CN209633061U - A kind of clamping device of industrial robot - Google Patents
A kind of clamping device of industrial robot Download PDFInfo
- Publication number
- CN209633061U CN209633061U CN201920223759.4U CN201920223759U CN209633061U CN 209633061 U CN209633061 U CN 209633061U CN 201920223759 U CN201920223759 U CN 201920223759U CN 209633061 U CN209633061 U CN 209633061U
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- China
- Prior art keywords
- clamping
- hydraulic cylinder
- guide rod
- industrial robot
- clamping device
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Abstract
The utility model discloses a kind of clamping devices of industrial robot, belong to robotic gripper equipment technical field, it includes positioning plate and motor, motor is installed on the positioning plate, the output end of motor is connected with shaft, the shaft passes through positioning plate and is connected with mounting plate, the bottom centre of the mounting plate is equipped with first hydraulic cylinder, the end of first hydraulic cylinder is connected with fixed block, guide rod is provided on the outside of the first hydraulic cylinder, lantern ring is slidably fitted on guide rod, lantern ring is connected by connecting rod with fixed block, clamping limb is provided on the outside of guide rod, the top of the clamping limb and mounting plate are hinged, drive rod is hinged between clamping limb and sliding block, the bottom of clamping limb is fixedly connected with gripper jaw, compared with common robotic gripping apparatus, the utility model can not only improve the clamping quality of workpiece, also expand The scope of application of clamping device, substantially increases stability of the weight in clamping process, safety is higher.
Description
Technical field
The utility model relates to a kind of clamping of robotic gripper equipment technical field more particularly to industrial robot dresses
It sets.
Background technique
With the continuous improvement of industrial technologyization level, more and more industrial robots replace the artificial machinery that carries out to add
Work.Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically
Make, is a kind of machine for realizing various functions by self power and control ability.Currently, being all equipped on many industrial robots
There is clamping device, just can be realized the crawl to weight in this way, to replace manually working, improves production efficiency.
However, common industrial robot clamping device is often merely able to fixed size, fixed shape currently on the market
Weight clamped, be not applied for the clamping of plurality of specifications product, applicability is lower, and during clamping weight,
Clamping stability is insufficient, be easy to cause clamping device to loosen and makes to make weight and fall, to cause safety accident.Therefore, it now mentions
The clamping device for the industrial robot that a kind of applicability is higher out, clamping is more stable, to solve the above problems.
Utility model content
The purpose of the utility model is to overcome above-mentioned the shortcomings of the prior art, and provide a kind of applicability it is higher,
Clamp the clamping device of more stable industrial robot.
Purpose of the utility model is realized as follows:
A kind of clamping device of industrial robot, including positioning plate and motor are equipped with motor, motor on the positioning plate
Output end be connected with shaft, the shaft passes through positioning plate, and the end horizontal of shaft is connected with mounting plate, the mounting plate
Bottom centre first hydraulic cylinder is installed, the end of first hydraulic cylinder is connected with fixed block, the outside of the first hydraulic cylinder
It is arranged there are four the guide rod being circumferentially distributed, the top of each guide rod is fixedly connected with mounting plate, Mei Gesuo
Lantern ring is slidably fitted on the guide rod stated, and the inside of each lantern ring passes through connecting rod and is connected with fixed block,
A clamping limb is provided on the outside of each guide rod, the top of the clamping limb passes through fixed plate and pin shaft and peace
Loading board is hinged and connected, and is hinged with drive rod by fixed plate and pin shaft between clamping limb and lantern ring, each clamping limb
Bottom is fixedly connected to gripper jaw, and clamping has weight between gripper jaw described in four.
As a further solution of the present invention: the bottom end of guide rod described in four is fixedly connected with bottom plate.
The clamping limb and gripper jaw are an integral structure as a further solution of the present invention,.
Anti-slip layer is provided on the gripper jaw as a further solution of the present invention,.
The bottom centre of the bottom plate is vertically-mounted as a further solution of the present invention, second hydraulic cylinder,
And the bottom of second hydraulic cylinder is equipped with sucker, and vacuum pumping pump is equipped on sucker.
The bottom of the sucker is provided with several air entries, and sucker as a further solution of the present invention,
Outside sealing ring was installed in one week.
By above technical scheme as it can be seen that in this specification, a kind of beneficial effect of the clamping device of industrial robot is:
The utility model is rotated by motor driven mounting plate, drives clamping limb and gripper jaw rotation, can be from different perspectives to weight
It is clamped, and different shape, different size of weight can be clamped, improved the clamping quality of workpiece, clamping has also been enlarged
The scope of application of device；Lantern ring is driven to be moved along guide rod by first hydraulic cylinder, so that drive rod is driven to move, it is real
The opening and closing of existing gripper jaw, convenient for being grabbed and being discharged to weight, and clamping limb and gripper jaw are circumferentially distributed in the
The outside of one hydraulic cylinder, substantially increases stability of the weight in clamping process, and safety is higher；By the effect of sucker,
Improve the stationarity of clamping device work.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the clamping device of industrial robot.
Fig. 2 is the connection schematic diagram of fixed block in a kind of clamping device of industrial robot.
Fig. 3 is the structural schematic diagram of gripper jaw in a kind of clamping device of industrial robot.
Fig. 4 is the bottom view of adsorption plate in a kind of clamping device of industrial robot.
In figure: 1- positioning plate, 2- motor, 3- shaft, 4- mounting plate, 5- first hydraulic cylinder, 6- guide rod, 7- fixed block,
8- lantern ring, 9- connecting rod, 10- bottom plate, 11- clamping limb, 12- fixed plate, 13- pin shaft, 14- drive rod, 15- gripper jaw, 16- are anti-
Slip layer, 17- weight, 18- second hydraulic cylinder, 19- sucker, 20- vacuum pumping pump, 21- sealing ring, 22- air entry.
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.
Embodiment 1
Please refer to Fig. 1~3, in the utility model embodiment, a kind of clamping device of industrial robot, including positioning plate 1
With motor 2, motor 2 is installed on the positioning plate 1, the output end of motor 2 is connected with shaft 3, and the shaft 3 passes through positioning plate
1, and the end horizontal of shaft 3 is connected with mounting plate 4, the bottom centre of the mounting plate 4 is equipped with first hydraulic cylinder 5, and first
The end of hydraulic cylinder 5 is connected with fixed block 7, and there are four the guide rods being circumferentially distributed for the outside setting of the first hydraulic cylinder 5
6, the top of each guide rod 6 is fixedly connected with mounting plate 4, is slidably fitted on each guide rod 6
Lantern ring 8, and the inside of each lantern ring 8 passes through connecting rod 9 and is connected with fixed block 7, outside each guide rod 6
Side is provided with a clamping limb 11, and the top of the clamping limb 11 passes through fixed plate 12 and pin shaft 13 and the hinged phase of mounting plate 4
Even, and between clamping limb 11 and lantern ring 8 drive rod 14 is hinged with by fixed plate 12 and pin shaft 13, each clamping limb 11
Bottom is fixedly connected to gripper jaw 15, and clamping has weight 17 between gripper jaw 15 described in four.
Further, the bottom end of guide rod 6 described in four is fixedly connected with bottom plate 10, and here, bottom plate 10 can not only
Play the role of limit, can also enhance the stability of guide rod 6.
Further, the clamping limb 11 and gripper jaw 15 are an integral structure.
Further, anti-slip layer 16 is provided on the gripper jaw 15.
The working principle of the present embodiment is: in actual use, starting first hydraulic cylinder 5 first works, and passes through fixed block 7
Lantern ring 8 is driven to move along guide rod 8 with connecting rod 9, lantern ring 8 drives clamping limb 11 and gripper jaw 15 to two sides by drive rod 14
It opens；Then start motor 2, the rotation of 2 drive shaft 3 of motor drives mounting plate 4 to be rotated, until adjusting gripper jaw 15
Position；The mating reaction for passing through first hydraulic cylinder 5, fixed block 7, connecting rod 9 and drive rod 14 again, drives clamping limb 11 and folder
It holds pawl 15 to be inwardly closed, realizes the crawl to weight 17.
It is compared with common robotic gripping apparatus, the utility model is rotated by 2 drive installation plate 4 of motor, drives folder
Gripping arm 11 and gripper jaw 15 rotate, and can clamp from different perspectives to weight 17, and it is big to clamp different shape, difference
Small weight 17 improves the clamping quality of workpiece, the scope of application of clamping device has also been enlarged；It is driven by first hydraulic cylinder 5
Dynamic lantern ring 8 is moved along guide rod 6, so that drive rod 14 be driven to move, is realized the opening and closing of gripper jaw 15, is convenient for
Weight 17 is grabbed and discharged, and clamping limb 11 and gripper jaw 15 are circumferentially distributed in the outside of first hydraulic cylinder 5, significantly
Stability of the weight 17 in clamping process is improved, safety is higher.
Embodiment 2
Fig. 1,4 are please referred to, the present embodiment is mainly further on the basis of embodiment 1 to be upgraded, the bottom plate 10
Bottom centre is vertically-mounted second hydraulic cylinder 18, and the bottom of second hydraulic cylinder 18 is equipped with sucker 19, and pacifies on sucker 19
Equipped with vacuum pumping pump 20.
Further, the bottom of the sucker 19 is provided with several air entries 22, and the outside of sucker 19 is installed for one week
There is sealing ring 21.
Here, when being shifted using clamping device to weight 17, weight 17 is clamped first with gripper jaw 15, so
Starting second hydraulic cylinder 18 works afterwards；The telescopic end of second hydraulic cylinder 18 drives sucker 19 to move downward, until sucker 19 is close to
On the upper surface of weight 17；At this point, starting vacuum pumping pump 20 works, vacuum pumping pump 20 passes through air entry 22 and sealing ring 21
Effect generates suction, and then can stablize weight, improves the stationarity of clamping device work.
It should be strongly noted that positioning plate 1, motor 2 and mounting plate 4 are answering for the prior art in the technical program
With, and specific installation, the application, structure of first hydraulic cylinder 5, guide rod 6, lantern ring 8, clamping limb 11, gripper jaw 15 and sucker 19
It is compared for the innovative point of the application with common robotic gripping apparatus, the beneficial effect is that: the utility model passes through the first liquid
Cylinder pressure 5 drives lantern ring 8 to be moved along guide rod 6, so that drive rod 14 be driven to move, that realizes gripper jaw 15 plays open and close
It closes, convenient for weight 17 is grabbed and discharged, and clamping limb 11 and gripper jaw 15 are circumferentially distributed in the outer of first hydraulic cylinder 5
Side, substantially increases the stability for improving weight 17 in clamping process, and safety is higher；By the effect of sucker 19, improve
The stationarity of clamping device work.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of clamping device of industrial robot, including positioning plate (1) and motor (2), electricity is installed on the positioning plate (1)
Machine (2), the output end of motor (2) are connected with shaft (3), which is characterized in that the shaft (3) passes through positioning plate (1), and shaft
(3) end horizontal is connected with mounting plate (4), and the bottom centre of the mounting plate (4) is equipped with first hydraulic cylinder (5), and first
The end of hydraulic cylinder (5) is connected with fixed block (7), and there are four be circumferentially distributed for the outside of the first hydraulic cylinder (5) setting
The top of guide rod (6), each guide rod (6) is fixedly connected with mounting plate (4), each guide rod (6)
On be slidably fitted with lantern ring (8), and the inside of the lantern ring (8) passes through connecting rod (9) and fixed block (7) phase
Even, a clamping limb (11) is provided on the outside of each guide rod (6), the top of the clamping limb (11) passes through solid
Fixed board (12) and pin shaft (13) are hinged and connected with mounting plate (4), and pass through fixed plate (12) between clamping limb (11) and lantern ring (8)
It being hinged with drive rod (14) with pin shaft (13), the bottom of each clamping limb (11) is fixedly connected to gripper jaw (15), and four
Clamping has weight (17) between a gripper jaw (15).
2. a kind of clamping device of industrial robot according to claim 1, which is characterized in that guide rod described in four
(6) bottom end is fixedly connected with bottom plate (10).
3. a kind of clamping device of industrial robot according to claim 2, which is characterized in that the clamping limb (11) and
Gripper jaw (15) is an integral structure.
4. a kind of clamping device of industrial robot according to claim 3, which is characterized in that on the gripper jaw (15)
It is provided with anti-slip layer (16).
5. according to a kind of clamping device of any industrial robot of claim 2-4, which is characterized in that the bottom plate
(10) bottom centre is vertically-mounted to be had second hydraulic cylinder (18), and the bottom of second hydraulic cylinder (18) is equipped with sucker (19),
And vacuum pumping pump (20) are installed on sucker (19).
6. a kind of clamping device of industrial robot according to claim 5, which is characterized in that the bottom of the sucker (19)
Portion is provided with several air entries (22), and the outside of sucker (19) is equipped with sealing ring (21) for one week.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920223759.4U CN209633061U (en) | 2019-02-22 | 2019-02-22 | A kind of clamping device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920223759.4U CN209633061U (en) | 2019-02-22 | 2019-02-22 | A kind of clamping device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209633061U true CN209633061U (en) | 2019-11-15 |
Family
ID=68494101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920223759.4U Expired - Fee Related CN209633061U (en) | 2019-02-22 | 2019-02-22 | A kind of clamping device of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209633061U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497241A (en) * | 2020-11-27 | 2021-03-16 | 德清县下舍五金机械厂 | Blade grabbing finger suitable for multiple industries |
| CN116873569A (en) * | 2023-09-07 | 2023-10-13 | 山东阅航环保科技有限公司 | Glass vacuum chuck transfer mechanism |
-
2019
- 2019-02-22 CN CN201920223759.4U patent/CN209633061U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497241A (en) * | 2020-11-27 | 2021-03-16 | 德清县下舍五金机械厂 | Blade grabbing finger suitable for multiple industries |
| CN112497241B (en) * | 2020-11-27 | 2022-02-08 | 德清县下舍五金机械厂 | Blade grabbing finger suitable for multiple industries |
| CN116873569A (en) * | 2023-09-07 | 2023-10-13 | 山东阅航环保科技有限公司 | Glass vacuum chuck transfer mechanism |
| CN116873569B (en) * | 2023-09-07 | 2024-03-29 | 山东阅航环保科技有限公司 | Glass vacuum chuck transfer mechanism |
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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: 20191115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |