CN212287701U - Robot end effector for bearing clamping - Google Patents
Robot end effector for bearing clamping Download PDFInfo
- Publication number
- CN212287701U CN212287701U CN202020892271.3U CN202020892271U CN212287701U CN 212287701 U CN212287701 U CN 212287701U CN 202020892271 U CN202020892271 U CN 202020892271U CN 212287701 U CN212287701 U CN 212287701U
- Authority
- CN
- China
- Prior art keywords
- finger
- clamping finger
- clamp
- clamping
- mounting substrate
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a robot end effector for bearing clamp is got, includes the transition mounting panel, the parallel clamping jaw of transition mounting panel lower extreme bolted connection, the parallel clamp of parallel clamping jaw indicates that bottom bolted connection has the clamp to indicate mounting substrate, and the clamp indicates that mounting substrate bolted connection and bearing complex press from both sides to indicate, satisfies the clamp of various bearings and gets and release, realizes going up unloading and pile up neatly work of bearing, and is easy and simple to handle, and the accuracy is high, improves degree of automation.
Description
Technical Field
The utility model belongs to the unloading field on the bearing, concretely relates to robot end effector that is used for bearing clamp to get.
Background
At present, the feeding device of the bearing grinding processing equipment basically adopts two modes of manual feeding and feeding by means of a conveying line, and the manual feeding mode has low production efficiency and is labor-consuming. The feeding by means of a conveyor line also has the drawback that the distance between the conveyor chain and the baffle remains constant during the production process, which greatly limits its compatibility, for example if the width of the bearing is too small, it may tilt during the conveying process, which may affect the bearing transport, and it may jam or scratch the bearing surface; if the width of the bearing is too large, the processed workpiece can not be conveyed because the distance between the conveying chain and the baffle is smaller than the width of the bearing, so that the conveying range of the feeding device is greatly limited; furthermore, a transitional conveying roller path is arranged between the blanking device and the feeding device, and if the roller path is deformed due to non-human factors or the channel is blocked, the machined workpiece can be blocked to influence the conveying. The clamping jaw can be used for grabbing objects and comprises a driving cylinder and clamping fingers, and the opening and closing of the clamping jaw are realized by driving mechanisms such as crank connecting rods, rollers or gears and the like connected with the clamping fingers through reciprocating linear motion generated by a cylinder piston to drive the clamping fingers to synchronously open and close. The parallel clamping jaws drive the two parallel clamps to horizontally slide in the opposite directions by utilizing the driving cylinders, so that the opening and closing of the two parallel clamping fingers are realized, but the moving distance of the parallel clamping fingers is limited, and the clamping of various workpieces cannot be met.
Disclosure of Invention
The to-be-solved technical problem of the utility model is effectively promote the efficiency that the material was carried, reduces the use of manpower, improves the precision of going up unloading, for solving above-mentioned problem, the utility model provides a robot end effector for bearing clamp gets.
The purpose of the utility model is realized with the following mode:
the utility model provides a robot end effector for bearing clamp is got, includes transition mounting panel 2, the parallel clamping jaw of 2 lower extreme bolted connection of transition mounting panel, the parallel clamp of parallel clamping jaw indicates that bottom bolted connection has the clamp to indicate mounting substrate, and clamp indicates that mounting substrate bolted connection and bearing complex press from both sides and indicate.
The clamping finger mounting substrate comprises a clamping finger mounting substrate A312, the clamping finger comprises a clamping finger A313, and the clamping finger mounting substrate A312 is symmetrically connected with the clamping finger A313 through bolts; the clamping finger mounting substrate A312 comprises a left clamping finger mounting substrate 4 and a right clamping finger mounting substrate 5 which are symmetrically arranged in parallel; the clamping finger A313 comprises a left clamping finger 7 and a right clamping finger 6 which are symmetrically arranged in parallel, the left clamping finger mounting substrate 4 is in bolted connection with the left clamping finger 7, the right clamping finger mounting substrate 5 is in bolted connection with the right clamping finger 6, the left clamping finger 7 and the right clamping finger 6 are both clamping finger plates provided with a groove, and the grooves formed by the left clamping finger 7 and the right clamping finger 6 in an opposite mode are matched with the excircle of the bearing.
The left clamping finger mounting substrate 4 and the right clamping finger mounting substrate 5 are the same hook-shaped mounting plates.
The clamping finger mounting substrate further comprises a clamping finger mounting substrate B322, the clamping finger further comprises a clamping finger B323, the lower end of the clamping finger mounting substrate B322 is connected with the clamping finger B323 through a bolt, the clamping finger B323 is a clamping finger cushion block, the clamping finger mounting substrate B322 comprises a clamping jaw left mounting substrate 9 and a clamping jaw right mounting substrate 8 which are symmetrically arranged in parallel, and the clamping finger cushion block comprises a left clamping finger cushion block 11 and a right clamping finger cushion block 10 which are symmetrically arranged in parallel; the left clamping jaw mounting substrate 9 is in bolted connection with a left clamping finger cushion block 11, the right clamping jaw mounting substrate 8 is in bolted connection with a right clamping finger cushion block 10, a gap is reserved when the left clamping finger cushion block 11 and the right clamping finger cushion block 10 are closed, and the gap is matched with the thickness of the bearing wall.
And the inner sides of the left clamping finger 7, the right clamping finger 6, the left clamping finger cushion block 11 and the right clamping finger cushion block 10 are all provided with a layer of rubber material.
Symmetrical to prior art, the utility model discloses a lower extreme bolted connection that indicates at parallel clamp indicates mounting substrate, presss from both sides to indicate base plate bolted connection and bearing complex press from both sides to indicate, satisfies the clamp of various bearings and gets and release, realizes the last unloading and the pile up neatly work of bearing, and is easy and simple to handle, and the accuracy is high, improves degree of automation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of the left and right finger structure.
Wherein, 1 is a cylinder fixing plate; 2 is a transition mounting substrate; 21 is a parallel jaw a; 22 are parallel jaws B; 31 is a driving cylinder A; 311 is parallel clamp finger A; 312 is a clip finger mounting substrate a; 313 is clamp finger a;
32 is a driving cylinder B; 321 are parallel clamping fingers B; 322 is a finger mounting substrate B; 323 is the clamping finger B; 4 is a left mounting base plate of the clamping jaw; 5 is a clamping jaw right mounting substrate; 6 is the right clamping finger; 7 is the left finger clip; 8 is a right clamping finger mounting substrate; 9 is a left clamping finger mounting substrate; 10 is a right clamping finger cushion block; and 11 is a left clamping finger cushion block.
Detailed Description
As shown in fig. 1 and 2, the utility model discloses a robot end effector that is used for bearing clamp to get for material loading, unloading, pile up neatly work piece, include with robot bolted connection's cylinder fixed plate 1, 1 fixedly connected with transition mounting panel 2 of cylinder fixed plate, the parallel clamping jaw of 2 lower extreme bolted connection of transition mounting panel, parallel clamping jaw is including driving actuating cylinder, two parallel clamp fingers, drives actuating cylinder drive parallel clamp finger and opens or closed, also drives two parallel clamp fingers and removes towards relative direction exactly. Parallel clamp finger bolted connection clamping jaw mounting substrate, clamping jaw mounting substrate bolted connection and bearing complex clamp finger realize the material loading of bearing, unloading, pile up neatly work.
The following is a detailed description:
the parallel clamping jaw comprises a parallel clamping jaw A21 and a parallel clamping jaw B22, the parallel clamping jaw A21 comprises a driving cylinder A31 and two parallel clamping fingers A311, and the driving cylinder A31 drives the two parallel clamping fingers A311 to horizontally move towards the opposite direction; the parallel clamping jaw B22 comprises a driving cylinder B32 and two parallel clamping fingers B321, and the driving cylinder B32 drives the two parallel clamping fingers B321 to move horizontally in opposite directions (the principle is the same as that of the parallel clamping jaw, and the description is omitted here).
The lower ends of the parallel clamp fingers which move horizontally are connected with a clamp finger mounting base plate through bolts, the clamp finger mounting base plate comprises a clamp finger mounting base plate A312 and a clamp finger mounting base plate B322, the bottom of the clamp finger mounting base plate A312 is connected with a clamp finger A313 through bolts, and the bottom of the clamp finger mounting base plate B322 is connected with a clamp finger B323 through bolts.
Specifically, the lower end of the transition mounting plate 2 is symmetrically provided with cylinder barrels of a driving cylinder A31 and a driving cylinder B32, the lower end of the parallel clamp finger A311 is connected with a clamp finger mounting substrate A312 through a bolt, and the bottom of the clamp finger mounting substrate A is connected with a clamp finger A313 through a bolt.
