CN213439720U

CN213439720U - Robot moves material clamping device

Info

Publication number: CN213439720U
Application number: CN202022435261.XU
Authority: CN
Inventors: 安晓咏; 王刚
Original assignee: Sichuan Nst Industrial Robot Manufacturing Co ltd
Current assignee: Sichuan Nst Industrial Robot Manufacturing Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-06-15
Anticipated expiration: 2030-10-28

Abstract

The utility model discloses a material clamping device is moved to robot relates to automated processing auxiliary assembly field. The utility model discloses a frame, the long limit of frame has first anchor clamps and second anchor clamps through slide rail slidable mounting, first anchor clamps include a pair of first grip block, the second anchor clamps include a pair of second grip block, first grip block becomes the four-point distribution of rectangle with the second grip block, first anchor clamps and second anchor clamps set up respectively at the both ends of slide rail, the inner wall of frame rotates through the support frame and installs the direction of rotation and the perpendicular driving tooth of first anchor clamps or second anchor clamps surface, install the first rack parallel with the slide rail and with the meshing on the first anchor clamps, install the second rack parallel with the slide rail and with the meshing on the second anchor clamps, install the cylinder that flexible end and slide rail are parallel on the frame, the cylinder is connected with first anchor clamps; the clamping device solves the problem that when the existing clamping device clamps a cylindrical object, one clamping device is unstable, and the clamping adaptability of the two clamping devices is not high.

Description

Robot moves material clamping device

Technical Field

The utility model relates to an automated processing auxiliary assembly field, specific theory is a material clamping device is moved to robot.

Background

When a robot is used for clamping a cylindrical object, a common robot clamping arm is very easy to make mistakes for clamping the cylindrical object, and the object is easy to drop in the clamping and moving process because the side surface of the cylindrical object is arc-shaped. Even if when the clamping device who adopts the arc clamping face carries out the centre gripping, because the cambered surface of arc clamping face is fixed, consequently though can be more stable at the centre gripping in-process centre gripping, during the material loading, if to the cylindrical material of diameter difference, the condition that causes unable material loading because the arc clamping face mismatches with the side radian of cylindrical material very easily appears.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot moves material clamping device to solve the problem of mentioning in the background art.

In order to solve the above problem, the utility model discloses a following technical means:

a robot material moving clamping device comprises a frame, wherein a first clamp and a second clamp are arranged on the long edge of the frame in a sliding mode through a sliding rail, the first clamp comprises a pair of first clamping blocks, the second clamp comprises a pair of second clamping blocks, the first clamping blocks and the second clamping blocks are distributed in four points in a rectangular mode, the first clamp and the second clamp are arranged at the two ends of the sliding rail respectively, transmission teeth with the rotating directions and the first clamp or the surface of the second clamp are arranged on the inner wall of the frame in a rotating mode through a supporting frame, a first rack which is parallel to the sliding rail and meshed with the transmission teeth is arranged on the first clamp, a second rack which is parallel to the sliding rail and meshed with the transmission teeth is arranged on the second clamp, the first tooth surface rack and the second tooth surface rack are arranged oppositely, and a cylinder with the telescopic end and the sliding rail parallel is arranged on the frame, the cylinder is connected with the first clamp.

Preferably, the first clamp includes a first plate parallel to the slide rail, a first slider is mounted on the first plate, the first slider is slidably mounted on the slide rail, the first rack is mounted on the first plate facing the inner frame of the frame, and the first clamping block is mounted on the first plate facing away from the inner frame of the frame.

Furthermore, the first clamping block is a cylindrical block with an axis perpendicular to the first plate, the first clamping block is rotatably mounted on the first plate through a bearing coinciding with the axis of the first clamping block, a connecting line of the axes of the two first clamping blocks is spatially perpendicular to the slide rail, and a rubber sleeve is mounted on the outer side of the first clamping block in a covering manner.

Furthermore, the second clamp comprises a second plate parallel to the slide rail, a second sliding block is mounted on the second plate, the second sliding block is slidably mounted on the slide rail, the second rack is mounted on the second plate towards one side of the inner frame of the frame, and the second clamping block is mounted on the second plate opposite to the other side of the inner frame of the frame.

Furthermore, the second clamping block is a cylindrical block with an axis perpendicular to the second plate, the second clamping block is rotatably mounted on the second plate through a bearing coinciding with the axis of the second clamping block, a connecting line of the axes of the two second clamping blocks is spatially perpendicular to the slide rail, and a rubber sleeve is mounted on the outer side of the second clamping block in a covering manner.

Furthermore, the support frame includes a pair of setting and is in the inside casing wall of frame and with the frame wall vertically installation pole of frame, two install the bearing housing between the installation pole, the bull stick is installed to the inner ring of bearing housing, the one end of bull stick is installed the driving tooth, balanced plectane is installed to the other end of bull stick.

The utility model discloses at the in-process that uses, following beneficial effect has:

firstly, when the first clamp moves, the air cylinder contracts and then pulls the first clamp to enable the first clamp to move towards one side far away from the transmission gear along the slide rail, when the first clamp moves, the second clamp similarly moves along the slide rail along the direction opposite to that of the first clamp by utilizing the rotation of the transmission gear, so that the distance between the first clamping block and the second clamping block is increased, namely the area of a rectangle formed by the first clamping block and the second clamping block serving as four corners is increased, after the area of the rectangle is increased to a maximum position, the frame is moved to the position above the cylindrical material with movement, then the top end of the cylindrical material is extended into the rectangle, then the air cylinder is controlled to extend, namely the first clamping block carried by the first clamp moves towards the direction of the transmission gear, and similarly, the transmission gear rotates in the moving process of the first clamp, utilize the rotation of driving tooth to let the second anchor clamps equally move towards the direction of driving tooth, and then the rectangle area that is formed by first grip block and second grip block reduces, after the side of first grip block and second grip block and the side contact of cylindrical material, can be with the material centre gripping promptly. Like this at the in-process that the centre gripping removed, first grip block and second grip block can contact with the side of cylindrical material all the time, and then carry out stable centre gripping to the material to the exposed core that first grip block and second grip block formed, it can the cylindrical material of multiple different diameters of centre gripping, that is to say as long as the diameter of cylindrical material is not less than the length of the shortest limit of the aforesaid rectangle that forms and is not more than the material of the length of the aforesaid rectangle diagonal that forms, all can use same set of clamping device to carry out the centre gripping, that is to say the adaptation ability that can hit the improvement clamping tool.

Simultaneously, utilize the meshing cooperation of first rack, second rack and driving gear, only need single power unit promptly only need a telescopic cylinder can realize the removal to two anchor clamps that is to first anchor clamps and second anchor clamps, make its relative movement or relative movement in opposite directions.

In addition, the rectangle formed above is a state in which the first clamping block and the second clamping block are considered as mass points, and the length distance of the actual situation needs to be considered by subtracting the diameters of the first clamping block and the second clamping block.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the top view structure of the present invention.

Fig. 3 is a schematic cross-sectional structure of the present invention.

Fig. 4 is a schematic view of the bottom view of the present invention.

The device comprises a frame 1, a sliding rail 2, a first clamp 3, a second clamp 4, a first clamping block 5, a second clamping block 6, a supporting frame 7, a transmission gear 8, a first rack 9, a second rack 10, a cylinder 11, a first plate 12, a first sliding block 13, a second plate 14, a second sliding block 15, a balance circular plate 16, a rotating rod 17 and a bearing sleeve 18.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

In the present invention, the embodiments and the features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the products of the present invention are conventionally placed in use, or the position or positional relationship which the skilled person conventionally understand, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the reference is made must have a specific position, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Specifically, referring to fig. 1 to 4, a robot material moving clamping device includes a frame 1, a first clamp 3 and a second clamp 4 are slidably mounted on a long side of the frame 1 through a slide rail 2, the first clamp 3 includes a pair of first clamping blocks 5, the second clamp 4 includes a pair of second clamping blocks 6, the first clamping blocks 5 and the second clamping blocks 6 are distributed in a rectangular four-point manner, the first clamp 3 and the second clamp 4 are respectively disposed at two ends of the slide rail 2, a transmission gear 8 whose rotation direction is perpendicular to the surface of the first clamp 3 or the surface of the second clamp 4 is rotatably mounted on an inner wall of the frame 1 through a support frame 7, a first rack 9 which is parallel to the slide rail 2 and is engaged with the transmission gear 8 is mounted on the first clamp 3, and a second rack 10 which is parallel to the slide rail 2 and is engaged with the transmission gear 8 is mounted on the second clamp 4, the tooth surfaces of the first rack 9 and the second rack 10 are arranged oppositely, a cylinder 11 with a telescopic end parallel to the sliding rail 2 is mounted on the frame 1, and the cylinder 11 is connected with the first clamp 3.

Specifically, first, during loading, the air cylinder 11 contracts and then pulls the first clamp 3, so that the first clamp moves along the slide rail 2 towards the side away from the transmission gear 8, and during the movement of the first clamp 3, by means of the rotation of the transmission gear 8, the second clamp 4 likewise moves along the slide rail 2 in the opposite direction to the first clamp 3, so that the distance between the first clamping block 5 and the second clamping block 6 increases, that is, the rectangular area formed by the first clamping block 5 and the second clamping block 6 as four corners increases, after the rectangular area increases to the extreme position, the frame 1 moves above the cylindrical material with movement, then the top end of the cylindrical material extends into the rectangular area formed, then the air cylinder 11 is controlled to extend, that is, the first clamping block 5 carried by the first clamp 3 moves towards the transmission gear 8, same in-process at first anchor clamps 3 removal, driving tooth 8 rotates, utilizes the rotation of driving tooth 8 to let second anchor clamps 4 move towards driving tooth 8's direction equally, and then by the rectangle area reduction that first grip block 5 and second grip block 6 formed, after the side of first grip block 5 and second grip block 6 and the side of cylindrical material contact, can be with the material centre gripping promptly. Like this at the in-process that the centre gripping removed, first grip block 5 and second grip block 6 can all the time with the side contact of cylindrical material, and then carry out stable centre gripping to the material, and to the exposed core that first grip block 5 and second grip block 6 formed, it can the cylindrical material of multiple different diameters of centre gripping, that is to say as long as the diameter of cylindrical material is not less than the length of the shortest limit of the aforesaid rectangle that forms and is not more than the material of the length of the aforesaid rectangle diagonal that forms, all can use same set of clamping device to carry out the centre gripping, that is to say the adaptability that can hit the improvement clamping tool.

Meanwhile, by means of the meshing fit of the first rack 9, the second rack 10 and the transmission gear 8, the two clamps, namely the first clamp 3 and the second clamp 4, can be moved in opposite directions or in relative movement only by a single power unit, namely only by one telescopic cylinder 11.

The rectangle formed above is considered as a state of mass points for the first clamping block 5 and the second clamping block 6, and the actual length distance needs to be considered by subtracting the diameters of the first clamping block 5 and the second clamping block 6.

In a further description, the first clamp 3 includes a first plate 12 parallel to the slide rail 2, a first slider 13 is mounted on the first plate 12, the first slider 13 is slidably mounted on the slide rail 2, the first rack 9 is mounted on the first plate 12 facing the inner frame of the frame 1, and the first clamping block 5 is mounted on the first plate 12 facing away from the inner frame of the frame 1.

The first clamping blocks 5 are cylindrical blocks with axes vertical to the first plate 12, the first clamping blocks 5 are rotatably mounted on the first plate 12 through bearings coinciding with the axes of the first clamping blocks, a connecting line of the axes of the two first clamping blocks 5 is spatially vertical to the slide rail 2, and rubber sleeves are mounted on the outer sides of the first clamping blocks 5 in a covering mode.

Meanwhile, the second clamp 4 comprises a second plate 14 parallel to the slide rail 2, a second slider 15 is mounted on the second plate 14, the second slider 15 is slidably mounted on the slide rail 2, the second plate 14 faces the inner frame surface of the frame 1, the second rack 10 is mounted on the inner frame surface of the frame 1, and the second plate 14 faces away from the inner frame surface of the frame 1 and is mounted on the second clamping block 6.

The second clamping blocks 6 are cylindrical blocks with axes vertical to the second plate 14, the second clamping blocks 6 are rotatably mounted on the second plate 14 through bearings coinciding with the axes of the second clamping blocks, a connecting line of the axes of the two second clamping blocks 6 is spatially vertical to the slide rail 2, and rubber sleeves are mounted on the outer sides of the second clamping blocks 6 in a covering mode.

Thus, the rubber sleeve is utilized to reduce the abrasion of the materials caused by the contact of the materials of the first clamping block 5 and the second clamping block 6.

Furthermore, the support frame 7 includes that a pair of setting is in the inside casing wall of frame 1 and with the frame wall vertically installation pole of frame 1, two install bearing housing 18 between the installation pole, bull stick 17 is installed to the inner ring of bearing housing 18, install the one end of bull stick 17 driving tooth 8, balanced plectane 16 is installed to the other end of bull stick 17.

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 or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a material clamping device is moved to robot which characterized in that: comprises a frame (1), a first clamp (3) and a second clamp (4) are arranged on the long edge of the frame (1) through a sliding rail (2) in a sliding manner, the first clamp (3) comprises a pair of first clamping blocks (5), the second clamp (4) comprises a pair of second clamping blocks (6), the first clamping blocks (5) and the second clamping blocks (6) are distributed in a rectangular four-point manner, the first clamp (3) and the second clamp (4) are respectively arranged at two ends of the sliding rail (2), the inner wall of the frame (1) is rotatably provided with a transmission gear (8) which is parallel to the sliding rail (2) and is meshed with the transmission gear (8) through a support frame (7), the first rack (9) is arranged on the first clamp (3), install on second anchor clamps (4) with slide rail (2) are parallel and with second rack (10) of driving gear (8) meshing, first rack (9) with the flank of tooth of second rack (10) sets up relatively, install on frame (1) flexible end with cylinder (11) that slide rail (2) are parallel, cylinder (11) with first anchor clamps (3) are connected.

2. The robotic material-moving clamping device of claim 1, wherein: first anchor clamps (3) include with slide rail (2) parallel first board (12), install first slider (13) on first board (12), first slider (13) slidable mounting be in on slide rail (2), first board (12) orientation the inside casing one side installation of frame (1) first rack (9), first board (12) dorsad the inside casing one side installation of frame (1) first grip block (5).

3. The robotic material-moving clamping device of claim 2, wherein: the first clamping blocks (5) are cylindrical blocks with axes vertical to the first plate (12), the first clamping blocks (5) are rotatably mounted on the first plate (12) through bearings coinciding with the axes of the first clamping blocks, a connecting line of the axes of the two first clamping blocks (5) is spatially vertical to the sliding rail (2), and rubber sleeves are mounted on the outer sides of the first clamping blocks (5) in a covering mode.

4. The robotic material-moving clamping device of claim 1, wherein: the second clamp (4) comprises a second plate (14) parallel to the sliding rail (2), a second sliding block (15) is mounted on the second plate (14), the second sliding block (15) is slidably mounted on the sliding rail (2), the second plate (14) faces towards the inner frame face of the frame (1) to mount the second rack (10), and the second plate (14) faces away from the inner frame face of the frame (1) to mount the second clamping block (6).

5. The robotic material-moving clamping device of claim 4, wherein: the second clamping blocks (6) are cylindrical blocks with axes vertical to the second plate (14), the second clamping blocks (6) are rotatably mounted on the second plate (14) through bearings coinciding with the axes of the second clamping blocks, a connecting line of the axes of the two second clamping blocks (6) is spatially vertical to the sliding rail (2), and rubber sleeves are mounted on the outer sides of the second clamping blocks (6) in a covering mode.

6. The robotic material-moving clamping device of claim 1, wherein: support frame (7) are in including a pair of setting the inside casing wall of frame (1) and with the frame wall vertically installation pole of frame (1), two install bearing housing (18) between the installation pole, bull stick (17) are installed to the inner race of bearing housing (18), install the one end of bull stick (17) driving gear (8), balanced plectane (16) are installed to the other end of bull stick (17).