CN209350281U - Robot accurate grabbing device automatically - Google Patents
Robot accurate grabbing device automatically Download PDFInfo
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- CN209350281U CN209350281U CN201822216971.6U CN201822216971U CN209350281U CN 209350281 U CN209350281 U CN 209350281U CN 201822216971 U CN201822216971 U CN 201822216971U CN 209350281 U CN209350281 U CN 209350281U
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- clamping jaw
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- grabbing device
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Abstract
The utility model embodiment discloses a kind of robot accurate grabbing device automatically.The robot of the utility model accurate grabbing device automatically, is used for grabbing workpiece, and the left and right sides of workpiece is all provided with that there are two location holes.The device includes: connecting column, mounting base, telescoping mechanism, left clamping jaw and right clamping jaw, connecting column is arranged on mounting base, it is mechanically connected with outside, telescoping mechanism is arranged on mounting base, left clamping jaw and right clamping jaw are slidably disposed on mounting base, and the both ends of telescoping mechanism are separately positioned on, telescoping mechanism drives left clamping jaw and right clamping jaw close to each other and separate.It is all provided on left clamping jaw and right clamping jaw there are two when positioning pin, left clamping jaw and right clamping jaw close to each other, positioning pin is inserted respectively into the location hole of workpiece, with grabbing workpiece.The robot of the utility model accurate grabbing device automatically is cooperated by positioning pin and location hole, and clamping jaw and workpiece fast accurate position when crawl or so, guarantees the assembling quality of automobile engine.
Description
Technical field
The utility model embodiment is related to automobile engine assembly field, and in particular to a kind of robot precisely grabs automatically
Device.
Background technique
The assembly of automobile product (including vehicle and assembly etc.) be in automobile product manufacturing process most important process procedure it
One, it is whole being assembled into through the qualified hundreds of or thousands of various components of inspection according to certain technical requirements
The technical process of the assemblies such as vehicle and engine, speed changer.
When automobile engine is assembled, the workpiece on each production line mostly uses the mode for chopping disk to transport, and workpiece is transported to finger
Determine station, fixture crawl is then picked up by end, then workpiece is assembled on engine.
The inventors of the present application found that when fixture grabbing workpiece is picked up at end in the prior art, Bu Nengzhun inaccurate due to positioning
True grabbing workpiece causes the underproof phenomenon of trimming occur when press fitting, influences the assembling quality of automobile engine.
Utility model content
The purpose of this utility model is to provide a kind of robot accurate grabbing devices automatically, can be accurately positioned and clamp and grab
Workpiece is taken, workpiece is assembled in automobile engine, guarantees the assembling quality of automobile engine.
The utility model embodiment provides a kind of robot accurate grabbing device automatically, is used for grabbing workpiece, the workpiece
Left side set there are two first positioning hole, set on the right side of the workpiece there are two second location hole, the robot is automatically accurate
Grabbing device, comprising: connecting column, mounting base, telescoping mechanism, left clamping jaw and right clamping jaw；
The connecting column is arranged on the mounting base, and the connecting column is used to be mechanically connected with outside；
The telescoping mechanism is arranged on the mounting base；
The left clamping jaw and the right clamping jaw are slidably disposed on the mounting base, and the left clamping jaw and described
Right clamping jaw is separately positioned on the both ends of the telescoping mechanism, and the telescoping mechanism is for driving the left clamping jaw and the right clamping jaw
It is close to each other and separate；
It is set on the left clamping jaw there are two the first positioning pin, sets that there are two the second positioning pins on the right clamping jaw；
When the left clamping jaw and the right clamping jaw close to each other, described two first positioning pins are inserted into described two respectively
A positioning hole, described two second positioning pins are inserted into described two second location holes respectively, to grab the workpiece.
In a kind of feasible scheme, the left side of the workpiece is equipped with the first positioning column, and the right side of the workpiece is equipped with the
Two positioning columns；
The left clamping jaw is equipped with third location hole, and the right clamping jaw is equipped with the 4th location hole；
When the left clamping jaw and the right clamping jaw close to each other, first positioning column is inserted into the third location hole, institute
It states the second positioning column and is inserted into the 4th location hole.
In a kind of feasible scheme, the end of first positioning pin and second positioning pin is tapered；
The end of first positioning column and second positioning column is tapered.
In a kind of feasible scheme, the left clamping jaw includes: left roof, left connection board and left clamp；
The upper and lower ends that the left connection board is set that the left roof and the left clamp are respectively perpendicular, it is described two
First positioning pin and the third location hole are arranged in the left clamp；
The right clamping jaw includes: right top plate, right connection board and right clamping plate；
The upper and lower ends that the right connection board is set that the right top plate and the right clamping plate are respectively perpendicular, it is described two
Second positioning pin and the 4th location hole are arranged on the right clamping plate.
In a kind of feasible scheme, the left roof is equipped with the first connecting hole of multiple groups, first connecting hole of multiple groups
Interval setting, for being connect with the left connection board；
The right top plate is equipped with the second connecting hole of multiple groups, multiple groups the second connecting hole interval setting, for it is described
Right connection board connection.
In a kind of feasible scheme, the telescoping mechanism includes: cylinder, left motion bar and right motion bar；
The cylinder is fixed on the mounting base；
The left roof is equipped with left link block, and the left link block is connect with the left motion bar；
The right top plate is equipped with right link block, and the right link block is connect with the right motion bar；
The left motion bar and the right motion bar are connect with the cylinder, and the cylinder is for driving the left motion bar
It is flexible with the right motion bar, keep the left roof and the right top plate close to each other and separate.
In a kind of feasible scheme, the downside of the mounting base is equipped with two one slide rails, the two one slide rails phase
It is mutually arranged in parallel, the section of the sliding rail is in I-shaped；
It is set on the left roof there are two the first sliding block, described two first sliding blocks are respectively engaged with two one slide rail
On, make the left roof and the mounting base slidable connection；
It is set on the right top plate there are two the second sliding block, described two second sliding blocks are respectively engaged with two one slide rail
On, make the right top plate and the mounting base slidable connection.
In a kind of feasible scheme, the left side of the mounting base is equipped with two piece of first limit plate, and described two first
The right side of the setting of limit plate interval, the mounting base is equipped with two piece of second limit plate, and described two second limit plates interval is set
It sets；
The left roof be equipped with the first limit base, first limit base between described two first limit plates,
First limit plate is used to limit the moving range of the left roof；
The right top plate be equipped with the second limit base, second limit base between described two second limit plates,
Second limit plate is used to limit the moving range of the right top plate.
In a kind of feasible scheme, the left side of the mounting base is equipped with the first buffer, the right side of the mounting base
Side is equipped with the second buffer；
The left roof is equipped with first and hits plate, and first buffer leans for hitting plate with described first, to subtract
Delay the impact force of the left roof；
The right top plate is equipped with second and hits plate, and second buffer leans for hitting plate with described second, to subtract
Delay the impact force of the right top plate.
In a kind of feasible scheme, the right connection board is equipped with sensor；
The sensor is used to be electrically connected with external machinery, when for sensing workpiece within a preset range, to outside
Machinery issues workpiece grabbing signal.
Based on above scheme it is found that the utility model is by being arranged mounting base, telescoping mechanism, left clamping jaw and right clamping jaw,
Left clamping jaw and right clamping jaw are slidably disposed on mounting base, and are connect with telescoping mechanism, telescoping mechanism drive left clamping jaw and
Right clamping jaw is close to each other and separate.It is all provided at left and right sides of workpiece there are two location hole, is equipped with two on left clamping jaw and right clamping jaw
A positioning pin.When left clamping jaw and right clamping jaw close to each other, two positioning pins on left clamping jaw and right clamping jaw are inserted respectively into workpiece
In two location holes of two sides, left clamping jaw and right clamping jaw and workpiece is accurately positioned, and piece-holder is grabbed, workpiece is filled
It is fitted in automobile engine.The robot of the utility model accurate grabbing device automatically, when crawl, position with workpiece fast accurate,
Guarantee the assembling quality of automobile engine.
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
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the robot accurate grabbing device automatically in the utility model embodiment；
Fig. 2 is the enlarged drawing at the A in Fig. 1 in the utility model embodiment；
Fig. 3 is the top view of the robot accurate grabbing device automatically in the utility model embodiment；
Fig. 4 is the partial schematic diagram of the robot accurate grabbing device automatically in the utility model embodiment.
Figure label:
1, workpiece；11, first positioning hole；12, second location hole；13, the first positioning column；14, the second positioning column；2, it connects
Column；3, mounting base；31, sliding rail；32, the first limit plate；33, the second limit plate；34, the first rectangular opening；35, the second rectangle
Hole；4, telescoping mechanism；41, cylinder；42, left motion bar；43, right motion bar；5, left clamping jaw；51, the first positioning pin；52, third
Location hole；53, left roof；531, the first connecting hole；532, left link block；533, the first sliding block；534, the first limit base；535,
First hits plate；54, left connection board；55, left clamp；6, right clamping jaw；61, the second positioning pin；62, the 4th location hole；63, You Ding
Plate；631, the second connecting hole；632, right link block；633, the second sliding block；634, the second limit base；Second hits plate；64, right connection
Plate；65, right clamping plate；71, the first buffer；72, the second buffer；8, sensor.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
"front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, be also possible to integral；
It can be mechanical connection, be also possible to be electrically connected, be also possible to communication connection；It can be and be directly connected to, centre can also be passed through
Medium is indirectly connected with, and can be the connection inside two elements or the interaction relationship of two elements, unless otherwise clear
Restriction.For the ordinary skill in the art, above-mentioned term can be understood in the utility model as the case may be
In concrete meaning.
The technical solution of the utility model is described in detail with specifically embodiment below.These are specific below
Embodiment can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the structural schematic diagram of the robot accurate grabbing device automatically in the utility model embodiment, and Fig. 2 is this reality
With the enlarged drawing at the A in Fig. 1 in new embodiment, Fig. 3 is that the robot in the utility model embodiment is precisely grabbed automatically
Take the top view of device, Fig. 4 is the partial schematic diagram of robot in the utility model embodiment accurate grabbing device automatically.Such as
Shown in Fig. 1 to Fig. 4, the robot of the present embodiment accurate grabbing device automatically is transported to specified work by conveying device for grabbing
The workpiece 1 of position.It is set on the left side side wall of workpiece 1 there are two first positioning hole 11, two intervals of first positioning hole 11 are arranged.Workpiece
It is set in 1 right sidewall there are two second location hole 12, two second location holes 12 are also spaced setting.
The robot of the present embodiment accurate grabbing device automatically, comprising: connecting column 2, mounting base 3, telescoping mechanism 4, left
Clamping jaw 5 and right clamping jaw 6.
The top of mounting base 3 is arranged in connecting column 2, is fixedly connected with the top surface of mounting base 3.And connecting column 2 and outer
Portion's mechanical connection, under external mechanical drive, connecting column 2 drives the robot accurate grabbing device execution automatically of the present embodiment
It acts in next step.
Telescoping mechanism 4 is arranged on mounting base 3.
Left clamping jaw 5 and right clamping jaw 6 are arranged on mounting base 3, are located at the left and right ends of mounting base 3, can be along peace
The bottom surface of dress bottom plate 3 horizontally slips.And left clamping jaw 5 and right clamping jaw 6 are separately positioned on the left and right ends of telescoping mechanism 4, and it is flexible
Mechanism 4 connects, and the left clamping jaw 5 of the flexible drive of telescoping mechanism 4 and right clamping jaw 6 are close to each other and be located remotely from each other.
It is set on left clamping jaw 5 there are two the first positioning pin 51, sets that there are two the second positioning pins 61 on right clamping jaw 6.
Left clamping jaw 5 and right clamping jaw 6 are also located at the left and right sides of workpiece 1.Left clamping jaw 5 and right clamping jaw 6 are in telescoping mechanism 4
Drive under it is close to each other when, two the first positioning pins 51 on left clamping jaw 5 are inserted respectively into two of 1 left side side wall of workpiece
In a positioning hole 11, two the second positioning pins 61 on right clamping jaw 6 are inserted respectively into two second positioning of 1 right sidewall of workpiece
In hole 12, while being accurately positioned left clamping jaw 5 and right clamping jaw 6 and workpiece 1, simultaneously grabbing workpiece 1 is clamped；Left clamping jaw 5 and right folder
When pawl 6 is located remotely from each other, the workpiece 1 of crawl is discharged into predeterminated position.
Through the above it is not difficult to find that the utility model passes through setting mounting base, telescoping mechanism, left clamping jaw and right folder
Pawl, left clamping jaw and right clamping jaw are slidably disposed on mounting base, and are connect with telescoping mechanism, and telescoping mechanism drives left clamping jaw
It is close to each other and separate with right clamping jaw.It is all provided at left and right sides of workpiece there are two location hole, is equipped on left clamping jaw and right clamping jaw
Two positioning pins.When left clamping jaw and right clamping jaw close to each other, two positioning pins on left clamping jaw and right clamping jaw are inserted respectively into work
In two location holes of part two sides, left clamping jaw and right clamping jaw and workpiece is accurately positioned, and piece-holder is grabbed, by workpiece
It is assembled in automobile engine.The robot of the utility model accurate grabbing device automatically, when crawl, are fixed with workpiece fast accurate
Position, guarantees the assembling quality of automobile engine.
Optionally, in the present embodiment, the left side side wall of workpiece 1 is equipped with the first positioning column 13, the right sidewall of workpiece 1
It is equipped with the second positioning column 14.
Correspondingly, left clamping jaw 5 is equipped with third location hole 52, right clamping jaw 6 is equipped with the 4th location hole 62.
When left clamping jaw 5 and right clamping jaw 6 close to each other under the drive of telescoping mechanism 4, first positioning column 13 in 1 left side of workpiece
It is inserted into the third location hole 52 on left clamping jaw 5, second positioning column 14 on 1 right side of workpiece is inserted into the 4th on right clamping jaw 6
In location hole 62, so that left clamping jaw 5 and right clamping jaw 6 clamp workpiece 1 more firm, and workpiece 1 will not in crawl and movement
It shakes, overturn.
Further, in the present embodiment, the second positioning pin on the first positioning pin 51 and right clamping jaw 6 on left clamping jaw 5
61 end is tapered, is conveniently inserted into the first positioning hole 11 and second location hole 12 on workpiece 1.
Equally, the end of the first positioning column 13 on workpiece 1 and the second positioning column 14 is also tapered, is conveniently inserted into third
In location hole 52 and the 4th location hole 62.
Optionally, accurate grabbing device, left clamping jaw 5 include: left roof 53, left connection board automatically for the robot of the present embodiment
54 and left clamp 55.
The top of left connection board 54 is arranged in left roof 53, perpendicular to the upper side of left connection board 54, with left connection board 54
It is bolted to connection.Left clamp 55 is arranged on the right side of 54 lower end of left connection board, perpendicular to the side of left connection board 54
Face is fixedly connected with left connection board 54.Two the first positioning pins 51 and third location hole 52 are arranged at the side of left clamp 55
On.
Right clamping jaw 6 includes: right top plate 63, right connection board 64 and right clamping plate 65.
The top of right connection board 64 is arranged in right top plate 63, perpendicular to the upper side of right connection board 64, with right connection board 64
It is bolted to connection.Right clamping plate 65 is arranged on the left side of 64 lower end of right connection board, perpendicular to the side of right connection board 64
Face is fixedly connected with right connection board 64.Two the second positioning pins 61 and the 4th location hole 62 are arranged at the side of right clamping plate 65
On.
Further, in the present embodiment, left roof 53 is equipped with the first connecting hole of multiple groups 531, the first connecting hole of multiple groups
Interval setting separated by a distance between 531.Right top plate 63 is equipped with the second connecting hole of multiple groups 631, the second connecting hole of multiple groups 631
Between interval separated by a distance setting.
When left connection board 54 is connect with left roof 53, can be selected different first connecting hole 531 connections, right connection board 64 with
When right top plate 63 connects, different the second connecting hole 631 connections can be selected, to adjust between left connection board 54 and right connection board 64
Distance, that is, adjust the distance between left clamping jaw 5 and right clamping jaw 6, with adapt to crawl different length workpiece.
Optionally, accurate grabbing device, telescoping mechanism 4 include: cylinder 41, left motion bar automatically for the robot of the present embodiment
42 and right motion bar 43.
Cylinder 41 is fixed on mounting base 3.
The top of left roof 53 is fixed with left link block 532, the left motion bar 42 of left link block 532 and telescoping mechanism 4
Connection.
The top of right top plate 63 is fixed with right link block 632, the right motion bar 43 of right link block 632 and telescoping mechanism 4
Connection.
Left motion bar 42 and right motion bar 43 are located at the left and right sides of cylinder 41, connect with cylinder 41.41 band of cylinder
It moves left motion bar 42 and right motion bar 43 is flexible.The flexible drive left roof 53 and right top plate of left motion bar 42 and right motion bar 43
63 is close to each other and separate, that is, drives left clamping jaw 5 and right clamping jaw 6 close to each other and separate, to grab and discharge workpiece 1.
Optionally, in the present embodiment, the downside (bottom surface) of mounting base 3 is equipped with two one slide rails 31.Two one slide rails
31 along mounting base 3 length direction it is arranged in parallel, the longitudinal section of sliding rail 31 is in I-shaped.
Two the first sliding blocks 533 are fixed on the top surface of left roof 53, the top of the first sliding block 533 is equipped with card slot.Card
Slot is adapted to I-shaped sliding rail 31, and two the first sliding blocks 533 are respectively engaged on two one slide rails 31 by card slot, makes left roof
53 slide along sliding rail 31, realize left roof 53 and 3 slidable connection of mounting base.
Two the second sliding blocks 633 are fixed on the top surface of right top plate 63, the top of the second sliding block 633 is equipped with card slot.Two
A second sliding block 633 is respectively engaged on two one slide rails 31 by card slot, is slided right top plate 63 along sliding rail 31, is realized right top plate
63 with 3 slidable connection of mounting base.
Optionally, in the present embodiment, it is fixed with two the first limit plates 32 in the left lateral sides of mounting base 3, two
The setting of a interval of first limit plate 32.It is fixed with two piece of second limit plate 33 on the right side side of mounting base 3, two second
Limit plate 33 is also spaced setting.
The first limit base 534 is fixed on the top surface of left roof 53, the setting of the first limit base 534 is limited at two first
Between plate 32, the first limit plate 32 is used to limit the range that moves left and right of left roof 53, that is, limit left clamping jaw 5 moves left and right model
It encloses.
The second limit base 634 is fixed on the top surface of right top plate 63, the setting of the second limit base 634 is limited at two second
Between plate 33, the second limit plate 33 is used to limit the range that moves left and right of right top plate 63, that is, limit right clamping jaw 6 moves left and right model
It encloses.
Optionally, accurate grabbing device, the top surface in 3 left side of mounting base are equipped with first automatically for the robot of the present embodiment
Buffer 71, and the left side of mounting base 3 is equipped with the first rectangular opening 34, a left side for the first rectangular opening 34 is arranged in the first buffer 71
Right two sides.The top surface on 3 right side of mounting base is equipped with the second buffer 72, and the right side of mounting base 3 is equipped with the second rectangular opening 35,
The left and right sides of the second rectangular opening 35 is arranged in second buffer 72.
It is fixed with first on the top surface of left roof 53 and hits plate 535, the first rectangular opening is stretched out on the first top for hitting plate 535
34.When left roof 53 moves left and right under the drive of cylinder 41, first, which hits plate 535 and the first buffer 71, bumps against and supports, by the
Spring inside one buffer 71 slows down the impact force of left roof 53, that is, slows down the impact force of left clamping jaw 5.
Equally, it is fixed with second on the top surface of right top plate 63 and hits plate 635, the second square is stretched out on the second top for hitting plate 635
Shape hole 35.When right top plate 63 moves left and right under the drive of cylinder 41, second hits plate 635 supports with the collision of the second buffer 72, borrows
The spring inside the second buffer 72 is helped, the impact force of right top plate 63 is slowed down, that is, slows down the impact force of right clamping jaw 6.
Optionally, accurate grabbing device, right connection board 64 are equipped with sensor 8 (certainly automatically for the robot of the present embodiment
Sensor may also be arranged in left connection board).
Sensor 8 and external mechanical electric connection, sensor 8 detect whether grabbed work between left clamping jaw 5 and right clamping jaw 6
Part 1, and will test signal and be sent to external machinery.If left clamping jaw 5 and right clamping jaw 6 have grabbed workpiece 1, external machinery driving device
Perform the next step movement；If left clamping jaw 5 and right clamping jaw 6 do not grab workpiece 1, external machinery driving device grabs work again
Part 1.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that fisrt feature and second feature directly contact or fisrt feature and second feature pass through intermediary mediate contact.
Moreover, fisrt feature can be fisrt feature in second feature above the second feature " above ", " above " and " above "
Directly above or obliquely above, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature is in second feature " it
Under ", " lower section " and " following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of fisrt feature water
Flat height is lower than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc., it is intended that specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with
It can be combined in any suitable manner in one or more any embodiment or example.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of robot accurate grabbing device automatically is used for grabbing workpiece, set that there are two the first positioning on the left of the workpiece
Hole, sets that there are two second location holes on the right side of the workpiece, which is characterized in that the robot accurate grabbing device automatically, packet
It includes: connecting column, mounting base, telescoping mechanism, left clamping jaw and right clamping jaw；
The connecting column is arranged on the mounting base, and the connecting column is used to be mechanically connected with outside；
The telescoping mechanism is arranged on the mounting base；
The left clamping jaw and the right clamping jaw are slidably disposed on the mounting base, and the left clamping jaw and the right folder
Pawl is separately positioned on the both ends of the telescoping mechanism, and the telescoping mechanism is for driving the left clamping jaw and the right clamping jaw mutual
It is close and separate；
It is set on the left clamping jaw there are two the first positioning pin, sets that there are two the second positioning pins on the right clamping jaw；
When the left clamping jaw and the right clamping jaw close to each other, it is fixed that described two first positioning pins are inserted into described two first respectively
Position hole, described two second positioning pins are inserted into described two second location holes respectively, to grab the workpiece.
2. robot according to claim 1 accurate grabbing device automatically, which is characterized in that the left side of the workpiece is equipped with
The right side of first positioning column, the workpiece is equipped with the second positioning column；
The left clamping jaw is equipped with third location hole, and the right clamping jaw is equipped with the 4th location hole；
When the left clamping jaw and the right clamping jaw close to each other, first positioning column is inserted into the third location hole, and described the
Two positioning columns are inserted into the 4th location hole.
3. robot according to claim 2 accurate grabbing device automatically, which is characterized in that first positioning pin and institute
The end for stating the second positioning pin is tapered；
The end of first positioning column and second positioning column is tapered.
4. robot according to claim 2 accurate grabbing device automatically, which is characterized in that the left clamping jaw includes: a left side
Top plate, left connection board and left clamp；
The upper and lower ends that the left connection board is set that the left roof and the left clamp are respectively perpendicular, described two first
Positioning pin and the third location hole are arranged in the left clamp；
The right clamping jaw includes: right top plate, right connection board and right clamping plate；
The upper and lower ends that the right connection board is set that the right top plate and the right clamping plate are respectively perpendicular, described two second
Positioning pin and the 4th location hole are arranged on the right clamping plate.
5. robot according to claim 4 accurate grabbing device automatically, which is characterized in that the left roof is equipped with more
The first connecting hole of group, multiple groups the first connecting hole interval setting, for being connect with the left connection board；
The right top plate is equipped with the second connecting hole of multiple groups, and multiple groups the second connecting hole interval setting is used for and the right company
Fishplate bar connection.
6. robot according to claim 4 accurate grabbing device automatically, which is characterized in that the telescoping mechanism includes:
Cylinder, left motion bar and right motion bar；
The cylinder is arranged on the mounting base；
The left roof is equipped with left link block, and the left link block is connect with the left motion bar；
The right top plate is equipped with right link block, and the right link block is connect with the right motion bar；
The left motion bar and the right motion bar are connect with the cylinder, and the cylinder is for driving the left motion bar and institute
It is flexible to state right motion bar, keeps the left roof and the right top plate close to each other and separate.
7. robot according to claim 4 accurate grabbing device automatically, which is characterized in that the downside of the mounting base
Face is equipped with two one slide rails, and two one slide rail is arranged in parallel, and the section of the sliding rail is in I-shaped；
It is set on the left roof there are two the first sliding block, described two first sliding blocks are respectively engaged on two one slide rail, make
The left roof and the mounting base slidable connection；
It is set on the right top plate there are two the second sliding block, described two second sliding blocks are respectively engaged on two one slide rail, make
The right top plate and the mounting base slidable connection.
8. robot according to claim 4 accurate grabbing device automatically, which is characterized in that the left side of the mounting base
Right side equipped with two piece of first limit plate, the setting of described two first limit plates interval, the mounting base is equipped with two piece second
Limit plate, the setting of described two second limit plates interval；
The left roof is equipped with the first limit base, and first limit base is described between described two first limit plates
First limit plate is used to limit the moving range of the left roof；
The right top plate is equipped with the second limit base, and second limit base is described between described two second limit plates
Second limit plate is used to limit the moving range of the right top plate.
9. robot according to claim 4 accurate grabbing device automatically, which is characterized in that the left side of the mounting base
Equipped with the first buffer, the right side of the mounting base is equipped with the second buffer；
The left roof is equipped with first and hits plate, and first buffer leans for hitting plate with described first, to slow down
State the impact force of left roof；
The right top plate is equipped with second and hits plate, and second buffer leans for hitting plate with described second, to slow down
State the impact force of right top plate.
10. robot according to claim 4 accurate grabbing device automatically, which is characterized in that set in the right connection board
There is sensor；
The sensor is used to be electrically connected with external machinery, mechanical to outside when for sensing workpiece within a preset range
Issue workpiece grabbing signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822216971.6U CN209350281U (en) | 2018-12-27 | 2018-12-27 | Robot accurate grabbing device automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822216971.6U CN209350281U (en) | 2018-12-27 | 2018-12-27 | Robot accurate grabbing device automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209350281U true CN209350281U (en) | 2019-09-06 |
Family
ID=67801033
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822216971.6U Expired - Fee Related CN209350281U (en) | 2018-12-27 | 2018-12-27 | Robot accurate grabbing device automatically |
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| CN (1) | CN209350281U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102640A (en) * | 2021-11-04 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Derailleur mould assembling anchor clamps |
| CN114700863A (en) * | 2022-04-07 | 2022-07-05 | 歌尔股份有限公司 | Clamping and overturning jig and process thereof |
-
2018
- 2018-12-27 CN CN201822216971.6U patent/CN209350281U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102640A (en) * | 2021-11-04 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Derailleur mould assembling anchor clamps |
| CN114102640B (en) * | 2021-11-04 | 2023-08-11 | 安徽江淮汽车集团股份有限公司 | Gearbox assembling clamp |
| CN114700863A (en) * | 2022-04-07 | 2022-07-05 | 歌尔股份有限公司 | Clamping and overturning jig and process thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190906 Termination date: 20211227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |