；The cloth set direction of sliding rail 11 is parallel with the driving direction of driving device 3.Pass through driving
Device 3 drives sliding seat 12 to slide along sliding rail 11 and drives floating clamping plate 22 close to or far from strap 21 to realize material
Crawl and dispensing, are also applied for grabbing various sizes of material.Different shape is selected according to the surface shape of required crawl material
Floating clamping plate 22 and strap 21.Such as material be it is cylindric, then select arc panel as floating clamping plate 22 and fixing clamp
Plate 21 keeps the fitting area of material and floating clamping plate 22 and strap 21 bigger.Optionally, grabbing device includes being fixedly arranged on to grab
It takes being oppositely arranged on frame 1 along multiple straps 21 and with strap 21 and is connect with the movable end of driving device 3
Multiple floating clamping plates 22.When the volume of material for needing to clamp is bigger or mass ratio is heavier, pass through multiple straps 21
Be held at the different location of material with multiple floating clamping plates 22, make to grab fixture it is more firm, material is not easily to fall off.
As shown in Figure 1, strap 21 and the floating clamping plate 22 of original state are fixedly arranged on ipsilateral two of crawl frame 1 respectively
End.The size of crawl frame 1 should not be too large to increase the load of robot, and in one timing of crawl 1 size of frame, float folder
Fixation when plate 22 slides into the second end for grabbing 1 side wall of frame along sliding rail 11 and in the first end of crawl 1 side wall of frame
The adjustable range of the distance between the distance between clamping plate 21 maximum, floating clamping plate 22 and strap 21 is maximized to grab not
With the material of size, to improve the scope of application of crawl fixture.
As shown in Figure 1, in the present embodiment, strap 21 and floating clamping plate 22 are laid in crawl frame in the horizontal direction
1 side.Strap 21 and floating clamping plate 22 grab material in the horizontal direction.Optionally, strap 21 and floating clamping plate
22 are laid in the side of crawl frame 1 along the vertical direction.Strap 21 and floating clamping plate 22 grab material along the vertical direction.
As shown in Figure 1, the one side for contacting material of strap 21 and floating clamping plate 22 is laid with buffer layer 4.It can
Selection of land, buffer layer 4 are silica gel, elastic buffer plate made of rubber or other elastic materials.Optionally, buffer layer 4 is spring, bullet
Piece or other elastic components.Optionally, buffer layer 4 is that multiple elastic buffers made of silica gel, rubber or other elastic materials are convex
It rises, raised surface is curved surface.In the present embodiment, buffer layer 4 is flexible silicon offset plate.When strap 21 and floating clamping plate 22
The distance between when being gradually reduced to clamp material, by the buffer function of buffer layer 4, avoid material by 21 He of strap
The extruding force of floating clamping plate 22 becomes larger suddenly and damages, and the coefficient of friction height of flexible silicon offset plate has anti-skidding work
With also avoidable material slides while reducing the extruding force of strap 21 and floating clamping plate 22 to material.
As shown in Figure 1, driving device 3 is oil cylinder, cylinder and/or servo motor.According to the size of the material of required crawl,
Weight and the distance of transport select oil cylinder, cylinder and/or servo motor as driving device 3.
As shown in Figure 1, crawl frame 1, which passes through the connecting flange 5 being set at crawl 1 top center of frame, is installed on robot
On.
The robot of the present embodiment, transports material on production line, including above-mentioned crawl fixture.Robot includes peace
The manipulator of dress crawl fixture and the control system of the movement for controlling manipulator and crawl fixture.Pass through control system control
Manipulator processed is moved to crawl position or the placement position of material, then control crawl fixture on driving device 3 grab material or
Material is launched, while transporting two materials, improves the speed of material transport, robot is determined using laser capture imaging technique
The crawl position of material avoids crawl fixture from using leisure moments, grab mistake.
It can be seen from the above description that the above embodiments of the present invention realizes following technical effect:
The crawl fixture of the utility model, when the material after the completion of a upper procedure is multiple outputs, by that will grab
Frame is placed between two materials to be captured, grabs two simultaneously by being set to two groups of grabbing devices of two opposite sides of crawl frame
It is transported in equipment and processes after a material, or the material after the completion of a upper procedure is when exporting one by one, to pass through side
Grabbing device grab a material after, robot control crawl frame rotation 180 degree after make the grabbing device of the other side towards to
The material of crawl is grabbed, and the travelling speed of material is accelerated, and two materials are located at the opposite sides of crawl frame, because
The center of gravity of this crawl fixture is more steady, avoids crawl fixture unbalance loading that material shaking during transporting is caused to fall damage, works as object
When material delivery outlet or input port are located above, then crawl fixture are protruded into delivery outlet or input port from top while grabbing or throwing
Two materials are put, when material outlet or input port are located at side, then will first grab the grabbing device of side on fixture from side
Side, which protrudes into delivery outlet or input port, grabs or launches single material, then will grab grabbing the other side after fixture rotation 180 degree
It takes device to protrude into delivery outlet or input port from side and grabs or launch another material, therefore applicability is stronger.
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 crawl fixture, the crawl and dispensing of material on production line, which is characterized in that
Including the crawl frame (1) being installed in robot, the multiple groups grabbing device being installed on crawl frame (1), peace
Dress is driven loaded on the multiple groups for respectively driving the crawl of grabbing device described in multiple groups and dispensing material on crawl frame (1)
It sets (3), grabbing device described in multiple groups is set to the lateral of crawl frame (1) along planar cloth respectively.
2. crawl fixture according to claim 1, which is characterized in that
Central symmetry of the grabbing device described in multiple groups about crawl frame (1).
3. crawl fixture according to claim 1, which is characterized in that
The grabbing device include be fixedly arranged on it is described crawl frame (1) on strap (21) and with the strap
(21) the floating clamping plate (22) for being oppositely arranged and connecting with the movable end of the driving device (3), passes through the driving device (3)
The floating clamping plate (22) is driven to realize the crawl and dispensing of material close to or far from the strap (21).
4. crawl fixture according to claim 3, which is characterized in that
Crawl frame (1) is equipped with for floating clamping plate (22) Xiang Suoshu strap (21) direction mobile guide
Sliding rail (11), the floating clamping plate (22) is by being set on the sliding rail (11) and connecting with the movable end of the driving device (3)
The sliding seat (12) connect is installed on the crawl frame (1)；
The cloth set direction of the sliding rail (11) is parallel with the driving direction of the driving device (3).
5. crawl fixture according to claim 4, which is characterized in that
It is ipsilateral that the strap (21) and the floating clamping plate (22) of original state are fixedly arranged on the crawl frame (1) respectively
Both ends.
6. crawl fixture according to claim 3, which is characterized in that
The strap (21) and the floating clamping plate (22) are laid in the crawl along the vertical direction or in the horizontal direction
The side of frame (1).
7. crawl fixture according to claim 3, which is characterized in that
The material contact surface of the strap (21) and/or the material contact surface of the floating clamping plate (22) are laid with buffer layer
(4)。
8. crawl fixture according to claim 1, which is characterized in that
The driving device (3) is oil cylinder, cylinder and/servo motor.
9. crawl fixture according to claim 1, which is characterized in that
Crawl frame (1) is installed on robot by being set to the connecting flange (5) at described crawl frame (1) top center
On.
10. a kind of robot, transports material on production line, which is characterized in that grab including claim 1-9 is any described
Take fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821685503.7U CN209111102U (en) | 2018-10-17 | 2018-10-17 | Grab fixture and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821685503.7U CN209111102U (en) | 2018-10-17 | 2018-10-17 | Grab fixture and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209111102U true CN209111102U (en) | 2019-07-16 |
Family
ID=67201478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821685503.7U Active CN209111102U (en) | 2018-10-17 | 2018-10-17 | Grab fixture and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209111102U (en) |
-
2018
- 2018-10-17 CN CN201821685503.7U patent/CN209111102U/en active Active
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