CN209157928U - Clamp hand is used in a kind of polishing of industrial robot - Google Patents
Clamp hand is used in a kind of polishing of industrial robot Download PDFInfo
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- CN209157928U CN209157928U CN201822007114.5U CN201822007114U CN209157928U CN 209157928 U CN209157928 U CN 209157928U CN 201822007114 U CN201822007114 U CN 201822007114U CN 209157928 U CN209157928 U CN 209157928U
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Abstract
A kind of industrial robot polishing clamp hand, it is related to mechanical equipment technical field.It includes clamp hand substrate, connecting plate, connecting rod, shaft, supporting rod, clamping plate, clamping cylinder, drive cylinder, rotating mechanism, handgrip, clamp hand substrate lower end surface is equipped with connecting plate, it connects board ends and connecting rod one end is rotatablely connected, the connecting rod other end is connect by shaft with supporting rod one end, shaft is connect with driving motor, the supporting rod other end is connect with clamping plate, clamping cylinder is located on clamp hand substrate upper surface, clamping cylinder cylinder rod is fixedly connected with the connecting rod by pin shaft, cylinder is driven to be arranged on the center of clamp hand substrate upper surface, the cylinder rod of driving cylinder passes through connecting plate straight down and is fixedly connected with rotating mechanism, handgrip is connected with below rotating mechanism.Its structure is simple, and design rationally, can polish to each machined surface of axis class casting by clamping plate and being used cooperatively for handgrip, flexible and convenient to use, effectively improves the efficiency of production.
Description
Technical field
The utility model relates to mechanical equipment technical fields, and in particular to clamp hand is used in a kind of polishing of industrial robot.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Robot is generally by executing agency, driving device, inspection
Survey device and the composition such as control system and complicated machinery.
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
The thin and long shafts part produced using casting technique, such as engine crankshaft, camshaft etc. have casting along axial surrounding
Flash caused by technique, remaining cast gate, riser etc. are made, need to polish finishing.At present in the polishing operation of industrial robot, machine
Device people's clamp hand structure is complex, can not quickly and effectively be clamped to axis class casting and comprehensive polishing.
Utility model content
The purpose of this utility model is that it is in view of the drawbacks of the prior art and insufficient, a kind of industrial robot polishing use is provided
Clamp hand, it can solve in the polishing operation of current industrial robot, and robot clamp hand structure is complex, can not be to axis class casting
Quickly and effectively clamped the defect with comprehensive polishing.
To achieve the above object, the utility model is using following technical scheme: it includes clamp hand substrate, connecting plate, company
Extension bar, shaft, supporting rod, clamping plate, clamping cylinder, driving cylinder, rotating mechanism, handgrip, the lower end surface of the clamp hand substrate is set
It is equipped with connecting plate, the both ends of the connecting plate are rotatablely connected with one end of connecting rod respectively, and the other end of the connecting rod passes through
The connection of one end of shaft and supporting rod, the shaft are connect with driving motor, and the other end of the supporting rod is connect with clamping plate, institute
Clamping cylinder to be stated to be arranged on the upper surface of clamp hand substrate, the cylinder rod of clamping cylinder is fixedly connected with the connecting rod by pin shaft,
The driving cylinder is arranged on the center of clamp hand substrate upper surface, and the cylinder rod of cylinder is driven to pass through connecting plate straight down
And be fixedly connected with rotating mechanism, handgrip is connected with below the rotating mechanism.
Further, the rotating mechanism includes shell, stepper motor, the upper surface of the shell and the gas of driving cylinder
Cylinder rod is fixedly connected, and shell is internally provided with stepper motor, the output shaft of the stepper motor straight down and with handgrip
Upper surface is fixedly connected.
Further, the output shaft of the stepper motor and shell are rotatablely connected by bearing.
Further, it is arranged fluted on the clamping end face of the clamping plate, it is solid that buffering is provided on the inner wall of the groove
Fixed pad.
Further, the connecting plate is fixedly connected with clamp hand substrate by nut, the connecting rod and folder of connecting plate two sides
The sub-assembly for holding bar is symmetrical set.
Further, the supporting rod and clamping plate are rotatablely connected.
Working principle of the utility model is: when work, when passing through clamping plate grip axes class casting, the cylinder rod of clamping cylinder
Connecting rod movement is driven downwards, and driving motor drives supporting rod to move, makes to generate mutual alignment between two clamping plates by shaft
Variation, two end faces of axis class casting are set in the groove on clamping plate so that clamp hand band moving axis class casting close to polishing
Grinding wheel, axial two sides of polishing axis class casting；After the completion of the polishing of axis class casting side, the cylinder rod band turn of cylinder is driven
Motivation structure and handgrip move downward, and handgrip picks up axis class casting, and clamping plate is moved to horizontal position by clamping cylinder and driving motor
It packs up, rotating mechanism drives handgrip to turn an angle, so that clamp hand is able to drive axis class casting close to polishing grinding wheel, polishing axis
Two end faces of class casting；Clamping structure is opened after polishing, is replaced axis class casting, is so recycled；Structure simply uses spirit
It is living convenient, high production efficiency.
After adopting the above technical scheme, the utility model has the beneficial effect that its structure is simple, design rationally, passes through clamping plate
It can polish each machined surface of axis class casting with being used cooperatively for handgrip, it is flexible and convenient to use, effectively improve production
Efficiency.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of another state of the utility model；
Fig. 3 is the structural schematic diagram of rotating mechanism in the utility model；
Fig. 4 is the structural schematic diagram of the utility model middle clamp plate.
Description of symbols: clamp hand substrate 1, connecting plate 2, connecting rod 3, shaft 4, supporting rod 5, clamping plate 6, clamping cylinder 7,
Drive the fixed pad 6-2, shell 10-1, stepper motor 10-2 of cylinder 8, rotating mechanism 9, handgrip 10, groove 6-1, buffering.
Specific embodiment
Referring to shown in Fig. 1-Fig. 4, present embodiment the technical solution adopted is that: it includes clamp hand substrate 1, connecting plate
2, connecting rod 3, shaft 4, supporting rod 5, clamping plate 6, clamping cylinder 7, driving cylinder 8, rotating mechanism 9, handgrip 10, the clamp hand base
The lower end surface of plate 1 is provided with connecting plate 2, and the both ends of the connecting plate 2 are rotatablely connected with one end of connecting rod 3 respectively, connecting plate 2
It is rotatablely connected with connecting rod 3 by pin shaft, connecting rod 3 is rotated relative to connecting plate 2, the other end of the connecting rod 3
It is connect by shaft 4 with one end of supporting rod 5, the shaft 4 is connect with driving motor, the other end and folder of the supporting rod 5
Plate 6 connects, and driving motor is able to drive supporting rod 5 by shaft 4 and rotates to clamp casting by clamping plate 6, described
Clamping cylinder 7 is arranged on the upper surface of clamp hand substrate 1, and the cylinder rod of clamping cylinder 7 connects by the way that pin shaft and connecting rod 3 are fixed
It connects, the movement of clamping cylinder 7 is able to drive connecting rod 3 and rotates relative to connecting plate 2, and the driving cylinder 8 is arranged in clamp hand base
On 1 upper surface center of plate, the cylinder rod of driving cylinder 8, which passes through connecting plate 2 straight down and fixes with rotating mechanism 9, to be connected
It connects, the lower section of the rotating mechanism 9 is connected with handgrip 10, and driving cylinder 8 drives the up and down motion of handgrip 10 to clamp casting.
The rotating mechanism 10 includes shell 10-1, the upper surface of stepper motor 10-2, the shell 10-1 and driving gas
The cylinder rod of cylinder 8 is fixedly connected, and shell 10-1's is internally provided with stepper motor 10-2, the output shaft of the stepper motor 10-2
It is fixedly connected straight down and with the upper surface of handgrip 10, the output shaft and shell 10-1 of the stepper motor 10-2 passes through bearing
Rotation connection, stepper motor 10-2 rotation are able to drive handgrip 10 and rotate in the horizontal direction, so that handgrip 10 clamped
Casting, which can rotate a certain angle, carries out the polishing of end face.
Fluted 6-1 is set on the clamping end face of the clamping plate 6, buffering is provided on the inner wall of the groove 6-1 and is fixed
6-2 is padded, the preferred fixed pad 6-2 of buffering is rubber washer, can be had to axis class casting by the groove 6-1 on clamping plate 6
Imitate stable clamping.
The connecting plate 2 is fixedly connected with clamp hand substrate 1 by nut, the connecting rod 3 and supporting rod 5 of 2 two sides of connecting plate
Sub-assembly be symmetrical set；The supporting rod 5 is rotatablely connected with clamping plate 6.
When work, when passing through 6 grip axes class casting of clamping plate, the cylinder rod of clamping cylinder 7 drives downwards connecting rod 3 to transport
Dynamic, driving motor drives supporting rod 5 to move by shaft 4, makes the variation that mutual alignment is generated between two clamping plates 6, by axis class
Two end faces of casting are set in the groove 6-1 on clamping plate 6, so that clamp hand band moving axis class casting is close to polishing grinding wheel, polishing
Axial two sides of axis class casting；After the completion of the polishing of axis class casting side, the cylinder rod of driving cylinder 8 drives rotating mechanism 9
And handgrip 10 moves downward, handgrip 10 picks up axis class casting, and clamping plate 6 is moved to horizontal position by clamping cylinder 7 and driving motor 8
It packs up, rotating mechanism 9 drives handgrip 10 to turn an angle, so that clamp hand is able to drive axis class casting close to polishing grinding wheel, beats
Grind two end faces of axis class casting；Clamping structure is opened after polishing, is replaced axis class casting, is so recycled；Structure simply makes
With flexible and convenient, high production efficiency.
The above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, those of ordinary skill in the art couple
The other modifications or equivalent replacement that the technical solution of the utility model is made, without departing from technical solutions of the utility model
Spirit and scope should all cover in the scope of the claims of the utility model.
Claims (6)
1. a kind of industrial robot polishing clamp hand, it is characterised in that: it include clamp hand substrate, connecting plate, connecting rod, shaft,
Supporting rod, clamping plate, clamping cylinder, driving cylinder, rotating mechanism, handgrip, the lower end surface of the clamp hand substrate are provided with connecting plate,
The both ends of the connecting plate are rotatablely connected with one end of connecting rod respectively, and the other end of the connecting rod passes through shaft and supporting rod
One end connection, the shaft connect with driving motor, and the other end of the supporting rod is connect with clamping plate, and the clamping cylinder is set
It sets on the upper surface of clamp hand substrate, the cylinder rod of clamping cylinder is fixedly connected with the connecting rod by pin shaft, the driving cylinder
It is arranged on the center of clamp hand substrate upper surface, the cylinder rod of cylinder is driven to pass through connecting plate and and rotating mechanism straight down
It is fixedly connected, is connected with handgrip below the rotating mechanism.
2. a kind of industrial robot polishing clamp hand according to claim 1, it is characterised in that: the rotating mechanism includes
The upper surface of shell, stepper motor, the shell is fixedly connected with the cylinder rod of driving cylinder, and shell is internally provided with stepping
Motor, the output shaft of the stepper motor are fixedly connected straight down and with the upper surface of handgrip.
3. a kind of industrial robot polishing clamp hand according to claim 2, it is characterised in that: the stepper motor it is defeated
Shaft and shell are rotatablely connected by bearing.
4. a kind of industrial robot polishing clamp hand according to claim 1, it is characterised in that: the clamping end of the clamping plate
It is arranged fluted on face, the fixed pad of buffering is provided on the inner wall of the groove.
5. a kind of industrial robot polishing clamp hand according to claim 1, it is characterised in that: the connecting plate and clamp hand
Substrate is fixedly connected by nut, and the connecting rod of connecting plate two sides and the sub-assembly of supporting rod are symmetrical set.
6. a kind of industrial robot polishing clamp hand according to claim 1, it is characterised in that: the supporting rod and clamping plate
Rotation connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822007114.5U CN209157928U (en) | 2018-11-26 | 2018-11-26 | Clamp hand is used in a kind of polishing of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822007114.5U CN209157928U (en) | 2018-11-26 | 2018-11-26 | Clamp hand is used in a kind of polishing of industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN209157928U true CN209157928U (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822007114.5U Active CN209157928U (en) | 2018-11-26 | 2018-11-26 | Clamp hand is used in a kind of polishing of industrial robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182999A (en) * | 2021-05-11 | 2021-07-30 | 江苏电子信息职业学院 | Improved mechanism of automobile brake disc machining equipment |
| CN113601543A (en) * | 2021-09-02 | 2021-11-05 | 江苏安全技术职业学院 | Automatic change mechanical tongs conveyer |
| CN113879834A (en) * | 2021-11-02 | 2022-01-04 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN114161403A (en) * | 2022-01-17 | 2022-03-11 | 安徽普力马康智能装备有限公司 | Can effectively improve manipulator of transport material |
-
2018
- 2018-11-26 CN CN201822007114.5U patent/CN209157928U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182999A (en) * | 2021-05-11 | 2021-07-30 | 江苏电子信息职业学院 | Improved mechanism of automobile brake disc machining equipment |
| CN113601543A (en) * | 2021-09-02 | 2021-11-05 | 江苏安全技术职业学院 | Automatic change mechanical tongs conveyer |
| CN113601543B (en) * | 2021-09-02 | 2023-03-14 | 江苏安全技术职业学院 | Automatic change mechanical tongs conveyer |
| CN113879834A (en) * | 2021-11-02 | 2022-01-04 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN113879834B (en) * | 2021-11-02 | 2023-01-03 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN114161403A (en) * | 2022-01-17 | 2022-03-11 | 安徽普力马康智能装备有限公司 | Can effectively improve manipulator of transport material |
| CN114161403B (en) * | 2022-01-17 | 2024-06-18 | 安徽普力马康智能装备有限公司 | Manipulator capable of effectively improving carrying materials |
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Effective date of registration: 20200715 Address after: Room 811, building C01, venture headquarters base, north side of Fuyuan Road, Wuqing Development Zone, Tianjin Patentee after: TIANJIN FOUNDRY INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: Room 301, Building 1, Block E, 6 Huafeng Road, Huaming High-tech Industrial Zone, Dongli District, Tianjin Patentee before: TIANJIN FOUNDRY INTELLIGENT TECHNOLOGY Co.,Ltd. |