CN215788370U - Clamp and manipulator - Google Patents

Abstract

The utility model provides a clamp and a manipulator. Wherein, anchor clamps include: the mounting arm is provided with at least two clamping end faces arranged around the circumferential direction and a detection end face connected with the at least two clamping end faces; the clamping unit at least comprises a first clamping mechanism and a second clamping mechanism which are arranged on different clamping end surfaces; and a detection element provided on the detection end face. When the clamping device is used, the first clamping mechanism clamps parts to be machined, after the machining machine tool finishes machining of the parts, the detection element can detect whether the parts exist on the machining machine tool, after the parts are detected, the second clamping mechanism clamps the machined parts away from the machining machine tool, the first clamping mechanism places the clamped parts to be machined on the machining machine tool, the manipulator does not need to move when the parts are clamped and placed, the part transferring time is shortened, and the production efficiency is improved.

Description

Clamp and manipulator

Technical Field

The utility model belongs to the technical field of part fixtures, and particularly relates to a fixture and a manipulator.

Background

Parts such as motor rotor shafts need to be transported to pass through a plurality of processing machining machines when being processed on a production line, and the processes such as turning, drilling, milling, polishing and the like are sequentially carried out on the plurality of processing machining machines. Adopt manipulator centre gripping part to shift usually between the adjacent processing adds the bed, the fixture of current manipulator is getting the part after processing is accomplished and need divide twice to go on when placing the part of treating processing, influences production efficiency.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a clamp and a manipulator, and aims to solve the problem that the production efficiency is influenced because the conventional clamping mechanism needs to be carried out twice when clamping a machined part and placing a part to be machined.

In order to achieve the purpose, the utility model adopts the technical scheme that:

in a first aspect, the present invention provides a clamp comprising: the mounting arm is provided with at least two clamping end faces arranged around the circumferential direction and a detection end face connected with the at least two clamping end faces; the clamping unit at least comprises a first clamping mechanism and a second clamping mechanism which are arranged on different clamping end surfaces; and the detection element is arranged on the detection end face, when the detection element is used, the first clamping mechanism places the part to be processed on the processing machine tool, the second clamping mechanism clamps the processed part away from the processing machine tool, and the detection element is used for detecting whether the part exists on the processing machine tool.

In a possible implementation manner, the first clamping mechanism and the second clamping mechanism are identical in structure and each include: the telescopic element is arranged on the clamping end face and is provided with two working ends which are oppositely arranged; the first clamping block is connected to one of the working ends; and the second clamping block is connected to the other working end, and a clamping space is formed between the first clamping block and the second clamping block.

In one possible implementation, the first clamping mechanism and the second clamping mechanism each further include: the two connecting plates are respectively arranged at the two working ends; and the two mounting plates are respectively connected with the two connecting plates, the first clamping block is detachably connected with one of the mounting plates, and the second clamping block is detachably connected with the other one of the mounting plates.

In a possible implementation manner, the first clamping block and the second clamping block are provided with clamping grooves on side walls forming the clamping space.

In a possible implementation manner, a mounting groove is formed in a groove wall of the clamping groove, an anti-slip element is arranged in the mounting groove, and the anti-slip element partially extends out of the mounting groove.

In a possible implementation manner, the mounting arm is octahedral, the detection end face is disposed on one side face of the mounting arm, and the clamping end face is disposed on two opposite side faces adjacent to the detection end face.

In a possible implementation manner, a flange connector is arranged at one end of the mounting arm, which is far away from the detection end face.

In a possible implementation manner, the clamp further comprises an air blowing pipe arranged on the detection end face, one end of the air blowing pipe extends out of the detection end face, and the other end of the air blowing pipe is used for being communicated with an air source.

In a possible implementation manner, the mounting arm is provided with an accommodating cavity, one end of the blowing pipe is arranged in the accommodating cavity and communicated with a gas hose, the other end of the blowing pipe extends out of the detection end face, and the gas hose is used for being communicated with the gas source.

Compared with the prior art, the scheme of the embodiment of the utility model has the advantages that when the clamping device is used, the first clamping mechanism clamps the part to be machined, after the machining machine tool finishes machining the part, the detection element can detect whether the part exists on the machining machine tool, after the part is detected, the second clamping mechanism clamps the machined part away from the machining machine tool, the first clamping mechanism places the clamped part to be machined on the machining machine tool, and the manipulator does not need to move when clamping and placing the part, so that the part transferring time is shortened, and the production efficiency is improved.

In a second aspect, the present invention further provides a manipulator, which includes any one of the above-mentioned clamps, and has the same technical effects as the clamps, which are not described herein again.

Drawings

FIG. 1 is a schematic structural diagram of a clamp according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a schematic view of another angle of the clamp according to the embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a fixture for clamping a part according to an embodiment of the present invention.

Description of reference numerals:

1. clamp 2 and motor rotor shaft

10. Mounting arm 11, flange connector 12 and clamping end face

13. Detection end face 20, first clamping mechanism 21 and telescopic element

22. First clamping block 23, second clamping block 231, anti-skid element

232. Fastener 233, clamping groove 24 and connecting plate

25. Mounting plate 30, second clamping mechanism 40, detection element

50. Air blowing pipe

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to," "secured to," or "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on," "disposed on" another element, it can be directly on the other element or intervening elements may also be present. "plurality" means two or more. "at least one" refers to one or more quantities.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Referring to fig. 1 to 4, a fixture and a robot according to an embodiment of the present invention will be described.

Referring to fig. 1 and fig. 3, in a first aspect, an embodiment of the present invention provides a clamp 1, including: a mounting arm 10 having at least two clamping end surfaces arranged around a circumferential direction and a detection end surface connected to both of the at least two clamping end surfaces; the clamping unit at least comprises a first clamping mechanism 20 and a second clamping mechanism 30 which are arranged on different clamping end surfaces; and a detecting element 40 arranged on the detecting end face, wherein when in use, the first clamping mechanism 20 places the part to be processed on the processing machine, the second clamping mechanism 30 clamps the processed part away from the processing machine, and the detecting element 40 is used for detecting whether the part exists on the processing machine.

It should be noted that the mounting arm 10 in the embodiment of the present invention has at least two clamping end surfaces and at least two clamping mechanisms mounted on different clamping end surfaces, namely, the first clamping mechanism 20 and the second clamping mechanism 30. The second clamping mechanism 30 is used for clamping the machined part out of the workbench of the machining machine tool, when the part is clamped out, the first clamping mechanism 20 clamps the part to be machined and places the part to be machined on the workbench of the machining machine tool, and the manipulator moves once to clamp and place the part on the machining machine tool. In actual use, the number of the clamping mechanisms can be set according to requirements. For example, when the processing machine processes two parts at a time, two first clamping mechanisms 20 and two second clamping mechanisms 30 may be provided according to actual needs.

In the embodiment of the utility model, the clamp 1 is connected with a manipulator through the mounting arm 10, the manipulator drives the clamp 1 to move, and the mounting arm 10 can be connected with the manipulator through the flange connector 11. The method can be applied to application scenes of part feeding, blanking, transfer among processing machines in multiple processes and the like. The processed parts may be a motor rotor shaft 2, a connecting rod, a cam shaft, etc., the actuating mechanisms of the first clamping mechanism 20 and the second clamping mechanism 30 may be in the form of a jaw, a clamping block, a clamp, etc. that are adapted to the shape of the part to be clamped, and the driving mechanism may be driven by electricity, pneumatics, hydraulics, etc., which is not limited in the embodiments of the present invention.

The mounting arm 10 is provided with a detection end surface for mounting and fixing the detection element 40, the detection element 40 is used for detecting whether a part is on the processing machine, and when the part is on the processing machine, the first clamping mechanism 20 does not place the part to be processed on the processing machine in order to prevent collision between the parts. Specifically, the detecting element 40 may be a photoelectric sensor, a laser sensor, an optical fiber sensor, or the like, and an operator may select an appropriate detecting element 40 according to an actual application scenario. The detection element 40 in the embodiment of the present invention is specifically a laser sensor, and has the advantages of long detection distance, short response time, reliability and stability in operation, and the like, and is not easily interfered by environmental factors such as illumination, vibration, noise, and the like.

In the embodiment of the present invention, the first clamping mechanism 20, the second clamping mechanism 30, and the detection element 40 are all controlled by a PLC control program. When the first clamping mechanism 20 is driven pneumatically or hydraulically, an electromagnetic valve or other control valve is required to be arranged on the corresponding gas pipeline or hydraulic pipeline, and the electromagnetic valve or other control valve can be controlled by a PLC control program.

When the part clamping device is used, the first clamping mechanism 10 clamps parts to be machined, after the machining machine tool finishes machining the parts, the detection element 40 can detect whether the parts exist on the machining machine tool, after the parts are detected, the second clamping mechanism 30 clamps the machined parts away from the machining machine tool, the first clamping mechanism 20 places the clamped parts to be machined on the machining machine tool, the manipulator does not need to move when the parts are clamped and placed, the part transferring time is shortened, and the production efficiency is improved.

When the part transfer device is used for transferring parts among a plurality of processing machines, the first clamping mechanism 20 firstly clamps parts of a feeding station or parts processed by the first processing machine, then the clamp 1 moves to the second processing machine, the detection element 40 detects that the parts exist on the second processing machine, the second clamping mechanism 30 clamps the parts on the second processing machine, the detection element 40 detects that the parts do not exist on the second processing machine, namely the parts are clamped, then the first clamping mechanism 20 places the clamped parts on the second processing machine, the clamp 1 moves to the third processing machine or a blanking station, and the actions are repeated, so that the parts can be transferred among the plurality of working procedures.

Referring to fig. 1 and 3, in some possible embodiments, the first clamping mechanism 20 and the second clamping mechanism 30 are identical in structure and each include: the telescopic element 21 is arranged on the clamping end face and is provided with two working ends which are oppositely arranged; a first clamping block 22 connected to one of the working ends; and a second clamping block 23 connected to the other working end, wherein a clamping space is formed between the first clamping block 22 and the second clamping block 23.

In this embodiment, the two working ends of the telescopic element 21 may be a telescopic end and a fixed end, and the telescopic element 21 may specifically be an electric telescopic rod, an air cylinder or other forms. The flexible end of during operation drives first grip block 22 and removes along the direction of perpendicular to second grip block 23 centre gripping terminal surface, and the part is located the centre gripping space, and when first grip block 22 was close to second grip block 23, the part was pressed from both sides tightly fixedly, and when first grip block 22 kept away from second grip block 23, the part was released.

It should be noted that, the shape and size of the first clamping block 22 and the second clamping block 23 should be adapted to the part, and in order to position the part, the first clamping block 22 and the second clamping block 23 may further be provided with a limiting plate, a limiting groove, and other mechanisms.

In a possible embodiment, the telescopic element is a cylinder, and is connected with an air pump through an air pipeline and an electromagnetic valve, when the part needs to be clamped, the cylinder controls the telescopic end to retract, the distance between the first clamping block 22 and the second clamping block 23 is shortened, and the part is clamped. When the part needs to be released, the cylinder controls the telescopic end to extend, and the part is released.

In another possible embodiment, the telescopic element is an electric telescopic rod, the PLC control program controls the telescopic end to move, and the movement manner of the telescopic end is the same as that of the above embodiment, and will not be described herein again.

In addition, in a variant embodiment, the two working ends of the telescopic element 21 can be two opposite telescopic ends, which can move towards or away from each other at the same time, so that the part can be clamped or released with good centering and high clamping success rate. Specifically, the telescopic element 21 may be a bidirectional cylinder or a bidirectional electric telescopic rod, or may be two unidirectional cylinders or electric telescopic rods arranged in opposite directions.

Referring to fig. 1 and 3, in some possible embodiments, each of the first clamping mechanism 20 and the second clamping mechanism 30 further includes: two connecting plates 24 respectively arranged at the two working ends; and two mounting plates 25 respectively connected to the two connecting plates 24, the first clamping block 22 being detachably connected to one of the mounting plates 25, and the second clamping block 23 being detachably connected to the other mounting plate 25.

Flexible end all is equipped with connecting plate 24 with the stiff end in this embodiment, is equipped with mounting structure such as mounting hole or mounting groove on the connecting plate 24, and it is fixed to realize the installation through screw etc. with mounting panel 25. Because the telescopic end and the fixed end are arranged oppositely, in order to avoid interference of parts, the mounting plate 25 may be L-shaped, one end of which is connected with the connecting plate 24, and the other end of which is connected with the corresponding first clamping block 22 or second clamping block 23.

The first clamping block 22 and the second clamping block 23 are detachably connected with the corresponding mounting plate 25 respectively, and are convenient to replace so as to adapt to parts of different types or specification models. Specifically, the first clamping block 22 and the second clamping block 23 may be fixed to the corresponding mounting plate 25 by screws, snaps, straps, or the like, which is not limited in this embodiment.

Referring to fig. 1 and 2, in some possible embodiments, the first clamping block 22 and the second clamping block 23 are provided with clamping grooves 233 on the side walls forming the clamping space. The part is held the back part and is held in centre gripping groove 233, and centre gripping groove 233 plays the spacing effect to the part, and the shape of centre gripping groove 233 can select V-arrangement, fan-shaped etc. according to the part shape. For example, when the part to be gripped is the motor rotor shaft 2, the gripping groove 233 may be designed in a V shape, and the motor rotor shaft 2 is caught between the gripping groove 233 of the first gripping block 22 and the gripping groove 233 of the second gripping block 23.

It should be noted that, in order to prevent the first clamping block 22 or the second clamping block 23 from causing defects such as indentation and scratch on the surface of the component, the first clamping block 22 and the second clamping block 23 may be made of brass, wood, or the like, and a chamfer is provided at the edge.

When the clamped surface of the component is in the shape of an arc, the contact area with the clamping groove 233 is small, and the component is liable to fall off. When the clamping force is increased in order to prevent the part from falling, an excessive clamping force may affect the surface quality of the part. Therefore, referring to fig. 2 and fig. 4, on the basis of the above embodiment, an installation groove is formed on the groove wall of the clamping groove 233, an anti-slip element 231 is arranged in the installation groove, and a part of the anti-slip element 231 extends out of the installation groove.

In this embodiment, the anti-slip element 231 has elasticity, and the part of the anti-slip element 231 extends out of the upper surface of the mounting groove, so that the part is in contact with the anti-slip element 231 when being clamped, the contact area can be increased, and the part can be clamped more stably. Specifically, the anti-slip elements 231 may be made of elastic material with high friction coefficient, such as rubber or foam pad, and one or more anti-slip elements 231 may be disposed in the clamping groove 233 according to actual needs.

Referring to fig. 4, in the embodiment, the clamping groove 233 is a V-shaped groove, mounting grooves are formed on two side walls of the V-shaped groove, the anti-slip element 231 is a rubber block, the rubber block is connected and fixed to the bottom wall of the mounting groove through a fastener 232 such as a bolt, and the rubber block is fixed by the bolt and is convenient to mount and replace.

Referring to fig. 1, in some possible embodiments, the mounting arm is octahedral, the detecting end is disposed on one side surface of the mounting arm, and the clamping end is disposed on two opposite side surfaces adjacent to the detecting end. So set up, relative and two sides that incline into certain angle are located respectively to first fixture and second fixture, and anchor clamps 1 overall structure is compact, and turned angle is little when the centre gripping with place the part, is difficult for colliding with part or equipment, operates safelyr.

Referring to fig. 1, the fixture 1 further includes an air blowing pipe 50 disposed on the detection end face, one end of the air blowing pipe extends out of the detection end face, and the other end of the air blowing pipe is used for communicating with an air source. In this embodiment, the air blowing pipe 50 is communicated with compressed air, so that scrap iron on a processing machine tool can be cleaned. On the one hand, can clear up the iron fillings on the part, avoid iron fillings along with the part together by the centre gripping, on the other hand, can clear up the iron fillings that splash down in the clamping position of machine tool's workstation, avoid iron fillings to cause the influence to the clamping of next part.

Referring to fig. 1 and 3, in some possible embodiments, the mounting arm 10 has a receiving cavity, and the blowing pipe 50 has one end disposed in the receiving cavity and connected to an air hose, and the other end extending out of the detection end, and the air hose is used for being connected to an air source.

In this embodiment, gas blow pipe 50 one end is located and is held in the chamber and has the air supply through gas hose intercommunication, and the air supply can be to gas blow pipe 50 conveyed compressed air, and the gas blow pipe 50 other end stretches out one section distance of detection terminal surface, and during operation, compressed air is blown out by gas blow pipe 50 through gas hose and is cleared up iron fillings. The air hose and part of the blowing pipe 50 are arranged in the accommodating cavity, the air hose is communicated with the air source after extending out of the mounting arm 10, the whole structure is compact, and meanwhile the air hose can be prevented from hooking other equipment or parts during moving.

In a second aspect, the present invention further provides a manipulator, which includes the fixture 1 in any one of the above embodiments, and has the same technical effects as those of the above embodiments, and details are not repeated herein.

It is to be understood that, in the foregoing embodiments, various parts may be freely combined or deleted to form different combination embodiments, and details of each combination embodiment are not described herein again, and after this description, it can be considered that each combination embodiment has been described in the present specification, and can support different combination embodiments.

The above description is only exemplary of the present invention and should not be taken as limiting the utility model, as 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 (10)

1. The anchor clamps, its characterized in that includes:

the mounting arm is provided with at least two clamping end faces arranged around the circumferential direction and a detection end face connected with the at least two clamping end faces;

the clamping unit at least comprises a first clamping mechanism and a second clamping mechanism which are arranged on different clamping end surfaces; and

the detection element is arranged on the detection end face, when the detection element is used, the first clamping mechanism is used for placing a part to be machined on a machining machine tool, the second clamping mechanism is used for clamping the machined part away from the machining machine tool, and the detection element is used for detecting whether the part exists on the machining machine tool.

2. The clamp of claim 1, wherein said first and second clamping mechanisms are identical in construction and each comprise:

the telescopic element is arranged on the clamping end face and is provided with two working ends which are oppositely arranged;

the first clamping block is connected to one of the working ends; and

and the second clamping block is connected to the other working end, and a clamping space is formed between the first clamping block and the second clamping block.

3. The clamp of claim 2, wherein the first and second clamping mechanisms each further comprise:

the two connecting plates are respectively arranged at the two working ends; and

two mounting panels, connect respectively in two the connecting plate, first grip block and one of them the mounting panel can be dismantled and be connected, the second grip block with one of them the connection can be dismantled to the mounting panel.

4. The clamp of claim 2, wherein the first clamping block and the second clamping block are provided with clamping grooves on side walls forming the clamping space.

5. The clamp of claim 4, wherein the wall of the clamping groove is provided with an installation groove, and an anti-slip element is disposed in the installation groove and partially extends out of the installation groove.

6. The clamp of claim 1, wherein the mounting arm is octahedral, the detecting end surface is disposed on one side surface of the mounting arm, and the clamping end surfaces are disposed on two opposite side surfaces adjacent to the detecting end surface.

7. The clamp of claim 1, wherein an end of the mounting arm distal from the testing end face is provided with a flange interface.

8. The clamp of claim 1, further comprising a blow pipe disposed on the detection end face, wherein one end of the blow pipe extends out of the detection end face, and the other end of the blow pipe is used for communicating with an air source.

9. The clamp of claim 8, wherein the mounting arm has a receiving cavity, one end of the blowing tube is disposed in the receiving cavity and is communicated with a gas hose, and the other end of the blowing tube extends out of the detection end face, and the gas hose is communicated with the gas source.

10. A robot comprising a gripper according to any of claims 1-9.

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