The clamping finger mounting substrate A312 comprises a clamping jaw left mounting substrate 4 and a clamping jaw right mounting substrate 5 which are symmetrically arranged in parallel, one of the clamping fingers A311 is connected with the clamping jaw left mounting substrate 4 through a lower end bolt, the other clamping finger A311 is connected with the clamping jaw right mounting substrate 5 through a lower end bolt, and the clamping jaw left mounting substrate 4 and the clamping jaw right mounting substrate 5 are convenient to timely mount.
The clamping jaw left mounting substrate 4 and the clamping jaw right mounting substrate 5 are hook-shaped mounting plates, and the angle of the hook is 90 degrees.
The clamping finger A313 comprises a left clamping finger 7 and a right clamping finger 6 which are symmetrically arranged in parallel, the left clamping finger 7 and the right clamping finger 6 are clamping finger plates with grooves, the grooves of the left clamping finger 7 and the grooves of the right clamping finger 6 are symmetrically arranged, the two symmetrically arranged grooves are matched with the excircle of the bearing, and the left clamping finger 7 and the right clamping finger 6 are conveniently matched with the excircle of the bearing in a closed mode to clamp the bearing.
The bottom of the left clamping jaw mounting substrate 4 is connected with a left clamping finger 7 through a bolt, the bottom of the right clamping jaw mounting substrate 5 is connected with a right clamping finger 6 through a bolt, so that the left clamping finger 7 and the right clamping finger 6 can be conveniently replaced to match with bearings with different sizes, grooves are symmetrically formed in the inner sides of the left clamping finger 7 and the right clamping finger 6, the grooves of the left clamping finger 7 and the right clamping finger 6 which are symmetrical are matched with the excircle of the bearing, and a driving cylinder A31 is convenient to release or grab the bearing when the left clamping finger 7 and the right clamping finger 6 are driven to open or close; the left clamping finger 7 and the right clamping finger 6 are fixedly connected with the grooves in contact with the bearing through a layer of rubber material, so that damage to the surface of the bearing in the clamping process can be reduced. The left clamping finger 7 and the right clamping finger 6 which are connected through the bolts are convenient for timely replacing the left clamping finger 7 and the right clamping finger 6 so as to match the excircle sizes of different bearings. Drive actuating cylinder A31 drive two parallel clamping jaw A311 and to relative direction horizontal slip, two parallel clamping jaw A311 drive clamping jaw left mounting substrate 4, clamping jaw right mounting substrate 5 to relative direction horizontal migration to drive left clamp and indicate 7, right clamp and indicate 6 to press from both sides or release the bearing towards relative direction horizontal migration, realize the material loading of bearing, unloading and pile up neatly work.
The lower end of the clamping finger mounting base plate B322 is connected with a clamping finger B323 through a bolt, the clamping finger mounting base plate B322 comprises a left clamping finger mounting base plate 9 and a right clamping finger mounting base plate 8 which are symmetrically arranged in parallel, the left clamping finger mounting base plate 9 and the right clamping finger mounting base plate 8 which are arranged in parallel increase the stability of clamping a product, and if a certain angle is presented, the sliding loss of materials is likely to be caused in the clamping process.
The clamping fingers B323 are clamping finger cushion blocks which comprise a left clamping finger cushion block 11 and a right clamping finger cushion block 10 which are symmetrically arranged in parallel. The left clamping finger cushion block 11 is connected to the inner side of the left clamping finger mounting base plate 9 through a bolt, the right clamping finger cushion block 10 is connected to the inner side of the right clamping finger mounting base plate 8 through a bolt, gaps are reserved when the left clamping finger cushion block 11 and the right clamping finger cushion block 10 are closed, and the gaps are matched with the wall thickness of a bearing, so that the bearing is clamped.
The driving cylinder 32 drives the two parallel clamping jaws B321 to horizontally slide towards the opposite direction, and the two parallel clamping jaws B321 drive the left clamping finger mounting substrate 9 and the right clamping finger mounting substrate 8 to horizontally move towards the opposite direction, so as to drive the left clamping finger cushion block 11 and the right clamping finger cushion block 10 to move towards the opposite direction, so as to clamp or release the bearing, and thus, the loading, unloading and stacking work of the bearing is realized.
The left clamping finger mounting base plate 9, the right clamping finger mounting base plate 8, the left clamping finger 7 and the right clamping finger 6 are connected through bolts, so that the replacement is convenient in time, and the problem that the bearing cannot be used due to different sizes of the outer circles of the bearings is avoided; the left clamping finger mounting substrate 9, the right clamping finger mounting substrate 8, the left clamping finger cushion block 11 and the right clamping finger cushion block 10 which are connected through the bolts are also convenient to replace in time, and the problem that the bearings cannot be used due to different thicknesses of the walls of the bearings is solved.
The inner sides of a left clamping finger 7, a right clamping finger 6, a left clamping finger cushion block 11 and a right clamping finger cushion block 10 which are in contact with the bearing are all made of rubber materials, so that the damage to the bearing in the clamping process can be reduced, and the left clamping finger cushion block 11 and the right clamping finger cushion block 10 can be cylindrical or rectangular columnar;
the left clamping jaw 7 and the right clamping jaw 6 are matched and can be used for clamping the excircle of a bearing, the left clamping finger cushion block 11 and the right clamping finger cushion block 10 can be used for clamping the thickness direction of the bearing wall, and the left clamping finger cushion block and the right clamping finger cushion block are matched and used, so that the types of compatible products are enlarged, the clamping modes are enriched, the various operation and storage modes of turning over, stacking, side-by-side placing and the like of the bearing can be met by matching and using, the application range is wide, and the applicability is diversified; the device has the same function in the grabbing and carrying of other similar bearing products, and has wide application prospect.
In a non-working state, the left clamping finger 7 and the right clamping finger 6 are in an open state, and the left clamping finger cushion block 11 and the right clamping finger cushion block 10 are in an open state; in the working state, the left clamping finger 7 and the right clamping finger 6 are in the closed state, the left clamping finger cushion block 11 and the right clamping finger cushion block 10 are in the closed state,
the working process of the present invention is as follows (it should be noted that the following references "left" and "right" only indicate the moving direction of the clamping jaw mechanism in the drawing, and have no other meaning):
starting a controller and an air control system, wherein the controller sends an instruction to the robot, the robot moves to the side of the workbench, and the air control system controls a driving cylinder A31 and a driving cylinder B32 to work;
the driving cylinder A31 drives the clamping jaw left mounting substrate 4 to move rightwards, and the clamping jaw left mounting substrate 4 drives the left clamping finger 7 to move rightwards; the driving cylinder A31 drives the clamping jaw right mounting substrate 5 to move leftwards at the same time, the clamping jaw right mounting substrate 5 drives the right clamping finger 6 to move leftwards until the grooves of the right clamping finger 6 and the left clamping finger 7 are matched with the excircle of a bearing, and at the moment, the right clamping finger 6 and the left clamping finger 7 are in a closed state to clamp the bearing;
the driving cylinder B32 drives the left clamping finger mounting substrate 9 to move rightwards, and the left clamping finger mounting substrate 9 drives the left clamping finger cushion block 11 to move rightwards; meanwhile, the driving cylinder B32 drives the right clamping finger mounting substrate 8 to move rightwards, the right clamping finger mounting substrate 8 drives the right clamping finger cushion block 10 to move leftwards until the thickness of the left clamping finger cushion block 11 and the thickness of the right clamping finger cushion block 10 are matched with that of the other bearing wall, the bearing is clamped, and the robot drives the two bearings to move into corresponding material trays to carry out the next loading, unloading and stacking work.
What has been described above is only the preferred embodiments of the present invention, and it should be noted that, for those skilled in the art, without departing from the overall concept of the present invention, a plurality of changes and improvements can be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the effect of the present invention and the utility of the patent.
Claims (5)
1. The utility model provides a robot end effector for bearing clamp is got, includes transition mounting panel (2), transition mounting panel (2) lower extreme bolted connection parallel clamping jaw, its characterized in that: the bottom ends of the parallel clamping fingers of the parallel clamping jaws are connected with a clamping finger mounting base plate through bolts, and the clamping finger mounting base plate is connected with a clamping finger matched with the bearing through bolts.
2. A robotic end effector for bearing picking as claimed in claim 1 wherein: the clamp finger mounting substrate comprises a clamp finger mounting substrate A (312), the clamp finger comprises a clamp finger A (313), and the clamp finger mounting substrate A (312) is symmetrically connected with the clamp finger A (313) through bolts; the clamping finger mounting substrate A (312) comprises a left clamping finger mounting substrate (4) and a right clamping finger mounting substrate (5) which are symmetrically arranged in parallel; the clamping finger A (313) comprises a left clamping finger (7) and a right clamping finger (6) which are symmetrically arranged in parallel, the left clamping finger mounting substrate (4) is in bolted connection with the left clamping finger (7), the right clamping finger mounting substrate (5) is in bolted connection with the right clamping finger (6), the left clamping finger (7) and the right clamping finger (6) are clamping finger plates provided with a groove, and the groove formed by the left clamping finger (7) and the right clamping finger (6) is matched with the excircle of the bearing.
3. A robotic end effector for bearing picking as claimed in claim 2 wherein: the left clamping finger mounting substrate (4) and the right clamping finger mounting substrate (5) are identical hook-shaped mounting plates.
4. A robotic end effector for bearing picking as claimed in claim 2 wherein: the clamp finger mounting substrate further comprises a clamp finger mounting substrate B (322), the clamp finger further comprises a clamp finger B (323), the lower end of the clamp finger mounting substrate B (322) is connected with the clamp finger B (323) through a bolt, the clamp finger B (323) is a clamp finger cushion block, the clamp finger mounting substrate B (322) comprises a clamping jaw left mounting substrate (9) and a clamping jaw right mounting substrate (8) which are symmetrically arranged in parallel, and the clamp finger cushion block comprises a left clamp finger cushion block (11) and a right clamp finger cushion block (10) which are symmetrically arranged in parallel; the left clamping jaw mounting base plate (9) is connected with the left clamping finger cushion block (11) through a bolt, the right clamping jaw mounting base plate (8) is connected with the right clamping finger cushion block (10) through a bolt, gaps are reserved when the left clamping finger cushion block (11) and the right clamping finger cushion block (10) are closed, and the gaps are matched with the thickness of a bearing wall.
5. A robotic end effector for bearing picking as claimed in claim 3 or 4 wherein: the inner sides of the left clamping finger (7), the right clamping finger (6), the left clamping finger cushion block (11) and the right clamping finger cushion block (10) are all provided with a layer of rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020892271.3U CN212287701U (en) | 2020-05-25 | 2020-05-25 | Robot end effector for bearing clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020892271.3U CN212287701U (en) | 2020-05-25 | 2020-05-25 | Robot end effector for bearing clamping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212287701U true CN212287701U (en) | 2021-01-05 |
Family
ID=73970389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020892271.3U Active CN212287701U (en) | 2020-05-25 | 2020-05-25 | Robot end effector for bearing clamping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212287701U (en) |
-
2020
- 2020-05-25 CN CN202020892271.3U patent/CN212287701U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107150246B (en) | Robot-assisted automatic feeding and discharging device and method for numerical control machine tool | |
| CN101369523B (en) | IC material strip laser mark printing machine and its operation mode | |
| CN108161553B (en) | Automatic shaft part machining production line | |
| CN109550976A (en) | A kind of aluminium wheels basal plane automatic lathe | |
| CN111086886A (en) | Automatic pile up neatly unit of machine top cap application robot of outer machine of air conditioner | |
| CN110560388A (en) | Automatic sorting device for metal samples | |
| CN113998476A (en) | Logistics stacking equipment and stacking method thereof | |
| CN111716813A (en) | Full-automatic carton capping machine | |
| CN212287701U (en) | Robot end effector for bearing clamping | |
| CN211664256U (en) | Automatic pile up neatly unit of machine top cap application robot of outer machine of air conditioner | |
| CN216763470U (en) | A supplementary unloading equipment of going up for motor shaft machine tooling | |
| CN210676022U (en) | Automatic sorting device for metal samples | |
| CN114074338B (en) | Cardboard snatchs manipulator and arm | |
| CN212049461U (en) | Automatic loading and unloading device | |
| CN210589283U (en) | Truss type metal sample sorting manipulator | |
| CN211545076U (en) | Automatic turnover mechanism for small rigid workpiece in linear moving clamping conveying equipment | |
| CN209303723U (en) | A kind of aluminium wheels basal plane automatic lathe | |
| CN113419479A (en) | Application device of vision and robot | |
| CN209773280U (en) | Stamping system with automatic feeding function | |
| CN113148632A (en) | Square barrel stacker crane | |
| CN208960823U (en) | A kind of carrying mechanism of three axis punching press feeding mechanical hand | |
| CN220033310U (en) | Double-clamp material conveying device | |
| CN110539295A (en) | Truss type metal sample sorting manipulator | |
| CN215866337U (en) | Box is with rail transport subassembly | |
| CN220334054U (en) | Automatic feeding module and processing equipment for small block-shaped parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |