CN216000568U - Gripping apparatus and welding system - Google Patents
Gripping apparatus and welding system Download PDFInfo
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- CN216000568U CN216000568U CN202122558157.4U CN202122558157U CN216000568U CN 216000568 U CN216000568 U CN 216000568U CN 202122558157 U CN202122558157 U CN 202122558157U CN 216000568 U CN216000568 U CN 216000568U
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- clamping mechanism
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Abstract
The disclosure relates to the technical field of robot welding equipment, in particular to a gripping apparatus and a welding system. The gripping apparatus comprises a rack, a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism and the second clamping mechanism are oppositely arranged on two sides of the rack so as to clamp a workpiece; the first clamping mechanism and the second clamping mechanism respectively comprise a telescopic device, a guide device, a rack, a gear and a clamping jaw, a telescopic rod of the telescopic device is connected with the rack, and the guide device is used for enabling the rack to reciprocate along the length direction of the rack; one end of the clamping jaw is fixedly connected with the gear, the other end of the clamping jaw is used for grabbing a workpiece, a part between two ends of the clamping jaw is hinged with the rack through a hinged shaft, and the axis of the hinged shaft is superposed with the axis of the gear; the gear is engaged with the rack so that the jaw can swing about the axis of the hinge shaft. The gripping apparatus provided by the disclosure has the advantages of simple structure and stable movement.
Description
Technical Field
The disclosure relates to the technical field of robot welding equipment, in particular to a gripping apparatus and a welding system.
Background
In the field of robot welding, a crank connecting rod or a crank slider combination is generally adopted to move so as to grab a workpiece. The gripper has a complex structure and unstable movement, and the size range of workpieces which can be gripped is limited.
SUMMERY OF THE UTILITY MODEL
The purpose of the present disclosure is to provide a gripper and a welding system, so as to alleviate the technical problems of complex structure and unstable movement of the existing gripper in the prior art.
Based on the above purpose, the present disclosure provides a gripper, which includes a frame, a first clamping mechanism and a second clamping mechanism, where the first clamping mechanism and the second clamping mechanism are oppositely disposed on two sides of the frame to clamp a workpiece; the first clamping mechanism and the second clamping mechanism respectively comprise a telescopic device, a guide device, a rack, a gear and a clamping jaw, a telescopic rod of the telescopic device is connected with the rack, and the guide device is used for enabling the rack to reciprocate along the length direction of the rack; one end of the clamping jaw is fixedly connected with the gear, the other end of the clamping jaw is used for grabbing the workpiece, a part between two ends of the clamping jaw is hinged with the rack through a hinge shaft, and the axis of the hinge shaft is superposed with the axis of the gear; the gear is meshed with the rack so that the clamping jaw can swing around the axis of the hinge shaft.
In one embodiment of the disclosure, the frame is provided with a guide rail, the first clamping mechanism is provided with a slider, and/or the second clamping mechanism is provided with a slider, and the slider is slidably connected with the guide rail, so that the first clamping mechanism can reciprocate relative to the second clamping mechanism.
In one embodiment of the present disclosure, the guiding device includes a guiding sleeve, the guiding sleeve is fixedly connected to the frame, and the rack is inserted into the guiding sleeve.
In one embodiment of the disclosure, the rack is provided with a connecting rod, and the shape of the cross section of the connecting rod is matched with the shape of the cross section of the guide sleeve.
In one embodiment of the present disclosure, the cross section of the connecting rod is rectangular, and the guide sleeve includes four side plates, which are sequentially connected end to form a passage for the connecting rod to pass through.
In one embodiment of the present disclosure, the connecting rod is integrally provided with the rack.
In one embodiment of the present disclosure, the guiding device includes a guiding wheel, the guiding wheel is connected to the frame, and a wheel surface of the guiding wheel is attached to a side surface of the rack away from the gear.
In one embodiment of the present disclosure, the telescopic rod of the telescopic device is connected to the rack through a floating joint.
In one embodiment of the present disclosure, the telescopic device is a cylinder.
Based on the above purpose, the present disclosure also provides a welding system including the gripper.
Compared with the prior art, this disclosed beneficial effect mainly lies in:
the first clamping mechanism and the second clamping mechanism are oppositely arranged on two sides of the rack so as to clamp a workpiece; the first clamping mechanism and the second clamping mechanism respectively comprise a telescopic device, a guide device, a rack, a gear and a clamping jaw, a telescopic rod of the telescopic device is connected with the rack, and the guide device is used for enabling the rack to reciprocate along the length direction of the rack; one end of the clamping jaw is fixedly connected with the gear, the other end of the clamping jaw is used for grabbing the workpiece, a part between two ends of the clamping jaw is hinged with the rack through a hinge shaft, and the axis of the hinge shaft is superposed with the axis of the gear; the gear is meshed with the rack so that the clamping jaw can swing around the axis of the hinge shaft.
Based on this structure, this openly provides a gripping apparatus, simple structure, the motion is steady. In use, the first gripper mechanism and the second gripper mechanism move simultaneously to grip a workpiece positioned between the first gripper mechanism and the second gripper mechanism. Wherein, the telescoping device drives the rack motion, owing to set up guider, guarantee that the rack can be along its self length direction reciprocating motion steadily, because gear and rack toothing, and the one end and the gear fixed connection of clamping jaw, part between the both ends of clamping jaw passes through the articulated shaft with the frame and is articulated, the axis of articulated shaft and the axis coincidence of gear, the gear can be under the drive of rack, rotate around its self axis, thereby drive the clamping jaw around the axis swing of articulated shaft, and then make the clamping jaw among the first fixture and the clamping jaw among the second fixture realize snatching the function of work piece.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a gripper provided in an embodiment of the present disclosure;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic structural diagram of a first clamping mechanism in an embodiment of the present disclosure;
fig. 4 is a top view of a first clamping mechanism in an embodiment of the present disclosure.
Icon: 101-a frame; 102-a telescopic device; 103-a rack; 104-a gear; 105-a jaw; 106-articulated shaft; 107-guide rails; 108-a slider; 109-a bearing plate; 110-a guide sleeve; 111-connecting rod; 112-a guide wheel; 113-a scaffold; 114-a floating joint; 115-a telescopic rod; 116-a retaining groove.
Detailed Description
The technical solutions of the present disclosure will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In the description of the present disclosure, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings only for the convenience of describing the present disclosure and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted 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 disclosure can be understood in specific instances by those of ordinary skill in the art.
Referring to fig. 1 to 4, the present embodiment provides a gripper, including a frame 101, a first clamping mechanism and a second clamping mechanism, where the first clamping mechanism and the second clamping mechanism are oppositely disposed on two sides of the frame 101 to clamp a workpiece; the first clamping mechanism and the second clamping mechanism respectively comprise a telescopic device 102, a guide device, a rack 103, a gear 104 and a clamping jaw 105, a telescopic rod 115 of the telescopic device 102 is connected with the rack 103, and the guide device is used for enabling the rack 103 to reciprocate along the length direction of the guide device; one end of the clamping jaw 105 is fixedly connected with the gear 104, the other end of the clamping jaw 105 is used for grabbing a workpiece, and the part between the two ends of the clamping jaw 105 is hinged with the rack 101 through a hinge shaft 106; the gear 104 is engaged with the rack 103 to enable the jaw 105 to oscillate about the axis of the hinge shaft 106.
Based on this structure, the gripping apparatus that this embodiment provided, simple structure, the motion is steady. In use, the first gripper mechanism and the second gripper mechanism move simultaneously to grip a workpiece positioned between the first gripper mechanism and the second gripper mechanism. The telescopic device 102 drives the rack 103 to move, and due to the arrangement of the guide device, the rack 103 can be ensured to stably reciprocate along the length direction of the rack 103, the gear 104 is meshed with the rack 103, one end of the clamping jaw 105 is fixedly connected with the gear 104, the part between the two ends of the clamping jaw 105 is hinged to the rack 101 through the hinge shaft 106, the axis of the hinge shaft 106 is overlapped with the axis of the gear 104, the gear 104 can be driven by the rack 103 to rotate around the axis of the gear 104, so that the clamping jaw 105 is driven to swing around the axis of the hinge shaft 106, and the clamping jaw 105 in the first clamping mechanism and the clamping jaw 105 in the second clamping mechanism realize the function of grabbing workpieces.
In one possible design of this embodiment, as shown in fig. 1 and 2, the frame 101 is provided with a guide rail 107, and the first clamping mechanism is provided with a slider 108, and the slider 108 is slidably connected with the guide rail 107 so that the first clamping mechanism can reciprocate relative to the second clamping mechanism.
In this embodiment, an existing linear guide rail is adopted, the first clamping mechanism is provided with a supporting plate 109, and the supporting plate 109 is fixedly connected with a slider in the linear guide rail 107. In this embodiment, the number of the linear guides 107 is two, and the two linear guides 107 are arranged in parallel at an interval.
By arranging the linear guide rail 107, the distance between the first clamping mechanism and the second clamping mechanism can be conveniently adjusted, so that the linear guide rail is suitable for grabbing workpieces with different sizes. For example, when a larger workpiece is gripped, the first gripper mechanism is moved away from the second gripper mechanism to receive and grip the larger workpiece.
In another possible design of this embodiment, the frame 101 is provided with a guide rail 107, and the second clamping mechanism is provided with a slide block 108, and the slide block 108 is slidably connected with the guide rail 107 so that the first clamping mechanism can reciprocate relative to the second clamping mechanism.
In a third possible design of this embodiment, the frame 101 is provided with a guide rail 107, and the first clamping mechanism and the second clamping mechanism are each provided with a slider 108, and the slider 108 is slidably connected with the guide rail 107 so that the first clamping mechanism can reciprocate relative to the second clamping mechanism.
In one embodiment, referring to fig. 3, the guiding device includes a guiding sleeve 110, the guiding sleeve 110 is fixedly connected to the frame 101, and the rack 103 is disposed through the guiding sleeve 110. In this embodiment, the guide sleeve 110 is fixedly connected to the frame 101 by a fastener such as a bolt and a nut.
In one embodiment, the rack 103 is provided with a connecting rod 111, the shape of the cross-section of the connecting rod 111 being adapted to the shape of the guide sleeve 110.
In this embodiment, the cross section of the connecting rod 111 is rectangular.
In this embodiment, the connecting rod 111 is integrally formed with the rack 103. The guide sleeve 110 is sleeved on the connecting rod 111.
In one embodiment, the cross-section of the connecting rod 111 is rectangular, and the guide sleeve 110 includes four side plates, which are sequentially connected end to form a passage for the connecting rod 111 to pass through.
Specifically, the four side plates include an upper side plate, a lower side plate, a left side plate and a right side plate, and the upper side plate, the lower side plate, the left side plate and the right side plate are connected through bolts.
In one embodiment, referring to fig. 3, the guiding device further comprises a guiding wheel 112, the guiding wheel 112 is connected with the guiding sleeve 110, and the wheel surface of the guiding wheel 112 is attached to one side surface of the rack 103 far away from the gear 104.
In this embodiment, the guide wheel 112 is fixedly connected to the guide sleeve 110 via a bracket 113.
In one embodiment, the guide may also be a guide sleeve 110, or the guide may also be a guide wheel 112.
In one embodiment, the telescopic rod 115 of the telescopic device 102 is connected with the rack 103 through a floating joint 114.
Specifically, the tip of connecting rod 111 is provided with spacing groove 116, and spacing groove 116 includes first slot portion and second slot portion, first slot portion and second slot portion intercommunication, and the width of first slot portion is greater than the width of second slot portion, and first slot portion is close to the rack 103 setting, and the rack 103 setting is kept away from to the second slot portion, and the one end and the telescopic link 115 threaded connection of floating joint 114, the other end of floating joint 114 is spacing in first slot portion and second slot portion.
Through setting up floating joint 114, can prevent that telescopic device 102 from promoting the dead phenomenon of card when rack 103 moves, guarantee that telescopic device 102's telescopic link 115 atress is steady, and then guarantee rack 103 steady movement.
It should be noted that the floating joint 114 is prior art and the structure thereof will not be described in detail.
In one embodiment, the expansion device 102 is a pneumatic cylinder. The extension rod 115 of the extension device 102 is a piston rod of an air cylinder.
In this embodiment, the quantity of first fixture and second fixture is two, adopts four clamping jaws centre gripping work piece simultaneously promptly, guarantees stability.
The embodiment also provides a welding system comprising the gripper provided by the embodiment.
The welding system provided by the embodiment can stably clamp the workpiece due to the gripping apparatus provided by the embodiment, and the welding accuracy is ensured.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (10)
1. The gripping apparatus is characterized by comprising a rack, a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism and the second clamping mechanism are oppositely arranged on two sides of the rack so as to clamp a workpiece; the first clamping mechanism and the second clamping mechanism respectively comprise a telescopic device, a guide device, a rack, a gear and a clamping jaw, a telescopic rod of the telescopic device is connected with the rack, and the guide device is used for enabling the rack to reciprocate along the length direction of the rack; one end of the clamping jaw is fixedly connected with the gear, the other end of the clamping jaw is used for grabbing the workpiece, a part between two ends of the clamping jaw is hinged with the rack through a hinge shaft, and the axis of the hinge shaft is superposed with the axis of the gear; the gear is meshed with the rack so that the clamping jaw can swing around the axis of the hinge shaft.
2. A gripper according to claim 1 wherein the frame is provided with a guide rail and the first gripper mechanism is provided with a slider and/or the second gripper mechanism is provided with a slider which is slidably connected to the guide rail to enable the first gripper mechanism to reciprocate relative to the second gripper mechanism.
3. The gripper of claim 1, wherein the guide device comprises a guide sleeve, the guide sleeve is fixedly connected with the frame, and the rack is inserted into the guide sleeve.
4. A gripper according to claim 3 wherein the rack is provided with a connecting rod having a cross-section adapted to the cross-section of the guide sleeve.
5. A gripper according to claim 4 wherein the cross-section of the connecting rod is rectangular and the guide sleeve comprises four side plates connected end to end in series to form a passage for the connecting rod to pass through.
6. The gripper of claim 4, wherein the connecting rod is integrally formed with the rack.
7. A gripper according to any one of claims 1 to 6 wherein the guide means comprises a guide wheel connected to the frame, the wheel face of the guide wheel engaging a side of the rack remote from the gear wheel.
8. The gripper of any one of claims 1-6, wherein the telescoping rod of the telescoping device is connected to the rack by a floating joint.
9. A gripper according to any one of claims 1 to 6 wherein said telescopic means is a pneumatic cylinder.
10. A welding system comprising a gripper as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122558157.4U CN216000568U (en) | 2021-10-22 | 2021-10-22 | Gripping apparatus and welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122558157.4U CN216000568U (en) | 2021-10-22 | 2021-10-22 | Gripping apparatus and welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216000568U true CN216000568U (en) | 2022-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122558157.4U Active CN216000568U (en) | 2021-10-22 | 2021-10-22 | Gripping apparatus and welding system |
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| Country | Link |
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| CN (1) | CN216000568U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114799691A (en) * | 2022-05-07 | 2022-07-29 | 苏州慧博精密钣金有限公司 | Be applied to sheet metal component welded multifunctional clamp |
-
2021
- 2021-10-22 CN CN202122558157.4U patent/CN216000568U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114799691A (en) * | 2022-05-07 | 2022-07-29 | 苏州慧博精密钣金有限公司 | Be applied to sheet metal component welded multifunctional clamp |
| CN114799691B (en) * | 2022-05-07 | 2023-10-31 | 苏州慧博精密钣金有限公司 | Be applied to sheet metal component welded multifunctional clamp |
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