CN211867837U

CN211867837U - Posture-variable clamp

Info

Publication number: CN211867837U
Application number: CN201922382437.7U
Authority: CN
Inventors: 周营平; 江文明; 李业银; 钟志斌
Original assignee: Guangzhou Numerical Control Equipment Co Ltd
Current assignee: Guangzhou Numerical Control Equipment Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-11-06
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a variable-posture clamp, which comprises a base used for connecting the tail end of a manipulator; the movable seat can be movably arranged on the base back and forth; the swinging connecting piece is rotatably arranged on the movable seat; and the clamp air cylinder is arranged on one side of the swinging connecting piece and is provided with a pair of air cylinder fingers for clamping a workpiece. The utility model provides a but variable attitude anchor clamps simple structure is nimble, can cooperate the manipulator to grab and press from both sides special-shaped workpiece, adapts to the processing gesture of more different angles different stations, can be applied to processes such as welding, polishing in order to improve processingquality, solves the problem that special-shaped workpiece is difficult to process and targets in place, is showing improvement machining efficiency.

Description

Posture-variable clamp

Technical Field

The utility model relates to a manipulator anchor clamps technical field specifically is a variable posture anchor clamps.

Background

With the development of times and technological progress, industrial robots replace more and more manual work. The industrial robot can be used for grabbing most common workpieces to perform welding, grinding, polishing and other processing operations, and achieves the effects of saving manpower and improving safety. However, for some special-shaped workpieces (such as T-shaped pipes), the welding, grinding, polishing and other processes are difficult to process in place due to the problems of special shapes and limited moving angles and positions of the robot, such as corner positions; if the robot is changed to change the clamping position for processing for multiple times, on one hand, the processing time cost is increased, and the production efficiency is low. On the other hand, the quality of the product which is repeatedly processed is difficult to ensure.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a but variable posture anchor clamps solves among the prior art problem that special-shaped workpiece processing is not in place.

In order to solve the technical problem, the utility model provides a following technical scheme:

the posture-variable clamp is characterized by comprising a base, a clamping device and a clamping device, wherein the base is used for being connected with the tail end of a manipulator; the movable seat can be movably arranged on the base back and forth; the swinging connecting piece is rotatably arranged on the movable seat; and the clamp air cylinder is arranged on one side of the swinging connecting piece and is provided with a pair of air cylinder fingers for clamping a workpiece.

As a further preferred option of this technical solution, the movable seat has a base plate and a swing support member installed above the base plate, and the base is provided with a linear guide rail matching the base plate, and the swing support member is connected to the swing connecting member.

As a further preferred option of the technical solution, the bottom of the substrate is provided with a slider corresponding to the linear guide, and the bottom of the slider is provided with a slot matching with the linear guide.

As a further preferred feature of the present invention, the swing supporting member has a bottom wall and a first side wall, the bottom wall is connected to the base plate, and the swing connecting member has a rotating shaft pivotally connected to the first side wall.

As a further preferred aspect of the present invention, the power transmission device further includes a servo motor and a speed reducer which are disposed outside the first side wall, the speed reducer is connected to the servo motor, and an output shaft of the speed reducer is fixed to the rotating shaft.

As a further preferred feature of the present invention, the swinging support is mounted on the base plate in a laterally movable manner, i.e., the clamp cylinder is laterally movable relative to the base, so that the adjustment of the position of the workpiece is more flexible.

As a further preferable mode of the present invention, the base is provided with a linear motor for driving the movable base.

As a further optimization of the technical scheme, the cylinder fingers are detachably arranged on the clamp cylinder, different cylinder fingers can be assembled according to different workpieces, and internal bracing or external clamping of different workpieces is realized.

As a further preferred aspect of the present technical solution, the cylinder finger has a clamping protrusion for outwardly supporting the workpiece, and an outer side of the clamping protrusion has an arc-shaped abutting surface, which is beneficial to protecting the surface of the workpiece.

As a further preferred mode of the present invention, the rotation axis of the swing link is perpendicular to the moving direction of the movable base on the base.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

the utility model provides a but variable attitude anchor clamps simple structure is nimble, can cooperate the manipulator to grab and press from both sides special-shaped workpiece, adapts to the processing gesture of more different angles different stations, can be applied to processes such as welding, polishing in order to improve processingquality, solves the problem that special-shaped workpiece is difficult to process and targets in place, improves machining efficiency.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of a variable-posture clamp of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic view of the present invention illustrating a variable-posture clamp for clamping a workpiece;

in the figure: the base 1, the linear motor 11, the linear guide rail 12, the movable seat 2, the base plate 21, the slider 211, the bottom wall 22, the first side wall 23, the second side wall 24, the servo motor 3, the speed reducer 4, the swing connector 5, the rotating shaft 51, the clamp cylinder 6, the cylinder finger 61, and the clamping bump 611.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution:

a variable-posture clamp is used for being mounted on a manipulator and being matched with the manipulator to adjust the machining position and angle of a workpiece. The posture-variable clamp comprises a base 1, a movable seat 2, a swinging connecting piece 5, a servo motor 3, a speed reducer 4 and a clamp cylinder 6. The base 1 is plate-shaped and is used for connecting the tail end of a manipulator. The base is provided with a linear motor 11 and two linear guide rails 12. And a rotor of the linear motor is connected with the movable seat and used for driving the movable seat. Linear guide matches the movable seat and is used for the guide the moving direction of movable seat, two linear guide locate linear electric motor both sides do benefit to structural balance.

The movable seat comprises a base plate 21 and a swinging support piece arranged on the base plate, and a sliding block 211 corresponding to the linear guide rail is arranged at the bottom of the base plate. The sliding block is approximately in a door shape, and the bottom surface of the sliding block is provided with a clamping groove matched with the linear guide rail. The swing support is provided with a bottom wall 22 and a first side wall 23 which are integrally connected, the bottom wall and the first side wall are both plate-shaped and mutually perpendicular, the bottom wall is horizontally arranged and installed on the base plate, and the first side wall 23 is vertically arranged. The swinging connecting member has a rotating shaft 51, and the rotating shaft 51 is pivotally connected to the first sidewall 23. The outer side of the first side wall is fixed with a speed reducer 4, a servo motor 3 is matched with the speed reducer 4 to provide rotary power for the swinging connecting piece, and an output shaft of the speed reducer penetrates through the first side wall 23 and is fixedly connected with the rotary shaft 51.

In this embodiment, swing support piece still is equipped with the second lateral wall 24 with the relative setting of first lateral wall, and the other end of diapire is connected to first lateral wall 23, the rotation axis both ends link to each other with first lateral wall 23 and second lateral wall 24 respectively, so set up, can strengthen the stability that swing connecting piece and sliding seat are connected avoids appearing rocking, promotes the stationarity of anchor clamps in the course of working. The swing connecting piece is positioned above the transverse extension part and is provided with a mounting surface for fixing the clamp cylinder. Under the drive of the servo motor and the speed reducer, the swing connecting piece drives the clamp cylinder to overturn, so that the angle of the workpiece is adjusted.

On the bearing, the clamp cylinder 6 is provided with a pair of cylinder fingers 61 for clamping the workpiece, and the two cylinder fingers can move along opposite directions to complete the clamping or internal bracing of the workpiece. The cylinder finger with the clip cylinder is in order to dismantle fixedly to choose suitable cylinder finger according to work piece processing requirement. In this embodiment, the cylinder finger 61 is locked to the clamp cylinder by a screw, the cylinder finger has a clamping protrusion 611 protruding upward, and the outer side of the clamping protrusion 611 is an arc surface for supporting and clamping the inner wall of the workpiece outward. In other embodiments, an outer clamp cylinder finger may also be provided.

As a further preferred aspect of the present technical solution, the bottom wall 22 is installed above the base plate in a laterally movable manner, and the base plate is provided with a motor for driving the bottom wall to move, that is, the clamp cylinder 6 can move laterally relative to the base plate, and the posture of the workpiece can be adjusted more flexibly by the clamp in combination with the longitudinal movement of the movable seat and the rotation movement of the swinging connecting member.

The utility model discloses variable posture anchor clamps's theory of operation as follows:

the base 1 is installed at the tail end of the manipulator. Taking fig. 3 as an example, the workpiece to be processed is a T-shaped pipe, when a workpiece intersection line is processed, the manipulator moves the variable-posture clamp to the vicinity of the workpiece, and the cylinder finger 61 is externally supported to clamp the inner wall of the workpiece, so that the workpiece is fixed to the clamp cylinder 6 (in other embodiments, the cylinder finger may move towards the middle to clamp the workpiece); the manipulator drives the workpiece to move to a processing area, the servo motor 3 and the speed reducer 4 drag the swinging connecting piece to rotate, and the angle of the workpiece can be adjusted. When the machining position needs to be changed, the linear motor 11 can drive the movable seat 2 to move along the linear guide rail. Do benefit to the gesture that anchor clamps can should change the work piece promotes processingquality.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A posable jig, comprising:

the base is used for connecting the tail end of the manipulator;

the movable seat can be movably arranged on the base back and forth;

the swinging connecting piece is rotatably arranged on the movable seat;

and the clamp air cylinder is arranged on one side of the swinging connecting piece and is provided with a pair of air cylinder fingers for clamping a workpiece.

2. The variable attitude fixture of claim 1 wherein the movable mount has a base plate and a swing support mounted above the base plate, the base plate having linear guides matching the base plate, the swing support being connected to the swing support.

3. The variable posture clamp of claim 2, wherein the bottom of the base plate is provided with a slide block corresponding to the linear guide rail, and the bottom of the slide block is provided with a clamping groove matched with the linear guide rail.

4. A variable attitude clamp according to claim 3 wherein said oscillating support has a bottom wall and a first side wall, the bottom wall being connected to the base plate; the swing connecting piece is provided with a rotating shaft, and the rotating shaft is pivoted with the first side wall.

5. The variable attitude clamp according to claim 4, further comprising a servomotor and a reducer provided outside the first side wall, the reducer being connected to the servomotor, an output shaft of the reducer being fixed to the rotary shaft.

6. A variable attitude clamp according to claim 2 wherein the rocking support member is mounted for lateral movement on the base plate.

7. The posable clamp of claim 1, wherein a linear motor is provided on the base to drive the movable mount.

8. The posable jig of claim 1 wherein the cylinder fingers are removably mounted on the clamp cylinder.

9. The variable attitude clamp according to claim 1, wherein the cylinder fingers have clamp projections for externally supporting the workpiece, and outer sides of the clamp projections have arcuate abutment surfaces.

10. The posable jig of claim 1 wherein the axis of rotation of the pivotal connection is perpendicular to the direction of movement of the movable mount on the base.