CN209190809U - A kind of clamp device of industrial robot - Google Patents
A kind of clamp device of industrial robot Download PDFInfo
- Publication number
- CN209190809U CN209190809U CN201821904965.3U CN201821904965U CN209190809U CN 209190809 U CN209190809 U CN 209190809U CN 201821904965 U CN201821904965 U CN 201821904965U CN 209190809 U CN209190809 U CN 209190809U
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- CN
- China
- Prior art keywords
- screw
- slide
- ball screw
- industrial robot
- clamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of clamp devices of industrial robot, including pedestal, screw rod sliding equipment and clamp hand, the upper end of the pedestal is equipped with rotary electric machine, screw rod sliding equipment is arranged in the inside of the pedestal, the screw rod sliding equipment includes ball screw, slide bar, shaft coupling, lead screw motor, feed screw nut, fixinig plate and slide plate, there are two the slide bar settings, two slide bars are symmetricly set on the two sides of the bottom of ball screw, one end of the ball screw is connect by shaft coupling with lead screw motor shaft, there are two feed screw nuts for setting on the ball screw, sliding is provided with slide plate on two slide bars, the feed screw nut is fixedly connected by fixinig plate with slide plate, the bottom end of two slide plates is mounted on clamp hand, the clamp hand includes backboard, cylinder, pin-joint piece, clamping limb, pin shaft and collet.The utility model can carry out clamping angular adjustment and clamp size adjusting, and easy to use, clamping stability is high.
Description
Technical field
The utility model relates to robotic technology field, specially a kind of clamp device of industrial robot.
Background technique
Robot is the automatic installations for executing work；Robot can not only receive the commander of the mankind, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology；The main task of robot is
In such as production industry, construction industry or other dangerous industries, the work of the mankind is assisted or replaces, robot is mainly the bottom of by
Seat, mechanical arm, control device and clamp device composition.
But the clamp device of existing industrial robot has the disadvantage in that
1, the clamp device flexibility of existing industrial robot is poor, can not be needed to carry out level angle tune according to clamping
Section, it is inconvenient to use.
2, single fixture is only arranged in the clamp device of existing industrial robot, cannot achieve fixture length adjustment, clamping
Shi Bixu holding jig is clipped among object, and clamping stability is poor, and object is easy disequilibrium and falls off.
Utility model content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the utility model provides a kind of clamp device of industrial robot, solves existing
It is inconvenient that some technologies are adjusted, and the problem of clamping stability difference.
(2) technical solution
To achieve the above object, the utility model provides the following technical solutions: a kind of clamp device of industrial robot, packet
Pedestal, screw rod sliding equipment and clamp hand are included, the upper end of the pedestal is equipped with rotary electric machine, and screw rod is arranged in the inside of the pedestal
Sliding equipment, the screw rod sliding equipment include ball screw, slide bar, shaft coupling, lead screw motor, feed screw nut, fixinig plate and
Slide plate, there are two the slide bar settings, and two slide bars are symmetricly set on the two sides of the bottom of ball screw, the ball screw
One end connect with lead screw motor shaft by shaft coupling, be arranged on the ball screw there are two feed screw nut, described in two
Sliding is provided with slide plate on slide bar, and the feed screw nut is fixedly connected by fixinig plate with slide plate, the bottom end of two slide plates
It is mounted on clamp hand, the clamp hand includes backboard, cylinder, pin-joint piece, clamping limb, pin shaft and collet, and the backboard is fixedly connected
In the bottom of slide plate, the cylinder is mounted on backboard, and the bottom end of the cylinder is hinged by pin-joint piece and two clamping limbs, and two
The centre of a clamping limb is rotatably connected on backboard by pin shaft, and the bottom end of two clamping limbs is equipped with collet.
Preferably, the inside of the collet opens up fluted, and the groove is internally provided with plush copper, the plush copper with it is recessed
Spring is installed between groove bottom.
Preferably, axial symmetry is provided with two sections of contrary screw threads, two feed screw nuts on the ball screw
It is separately mounted on two sections of contrary screw threads of ball screw.
Preferably, two feed screw nuts are centrosymmetric distribution on ball screw.
Preferably, the upper end of the rotary electric machine is equipped with motor cover, and the upper end of the motor cover is equipped with mounting rod.
Preferably, two collets are installed on the middle position of two skateboard bottoms.
(3) beneficial effect
The utility model provides a kind of clamp device of industrial robot, have it is following the utility model has the advantages that
(1) the utility model is by setting rotary electric machine, in use, can drive the clamp hand of base bottom by rotary electric machine
Horizontally rotate to any direction, clamp hand can be facilitated to be clamped from all directions of caught object, meets the folder under different condition
Requirement is taken, so that clamping is more convenient.
(2) the utility model is by setting screw rod sliding equipment and clamp hand, in use, can increase when dimension of object is larger
The distance between big two clamp hands, convenient to clamp to object, specially lead screw motor drives ball screw by shaft coupling
Rotation, the rotational motion of ball screw is transformed into linear motion by feed screw nut, contrary due to being provided on ball screw
Lines so that two feed screw nuts on ball screw on two sections of contrary lines can synchronize relative to or it is opposite mobile, two
A feed screw nut will by fixinig plate respectively with two slide plates on moving slide-bar synchronize relative to or it is opposite mobile, to drive cunning
Two groups of clamp hands in board bottom portion synchronize relative to or it is opposite mobile, realize the adjusting to distance between clamp hand, when clamping, cylinder first extends
Two clamping limbs are pushed to be turned out, after object is stuck between two clamping limbs, cylinder, which is shunk, drives two clamping limbs inwardly to squeeze
Object realizes clamping to object, and the utility model can adjust the range of clamping according to dimension of object, steady when improving clamping
It is qualitative, it is highly-safe.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the enlarged drawing in the utility model Fig. 1 at A.
In figure: 1, pedestal；2, rotary electric machine；3, motor cover；4, mounting rod；5, screw rod sliding equipment；6, ball screw；7,
Slide bar；8, shaft coupling；9, lead screw motor；10, feed screw nut；11, fixinig plate；12, slide plate；13, clamp hand；14, backboard；15, gas
Cylinder；16, pin-joint piece；17, clamping limb；18, pin shaft；19, collet；20, groove；21, plush copper；22, spring.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1-3, the utility model provides a kind of technical solution: a kind of clamp device of industrial robot, including
Pedestal 1, screw rod sliding equipment 5 and clamp hand 13, the upper end of pedestal 1 are equipped with rotary electric machine 2, and the inside setting screw rod of pedestal 1 is sliding
Motivation structure 5, screw rod sliding equipment 5 include ball screw 6, slide bar 7, shaft coupling 8, lead screw motor 9, feed screw nut 10, fixinig plate
11 and slide plate 12, there are two the settings of slide bar 7, and two slide bars 7 are symmetricly set on the two sides of the bottom of ball screw 6, ball screw 6
One end is connect by shaft coupling 8 with 9 shaft of lead screw motor, and there are two feed screw nut 10, two slide bars 7 for setting on ball screw 6
Upper sliding is provided with slide plate 12, and feed screw nut 10 is fixedly connected by fixinig plate 11 with slide plate 12, and the bottom end of two slide plates 12 is equal
Clamp hand 13 is installed, clamp hand 13 includes backboard 14, cylinder 15, pin-joint piece 16, clamping limb 17, pin shaft 18 and collet 19, backboard 14
It is fixedly connected on the bottom of slide plate 12, cylinder 15 is mounted on backboard 14, and the bottom end of cylinder 15 passes through pin-joint piece 16 and two folders
Gripping arm 17 is hinged, and the centre of two clamping limbs 17 is rotatably connected on backboard 14 by pin shaft 18, the bottom end of two clamping limbs 17
Collet 19 is installed, the inside of collet 19 opens up fluted 20, and groove 20 is internally provided with plush copper 21, plush copper 21 and groove 20
Spring 22 is installed, axial symmetry is provided with two sections of contrary screw threads, two feed screw nuts 10 on ball screw 6 between bottom surface
It is separately mounted on two sections of contrary screw threads of ball screw 6, two feed screw nuts 10 are in center pair on ball screw 6
Claim distribution, the upper end of rotary electric machine 2 is equipped with motor cover 3, and the upper end of motor cover 3 is equipped with mounting rod 4, and two collets 19 are pacified
On the middle position of two 12 bottom surfaces of slide plate.
In use, rotary electric machine 2 can drive clamp hand 13 to horizontally rotate, realization from different directions presss from both sides object
It takes, when dimension of object is larger, it is possible to increase the distance between two clamp hands 13 conveniently clamp object, specially screw rod
Motor 9 drives ball screw 6 to rotate by shaft coupling 8, and the rotational motion of ball screw 6 is changed the fortune that is in line by feed screw nut 10
It is dynamic, due to being provided with contrary lines on ball screw 6 so that on ball screw 6 on two sections of contrary lines two
A feed screw nut 10 can synchronize relative to or it is opposite mobile, two feed screw nuts 10 will pass through the band moving slide-bar 7 respectively of fixinig plate 11
On two slide plates 12 synchronize relative to or it is opposite mobile, so that it is opposite or opposite to drive two groups of clamp hands 13 of 12 bottom of slide plate to synchronize
It is mobile, realize the adjusting to distance between clamp hand 13, when clamping, cylinder 15 first extend two clamping limbs 17 of promotion and is turned out,
After object is stuck between two clamping limbs 17, cylinder 15, which is shunk, drives two clamping limbs 17 inwardly to squeeze object realization to the folder of object
It takes.
It can to sum up obtain, the utility model solves existing by setting rotary electric machine 2, screw rod sliding equipment 5 and clamp hand 13
Technology adjust inconvenient, and the problem of clamping stability difference.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of clamp device of industrial robot, including pedestal (1), screw rod sliding equipment (5) and clamp hand (13), feature exists
In: the upper end of the pedestal (1) is equipped with rotary electric machine (2), and screw rod sliding equipment (5) are arranged in the inside of the pedestal (1), institute
State screw rod sliding equipment (5) include ball screw (6), slide bar (7), shaft coupling (8), lead screw motor (9), feed screw nut (10),
Fixinig plate (11) and slide plate (12), there are two slide bar (7) settings, and two slide bars (7) are symmetricly set on ball screw
(6) one end of two sides of the bottom, the ball screw (6) is connect by shaft coupling (8) with lead screw motor (9) shaft, the rolling
On ballscrew (6) there are two settings feed screw nut (10), sliding is provided with slide plate (12), the silk on two slide bars (7)
Stem nut (10) is fixedly connected by fixinig plate (11) with slide plate (12), and the bottom end of two slide plates (12) is mounted on clamp hand
(13), the clamp hand (13) includes backboard (14), cylinder (15), pin-joint piece (16), clamping limb (17), pin shaft (18) and collet
(19), the backboard (14) is fixedly connected on the bottom of slide plate (12), and the cylinder (15) is mounted on backboard (14), the gas
The bottom end of cylinder (15) passes through pin-joint piece (16) and two clamping limbs (17) hingedly, and the centre of two clamping limbs (17) passes through pin
Axis (18) is rotatably connected on backboard (14), and the bottom end of two clamping limbs (17) is equipped with collet (19).
2. a kind of clamp device of industrial robot according to claim 1, it is characterised in that: the collet (19) it is interior
Portion opens up fluted (20), and the groove (20) is internally provided with plush copper (21), the plush copper (21) and groove (20) bottom surface
Between spring (22) are installed.
3. a kind of clamp device of industrial robot according to claim 1, it is characterised in that: the ball screw (6)
Upper axial symmetry is provided with two sections of contrary screw threads, and two feed screw nuts (10) are separately mounted to ball screw (6)
On two sections of contrary screw threads.
4. a kind of clamp device of industrial robot according to claim 1, it is characterised in that: two feed screw nuts
(10) be centrosymmetric distribution on ball screw (6).
5. a kind of clamp device of industrial robot according to claim 1, it is characterised in that: the rotary electric machine (2)
Upper end be equipped with motor cover (3), the upper end of the motor cover (3) is equipped with mounting rod (4).
6. a kind of clamp device of industrial robot according to claim 1, it is characterised in that: two collets (19)
It is installed on the middle position of two slide plate (12) bottom surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904965.3U CN209190809U (en) | 2018-11-19 | 2018-11-19 | A kind of clamp device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904965.3U CN209190809U (en) | 2018-11-19 | 2018-11-19 | A kind of clamp device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190809U true CN209190809U (en) | 2019-08-02 |
Family
ID=67424755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821904965.3U Expired - Fee Related CN209190809U (en) | 2018-11-19 | 2018-11-19 | A kind of clamp device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190809U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347070A (en) * | 2020-04-02 | 2020-06-30 | 浙江师范大学 | Universal supporting device for ball part machining |
| CN111347387A (en) * | 2020-03-09 | 2020-06-30 | 江苏理工学院 | Device is taken off to saddle scarf |
| CN111633672A (en) * | 2020-06-12 | 2020-09-08 | 浙江置信汽车部件有限公司 | Auto-parts processing automatic production line manipulator |
| CN112096731A (en) * | 2020-09-22 | 2020-12-18 | 中国船舶科学研究中心 | Portable spherical hinge type underwater manual clamp holder |
| CN112223321A (en) * | 2020-08-28 | 2021-01-15 | 南京蹑波物联网科技有限公司 | Industrial robot clamping device and clamping method thereof |
| CN112621797A (en) * | 2020-12-01 | 2021-04-09 | 镇江云杰信息技术有限公司 | Clamping arm for industrial robot |
| CN113103213A (en) * | 2021-04-15 | 2021-07-13 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with single manipulator |
-
2018
- 2018-11-19 CN CN201821904965.3U patent/CN209190809U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347387A (en) * | 2020-03-09 | 2020-06-30 | 江苏理工学院 | Device is taken off to saddle scarf |
| CN111347387B (en) * | 2020-03-09 | 2021-05-18 | 江苏理工学院 | Device is taken off to saddle scarf |
| CN111347070A (en) * | 2020-04-02 | 2020-06-30 | 浙江师范大学 | Universal supporting device for ball part machining |
| CN111633672A (en) * | 2020-06-12 | 2020-09-08 | 浙江置信汽车部件有限公司 | Auto-parts processing automatic production line manipulator |
| CN112223321A (en) * | 2020-08-28 | 2021-01-15 | 南京蹑波物联网科技有限公司 | Industrial robot clamping device and clamping method thereof |
| CN112096731A (en) * | 2020-09-22 | 2020-12-18 | 中国船舶科学研究中心 | Portable spherical hinge type underwater manual clamp holder |
| CN112621797A (en) * | 2020-12-01 | 2021-04-09 | 镇江云杰信息技术有限公司 | Clamping arm for industrial robot |
| CN113103213A (en) * | 2021-04-15 | 2021-07-13 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with single manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190802 Termination date: 20201119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |