CN216399684U - Span-adjustable industrial robot clamp - Google Patents
Span-adjustable industrial robot clamp Download PDFInfo
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- CN216399684U CN216399684U CN202122858605.2U CN202122858605U CN216399684U CN 216399684 U CN216399684 U CN 216399684U CN 202122858605 U CN202122858605 U CN 202122858605U CN 216399684 U CN216399684 U CN 216399684U
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Abstract
The utility model provides an industrial robot clamp with adjustable span, which solves the problem that the industrial robot clamp cannot meet the requirements of grabbing and stacking materials with different sizes. The utility model comprises an installation bottom plate, wherein a span adjusting translation mechanism and two bilaterally symmetrical clamping mechanisms are fixedly arranged at the bottom of the installation bottom plate; the span adjusting translation mechanism is used for adjusting the left span and the right span between the two clamping hand mechanisms; the clamping mechanism comprises two clamping components which are symmetrically arranged in front and back and a front and back translation mechanism for driving the two clamping components to move in opposite directions. The device can realize grabbing and stacking of materials with different lengths and thicknesses, is simple in structure, convenient to install and high in flexibility, and can greatly improve the service efficiency of the stacking robot.
Description
Technical Field
The utility model relates to the technical field of workpiece machining clamps, in particular to an industrial robot clamp with adjustable span.
Background
With the rapid development of science and technology, industrial robots are widely applied in the stacking field. Span between the tong of current industrial robot anchor clamps is generally fixed, can not adjust the interval between the tong wantonly in order to adapt to the not snatching and putting things in good order demand of the material of equidimension, and the flexibility ratio of tong is poor, leads to industrial robot anchor clamps to only snatch and puts things in good order single material, and the suitability is relatively poor.
SUMMERY OF THE UTILITY MODEL
The utility model provides an industrial robot clamp with adjustable span, which aims to solve the problem that the industrial robot clamp in the background technology cannot meet the requirements of grabbing and stacking materials with different sizes.
The technical scheme of the utility model is as follows: a span-adjustable industrial robot clamp comprises an installation bottom plate, wherein a span adjusting translation mechanism and two bilaterally symmetrical clamping hand mechanisms are fixedly arranged at the bottom of the installation bottom plate;
the span adjusting translation mechanism comprises a left-right translation driving mechanism and a linear guide rail extending along the left-right direction;
the linear guide rail comprises a guide rail fixedly arranged at the bottom of the mounting bottom plate and a slide block in guide sliding fit with the guide rail;
the left-right translation driving mechanism comprises a driving mechanism and a translation moving mechanism, the driving mechanism is fixedly arranged at the bottom of the mounting bottom plate, and the driving mechanism is used for driving the translation moving mechanism to perform left-right translation;
the clamping hand mechanism comprises two clamping hand components which are symmetrically arranged in front and back and a front and back translation mechanism which is used for driving the two clamping hand components to move oppositely so as to clamp materials;
the top of the front and back translation mechanism of one of the gripper mechanisms is fixedly connected with the bottom of the mounting bottom plate, the front and back translation mechanism of the other gripper mechanism is fixedly connected with the translation movable mechanism and the sliding block, and the front and back translation mechanism can be driven by the translation movable mechanism to translate left and right.
Preferably, the span adjusting and translating mechanism comprises two linear guide rails which are arranged at a front interval and a rear interval and are parallel to each other, the left translation driving mechanism and the right translation driving mechanism are positioned between the two linear guide rails, the translation moving mechanism of the left translation driving mechanism and the right translation driving mechanism are fixedly connected with the sliding blocks of the two linear guide rails, and the two sliding blocks are fixedly connected with the front translation mechanism and the rear translation mechanism of one of the clamping mechanisms.
Preferably, the front and rear translation mechanism comprises a sliding table cylinder assembly, and the sliding table cylinder assembly comprises a sliding table cylinder mounting plate and two sliding table cylinders which are arranged in a front and rear opposite mode;
the sliding table cylinder comprises a sliding table, a cylinder body and a piston rod extending in the front-rear direction, the sliding table comprises a horizontal plate and a vertical plate fixedly arranged on the rear side of the horizontal plate, the horizontal plate and the vertical plate are connected to form an L-shaped plate structure, the two sliding tables are fixedly connected with the bottom of the sliding table cylinder mounting plate, the top of the cylinder body is slidably connected with the bottom of the horizontal plate, the front end of the piston rod is connected with the cylinder body, and the rear end of the piston rod is fixedly connected with the vertical plate;
the sliding table cylinder mounting plate of one of the front and rear translation mechanisms is fixedly connected with the translation movable mechanism and the two sliding blocks simultaneously, and the sliding table cylinder mounting plate of the other front and rear translation mechanism is fixedly connected with the bottom of the mounting bottom plate.
Preferably, the clamping hand assembly comprises a horizontally arranged mounting plate, a vertically arranged vertical plate and a vertically arranged clamping plate;
the mounting plate is detachably connected with the cylinder body of the sliding table cylinder, and the top of the vertical plate is fixedly connected with the bottom of the mounting plate;
the opening clamping groove used for clamping the material is formed in one opposite side of the two clamping plates, and one side, away from the opening clamping groove, of each clamping plate is detachably connected with the vertical plate.
Preferably, the tong subassembly still includes the reinforcing plate of vertical setting, and the riser is located between pinch-off blades and the reinforcing plate, the upper portion and the mounting panel fixed connection of reinforcing plate, the lower part and the riser fixed connection of reinforcing plate.
Preferably, the upper end surface of the reinforcing plate is flush with the top surface of the mounting plate, or the upper end surface of the reinforcing plate is higher than the top surface of the mounting plate.
Preferably, the translation moving mechanism of the left and right translation driving mechanism is a ball screw assembly, the ball screw assembly comprises a fixed nut seat, a screw rod and a movable nut seat, the screw rod and the guide rail are parallel to each other, and the screw rod is simultaneously arranged in the fixed nut seat and the movable nut seat in a penetrating manner;
the fixed nut seat is fixedly connected with the mounting bottom plate, and the movable nut seat is fixedly connected with the sliding block;
one end of the screw rod is connected with a driving mechanism of the left-right translation driving mechanism, and the driving mechanism can drive the screw rod to rotate to drive the movable nut seat to drive the sliding block to translate left and right.
Preferably, the driving mechanism comprises a servo motor and a coupler, the servo motor is fixedly arranged at the bottom of the mounting base plate, an output shaft of the servo motor is fixedly connected with one end of the coupler, and the other end of the coupler is fixedly connected with one end of the screw rod.
Preferably, the driving mechanism further comprises a commutator, the servo motor is fixedly arranged at the bottom of the mounting base plate along the front-back direction, an input end flange of the commutator is fixedly connected with an output end flange of the servo motor, an output shaft of the commutator is parallel to the guide rail, an output shaft of the commutator is fixedly connected with one end of the coupler, and the other end of the coupler is fixedly connected with the screw rod.
The utility model has the advantages that: when the materials of different sizes are got to needs clamp, can adjust the horizontal migration mechanism through the span and adjust the left and right sides span distance between two tong mechanisms about to the material of adaptation different length snatchs and puts things in good order the demand.
When the clamping mechanism translates, the linear slide rail provides guide for the left translation and the right translation of the clamping mechanism, so that the clamping mechanism is prevented from shaking forwards and backwards, and the stress of the ball screw assembly is dispersed.
The front-back distance between the two clamping hand assemblies is adjusted through the front-back translation mechanism so as to meet the requirements of grabbing and stacking materials with different thicknesses.
To sum up, this device can realize snatching and putting things in good order the material of different length, thickness, and this device simple structure, simple to operate, the flexibility is high, can improve pile up neatly machine people's availability factor greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the main structure of example 1;
FIG. 2 is a schematic top view of the structure of FIG. 1;
in the figure, 1, a mounting base plate, 2, a commutator, 3, a servo motor, 4, a bearing with a seat, 5, a coupling, 6, a ball screw assembly, 601, a fixed nut seat, 602, a screw rod, 603, a movable nut seat, 7, a linear guide rail, 701, a guide rail, 702, a sliding block, 8, a sliding table cylinder assembly, 801, a sliding table cylinder mounting plate, 802, a sliding table cylinder, 803, a piston rod, 9, a clamping hand assembly, 901, a mounting plate, 902, a reinforcing plate, 903, a vertical plate, 904 and a clamping plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1: the utility model provides a span adjustable industrial robot anchor clamps, as shown in fig. 1 and 2, includes mounting plate 1, and mounting plate 1's bottom is fixed to be equipped with span adjustment translation mechanism and two bilateral symmetry's tong mechanism.
The span adjusting translation mechanism comprises a left-right translation driving mechanism and a linear guide rail 7 extending along the left-right direction.
In order to maintain the force stability of the gripper mechanism during the left-right translation, as shown in fig. 1, two linear guide rails 7 are arranged in a front-back spacing manner in the present embodiment, and the left-right translation driving mechanism is arranged between the two linear guide rails 7. Specifically, the linear guide 7 includes a guide 701 fixedly provided at the bottom of the mounting baseplate 1 and a slider 702 slidably engaged with the guide 701.
The left-right translation driving mechanism comprises a driving mechanism and a translation moving mechanism, the driving mechanism is fixedly arranged at the bottom of the mounting base plate 1, and the driving mechanism is used for driving the translation moving mechanism to translate left and right.
Specifically, in order to make the slider 702 obtain the biggest translation range about in limited mounting plate 1's space as far as possible, improve space utilization efficiency, the actuating mechanism in this embodiment includes commutator 2, servo motor 3, rolling bearing 4 and shaft coupling 5, commutator 2, servo motor 3 and rolling bearing 4 all pass through the bolt fastening in mounting plate 1's bottom, and servo motor 3 arranges along the fore-and-aft direction, rolling bearing 4 cover is established on servo motor 3's output shaft to further improve servo motor 3's output shaft stability when rotating.
An output shaft of the servo motor 3 penetrates through a shaft hole of the bearing with a seat 4 and then is inserted into an output shaft hole of the commutator 2, an input end flange of the commutator 2 is fixedly connected with an output end flange of the servo motor 3 through a bolt, an output shaft of the commutator 2 is parallel to the guide rail 701, and an output shaft of the commutator 2 is fixedly connected with one end of the coupler 5.
The translational movable mechanism in this embodiment is a ball screw assembly 6, the ball screw assembly 6 includes a fixed nut seat 601, a lead screw 602, and a movable nut seat 603, the lead screw 602 is parallel to the guide rail 701, and the lead screw 602 is simultaneously inserted into the fixed nut seat 601 and the movable nut seat 603.
The fixed nut seat 601 is fixedly connected with the installation bottom plate 1, and one end of the screw rod 602 is fixedly connected with the other end of the coupling 5.
The clamping hand mechanism comprises two clamping hand assemblies 9 which are symmetrically arranged front and back and a front and back translation mechanism which is used for driving the two clamping hand assemblies 9 to move in opposite directions so as to clamp materials.
Specifically, the front-rear translation mechanism comprises a sliding table cylinder assembly 8, and the sliding table cylinder assembly 8 comprises a sliding table cylinder mounting plate 801 and two sliding table cylinders 802 which are arranged oppositely in the front-rear direction.
The sliding table cylinder 802 comprises a sliding table, a cylinder body and a piston rod 803 extending in the front-rear direction, the sliding table comprises a horizontal plate and a vertical plate fixedly arranged on the rear side of the horizontal plate, the horizontal plate and the vertical plate are connected to form an L-shaped plate structure, the two sliding tables are fixedly connected with the bottom of the sliding table cylinder mounting plate 801, the top of the cylinder body is slidably connected with the bottom of the horizontal plate, the front end of the piston rod 803 is connected with the cylinder body, and the rear end of the piston rod 803 is fixedly connected with the vertical plate.
The sliding table cylinder mounting plate 801 of one of the front and rear translation mechanisms is fixedly connected with the movable nut seat 603 and the two sliding blocks 702 through bolts, and the sliding table cylinder mounting plate 801 of the other front and rear translation mechanism is fixedly connected with the bottom of the mounting base plate 1 through bolts.
The clamping assembly 9 comprises a horizontally arranged mounting plate 901, a vertically arranged vertical plate 903, a vertically arranged reinforcing plate 902 and a vertically arranged clamping plate 904.
The mounting plate 901 is detachably connected with a cylinder body of the sliding table cylinder 802 through a screw, and the top of the vertical plate 903 is connected with the bottom of the mounting plate 901 in a welding mode.
In order to reinforce the structural strength of vertical plate 903 and mounting plate 901, the upper part of reinforcing plate 902 is fixedly connected with mounting plate 901, the lower part of reinforcing plate 902 is fixedly connected with vertical plate 903, and the upper end surface of reinforcing plate 902 is flush with the top surface of mounting plate 901.
The vertical plate 903 is located between the clamping plate 904 and the reinforcing plate 902, and an open slot for clamping a material is formed in one opposite side of the two clamping plates 904, as shown in fig. 1, the open slot of the clamping plate 904 in this embodiment is a recessed trapezoidal slot structure, and the middle of the clamping plate 904 is detachably connected to the vertical plate 903 through a countersunk head bolt.
The working principle is as follows: when the materials with different sizes are clamped, the left and right span distances between the left and right clamping hand mechanisms can be adjusted through the span adjusting translation mechanism (the servo motor 3 and the ball screw assembly 6) so as to meet the requirements of grabbing and stacking the materials with different lengths.
The linear slide rail 7 that sets up is for when the translation of tong mechanism, for the left and right translation of tong mechanism provides the direction, prevents that the tong mechanism from rocking from beginning to end, disperses the atress of ball screw subassembly 6.
The front-back distance between the two clamping hand assemblies 9 is adjusted through the front-back translation mechanism (the two oppositely arranged sliding table cylinder assemblies 8) so as to meet the requirements of grabbing and stacking materials with different thicknesses.
When the clamping device is used for clamping materials with different shapes, the clamping device can clamp the materials with different shapes by replacing the clamping plate 904 with the opening clamping grooves with different structures, so that the application range of the clamping device is wider.
Example 2: the present embodiment differs from embodiment 1 in that the span adjustment translation mechanism is provided with only one linear guide 7. The other structure is the same as embodiment 1.
Example 3: the utility model provides a span adjustable industrial robot anchor clamps, this embodiment with embodiment 1's difference lies in, the translation mechanism adopts the straight line cylinder around in this embodiment, the cylinder body end of straight line cylinder and one of them tong subassembly 9's top fixed connection, the piston rod of straight line cylinder and the top fixed connection of another tong subassembly 9. The cylinder body of the linear cylinder is fixedly connected with the movable nut seat 603 and the sliding block 702 at the same time. The other structure is the same as embodiment 2.
Example 4: the present embodiment differs from embodiment 1 in that the gripper assembly 9 is no longer provided with a reinforcing plate 902. The other structure is the same as embodiment 1.
Example 5: an industrial robot jig with an adjustable span, the present embodiment is different from embodiment 1 in that the upper end surface of a reinforcing plate 902 is higher than the top surface of a mounting plate 901. The other structure is the same as embodiment 1.
Example 6: the utility model provides a span adjustable industrial robot anchor clamps, this embodiment and embodiment 1's difference lie in, no longer set up commutator 2 in this embodiment, and servo motor 3 lays along the left and right direction, and servo motor 3's output shaft and shaft coupling 5's one end fixed connection, the other end of shaft coupling 5 and the one end fixed connection of lead screw 602. The other structure is the same as embodiment 1.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a span adjustable industrial robot anchor clamps which characterized in that: the device comprises an installation bottom plate (1), wherein the bottom of the installation bottom plate (1) is fixedly provided with a span adjusting translation mechanism and two bilaterally symmetrical clamping mechanisms;
the span adjusting translation mechanism comprises a left-right translation driving mechanism and a linear guide rail (7) extending along the left-right direction;
the linear guide rail (7) comprises a guide rail (701) fixedly arranged at the bottom of the mounting base plate (1) and a slide block (702) in guide sliding fit with the guide rail (701);
the left-right translation driving mechanism comprises a driving mechanism and a translation moving mechanism, the driving mechanism is fixedly arranged at the bottom of the mounting bottom plate (1), and the driving mechanism is used for driving the translation moving mechanism to perform left-right translation;
the clamping hand mechanism comprises two clamping hand components (9) which are symmetrically arranged front and back and a front and back translation mechanism which is used for driving the two clamping hand components (9) to move oppositely so as to clamp materials;
the top of the front and back translation mechanism of one of the gripper mechanisms is fixedly connected with the bottom of the mounting bottom plate (1), the front and back translation mechanism of the other gripper mechanism is fixedly connected with the translation movable mechanism and the sliding block (702), and the front and back translation mechanism can be driven by the translation movable mechanism to translate left and right.
2. An industrial robot clamp with adjustable span according to claim 1, characterized in that: the span adjusting translation mechanism comprises two linear guide rails (7) which are arranged at the front and the back at intervals and are parallel to each other, the left translation driving mechanism and the right translation driving mechanism are positioned between the two linear guide rails (7), the translation moving mechanism of the left translation driving mechanism and the right translation driving mechanism is fixedly connected with sliding blocks (702) of the two linear guide rails (7), and the two sliding blocks (702) are fixedly connected with the front translation mechanism and the back translation mechanism of one clamping mechanism.
3. A span adjustable industrial robot clamp of claim 2 wherein: the front and back translation mechanism comprises a sliding table cylinder assembly (8), and the sliding table cylinder assembly (8) comprises a sliding table cylinder mounting plate (801) and two sliding table cylinders (802) which are arranged in a front-back opposite mode;
the sliding table cylinder (802) comprises a sliding table, a cylinder body and a piston rod (803) extending in the front-rear direction, the sliding table comprises a horizontal plate and a vertical plate fixedly arranged on the rear side of the horizontal plate, the horizontal plate and the vertical plate are connected to form an L-shaped plate structure, the two sliding tables are fixedly connected with the bottom of the sliding table cylinder mounting plate (801), the top of the cylinder body is slidably connected with the bottom of the horizontal plate, the front end of the piston rod (803) is connected with the cylinder body, and the rear end of the piston rod (803) is fixedly connected with the vertical plate;
the sliding table cylinder mounting plate (801) of one of the front and rear translation mechanisms is fixedly connected with the translation movable mechanism and the two sliding blocks (702) at the same time, and the sliding table cylinder mounting plate (801) of the other front and rear translation mechanism is fixedly connected with the bottom of the mounting base plate (1).
4. A span adjustable industrial robot clamp of claim 3 wherein: the clamping hand assembly (9) comprises a horizontally arranged mounting plate (901), a vertically arranged vertical plate (903) and a vertically arranged clamping plate (904);
the mounting plate (901) is detachably connected with a cylinder body of the sliding table cylinder (802), and the top of the vertical plate (903) is fixedly connected with the bottom of the mounting plate (901);
an opening clamping groove used for clamping materials is formed in one side, opposite to each other, of each of the two clamping plates (904), and one side, far away from the opening clamping groove, of each clamping plate (904) is detachably connected with the vertical plate (903).
5. An industrial robot clamp with adjustable span according to claim 4 characterized in that: the clamping hand assembly (9) further comprises a vertically arranged reinforcing plate (902), the vertical plate (903) is located between the clamping plate (904) and the reinforcing plate (902), the upper portion of the reinforcing plate (902) is fixedly connected with the mounting plate (901), and the lower portion of the reinforcing plate (902) is fixedly connected with the vertical plate (903).
6. An industrial robot clamp with adjustable span according to claim 5, characterized in that: the upper end surface of the reinforcing plate (902) is flush with the top surface of the mounting plate (901), or the upper end surface of the reinforcing plate (902) is higher than the top surface of the mounting plate (901).
7. An industrial robot clamp of adjustable span according to any of claims 1-6, characterized in that: the translation moving mechanism of the left and right translation driving mechanism is a ball screw assembly (6), the ball screw assembly (6) comprises a fixed nut seat (601), a screw rod (602) and a movable nut seat (603), the screw rod (602) is parallel to the guide rail (701), and the screw rod (602) is simultaneously arranged in the fixed nut seat (601) and the movable nut seat (603) in a penetrating manner;
the fixed nut seat (601) is fixedly connected with the mounting base plate (1), and the movable nut seat (603) is fixedly connected with the sliding block (702);
one end of the screw rod (602) is connected with a driving mechanism of the left-right translation driving mechanism, and the driving mechanism can drive the screw rod (602) to rotate to drive the movable nut seat (603) to drive the sliding block (702) to translate left and right.
8. An industrial robot clamp with adjustable span according to claim 7, characterized in that: the driving mechanism comprises a servo motor (3) and a coupler (5), the servo motor (3) is fixedly arranged at the bottom of the mounting base plate (1), an output shaft of the servo motor (3) is fixedly connected with one end of the coupler (5), and the other end of the coupler (5) is fixedly connected with one end of the lead screw (602).
9. An industrial robot clamp with adjustable span according to claim 8, characterized in that: the driving mechanism further comprises a commutator (2), the servo motor (3) is fixedly arranged at the bottom of the mounting base plate (1) in the front-back direction, an input end flange of the commutator (2) is fixedly connected with an output end flange of the servo motor (3), an output shaft of the commutator (2) is parallel to the guide rail (701), an output shaft of the commutator (2) is fixedly connected with one end of the coupler (5), and the other end of the coupler (5) is fixedly connected with the lead screw (602).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122858605.2U CN216399684U (en) | 2021-11-22 | 2021-11-22 | Span-adjustable industrial robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122858605.2U CN216399684U (en) | 2021-11-22 | 2021-11-22 | Span-adjustable industrial robot clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216399684U true CN216399684U (en) | 2022-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122858605.2U Active CN216399684U (en) | 2021-11-22 | 2021-11-22 | Span-adjustable industrial robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216399684U (en) |
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2021
- 2021-11-22 CN CN202122858605.2U patent/CN216399684U/en active Active
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