CN216607851U

CN216607851U - Clamping device and industrial robot

Info

Publication number: CN216607851U
Application number: CN202123107241.0U
Authority: CN
Inventors: 刘明东; 黄定怀; 李彬彬
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-05-27
Anticipated expiration: 2031-12-10

Abstract

The utility model relates to the technical field of engineering machinery, in particular to a clamping device and an industrial robot. The clamping device includes: a main body adapted to be disposed on the robot body; the two positioning pieces are movably arranged on the main body, are oppositely arranged at intervals and are suitable for being inserted into the through holes of the parts to be clamped; the driving part is connected with the two positioning parts and drives the two positioning parts to move so as to clamp or loosen the part to be clamped; and the pre-pressing parts are arranged on the main body at intervals and are suitable for being pressed on the upper plane of the part to be clamped. According to the automatic grabbing device, the driving part drives the two positioning parts to move in opposite directions or in opposite directions to achieve automatic grabbing of the part to be clamped, so that automatic assembly of the part to be clamped is achieved, and the automation level is improved. And the pre-pressing part presses the upper plane of the part to be clamped, so that the part to be clamped is prevented from rotating in the moving process of the robot body.

Description

Clamping device and industrial robot

Technical Field

The utility model relates to the technical field of engineering machinery, in particular to a clamping device and an industrial robot.

Background

At present, a rotary drilling rig is used as a construction machine for quickly taking soil, forming holes and pouring piles, has the advantages of high hole forming efficiency, adaptability to various soil layers, energy conservation, environmental protection, flexibility, maneuverability, multiple function combinations and the like, and is widely applied to various pile-forming foundation engineering such as municipal construction, water conservation foundation construction, bridge erection, railway construction, high-rise buildings and the like.

The mast turntable assembly is one of the important parts of the rotary excavating machine structural part, is a hinge point for realizing mast erection, verticality adjustment and stable construction control, and bears high load and high strength in work.

Among the prior art, mast carousel subassembly includes mast and carousel, when carrying out mast and carousel assembly, adopts the manual work to carry out the hoist and mount, transport, the installation of mast, carousel, and the weight of heavier carousel generally is about 260Kg, has the potential safety hazard in the hoist and mount in-process is transported in the manual work, and manual assembly is inefficient.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the utility model is to overcome the defect of low assembly efficiency caused by manual assembly of the mast and the turntable in the prior art, so that the utility model provides the clamping device and the industrial robot.

In order to solve the above problems, the present invention provides a clamping device including: a main body adapted to be disposed on the robot body; the two positioning pieces are movably arranged on the main body, are oppositely arranged at intervals and are suitable for being inserted into the through holes of the parts to be clamped; the driving part is connected with the two positioning parts and drives the two positioning parts to move so as to clamp or loosen the part to be clamped; and the pre-pressing parts are arranged on the main body at intervals and are suitable for being pressed on the upper plane of the part to be clamped.

Optionally, the positioning element is a positioning taper pin, the positioning taper pin includes a positioning taper section, and an outer diameter of the positioning taper section gradually decreases in a direction toward a center of the main body.

Optionally, the driving part comprises: the screw rod comprises a screw rod and two nuts, the two nuts are sleeved on the screw rod, the rotating directions of the threads of the two nuts are opposite, and the two nuts are connected with the two positioning pieces in a one-to-one correspondence manner; the driving piece is fixed on the main body, and an output shaft of the driving piece is connected with the screw rod.

Optionally, the output shaft of the driving member is connected with the screw through a coupling.

Optionally, the clamping device further comprises a fixing seat, and the nut is connected with the positioning piece through the fixing seat.

Optionally, the clamping device further comprises a guide mechanism for guiding the movement of the positioning element.

Optionally, the guide mechanism includes a guide rail and a slider, the guide rail is disposed on the main body, and the slider is connected with the fixing seat.

Optionally, the pre-pressing component comprises a guide shaft and an elastic piece, one end of the guide shaft is movably connected with the main body, and the elastic piece is sleeved on the guide shaft and used for applying a pre-tightening force to the component to be clamped.

Optionally, the clamping device further includes a limiting block for limiting a moving range of the positioning member, and the limiting block is disposed on the main body.

The utility model also provides an industrial robot comprising: the clamping device is described above.

The utility model has the following advantages:

move the main part to the position department of treating the clamping part place through robot, aim at the setting element through-hole on treating the clamping part, then two setting elements of drive part drive are treated the clamping part and are removed, two setting elements will be treated the clamping part and press from both sides tightly, then robot will treat that the clamping part removes to mast department and will treat the clamping part and install on the mast, treat the clamping part and install the back in place, two setting elements of drive part drive are towards keeping away from the direction removal of treating the clamping part, can loosen treating the clamping part, move in opposite directions or carry on the back the body and realize treating the automatic of clamping part and snatch through two setting elements of drive part drive, and then realize treating the automatic assembly of clamping part, improve automation level. And the pre-pressing part presses the upper plane of the part to be clamped, so that the part to be clamped is prevented from rotating in the moving process of the robot body.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 shows a perspective view of the clamping assembly of the present invention in cooperation with a turntable;

FIG. 2 shows a schematic front view of the clamping device of FIG. 1 in cooperation with a turntable;

FIG. 3 shows a schematic partial cross-sectional view of the clamping device of FIG. 2;

FIG. 4 shows a top schematic view of the clamping arrangement of FIG. 1 in cooperation with a turntable;

figure 5 shows a schematic perspective view of the body of the clamping device of figure 1;

FIG. 6 shows a schematic front view of a locating taper pin of the clamping arrangement of FIG. 1;

FIG. 7 shows a side view schematic of the locating taper pin of FIG. 6;

FIG. 8 shows a perspective view of a mounting socket of the clamping device of FIG. 1;

FIG. 9 shows a front schematic view of the mount of FIG. 8;

FIG. 10 shows a side schematic view of the mount of FIG. 8;

fig. 11 shows a schematic front view of another turntable of the present invention.

Description of reference numerals:

10. a main body; 11. mounting grooves; 20. positioning a taper pin; 21. positioning the conical section; 22. a fixed section; 221. a fixing hole; 23. an installation section; 30. a lead screw; 31. a screw; 32. a nut; 33. a support; 40. a drive member; 50. a fixed seat; 51. mounting holes; 52. a threaded hole; 61. a guide rail; 62. a slider; 70. pre-pressing the part; 71. a guide shaft; 72. an elastic member; 80. a limiting block; 90. a member to be clamped; 100. a coupling; 110. a mounting seat; 120. and a stop block.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 and 2, the clamping device of the present embodiment includes: the robot comprises a main body 10, two positioning pieces, a driving part and a plurality of pre-pressing parts 70, wherein the main body 10 is suitable for being arranged on a robot body; two positioning pieces are movably arranged on the main body 10, the two positioning pieces are oppositely arranged at intervals, and the two positioning pieces are suitable for being inserted into the through holes of the to-be-clamped component 90; the driving part is connected with the two positioning parts and drives the two positioning parts to move so as to clamp or release the part to be clamped 90; a plurality of pre-press members 70 are provided at intervals on the body 10 and adapted to press against the upper plane of the member to be clamped 90.

By using the clamping device of the embodiment, the main body 10 is moved to the position where the part 90 to be clamped is located through the robot body, the positioning pieces are aligned with the through holes in the part 90 to be clamped, then the driving part drives the two positioning pieces to move towards the part 90 to be clamped, the two positioning pieces clamp the part 90 to be clamped, then the robot body moves the part 90 to be clamped to the mast and installs the part 90 to be clamped onto the mast, after the part 90 to be clamped is installed in place, the driving part drives the two positioning pieces to move towards the direction away from the part 90 to be clamped, the part 90 to be clamped can be loosened, the two positioning pieces are driven by the driving part to move in opposite directions or move back to realize automatic grabbing of the part to be clamped, so that automatic assembly of the part to be clamped is realized, and the automation level is improved. And the pre-pressing member 70 presses the upper plane of the member to be clamped 90, preventing the member to be clamped 90 from rotating during the movement of the robot body.

On the basis of the above embodiment, the positioning element is the positioning taper pin 20, the positioning taper pin 20 includes the positioning taper section 21, and the outer diameter of the positioning taper section 21 is gradually reduced in the direction toward the center of the main body 10. The positioning conical section 21 can be matched with through holes with different apertures, the clamping component 90 is to be clamped and positioned through the positioning conical section 21, the clamping component to be clamped of different diameters and models can be grabbed, and the application range is wide.

On the basis of the above embodiment, as shown in fig. 3 and 4, the driving part includes: the screw 30 comprises a screw 31 and two nuts 32, the two nuts 32 are sleeved on the screw 31, the rotating directions of the threads of the two nuts 32 are opposite, and the two nuts 32 are connected with the two positioning pieces in a one-to-one correspondence manner; the driving member 40 is fixed to the body 10, and an output shaft of the driving member 40 is connected to the screw 31. The output shaft of the driving member 40 drives the screw 31 to rotate, and further drives the two nuts 32 to move toward or away from each other, so as to drive the two rotating positioning members to move toward or away from each other. Two nuts 32 are driven to move by one driving piece 40, the number of the driving pieces is small, and the driving is simple and convenient. Preferably, the drive member 40 is a servo motor. It can be understood that, in other embodiments, the driving component includes two driving cylinders, the two driving cylinders are connected with the two positioning pieces in a one-to-one correspondence, and the driving cylinders are oil cylinders or air cylinders.

On the basis of the above embodiment, the main body 10 is provided with two oppositely arranged supports 33, and two ends of the screw 31 are mounted on the supports 33, so that the structure of the main body is simplified, and the manufacturing cost is reduced.

On the basis of the above embodiment, the lead screw 30 is a trapezoidal lead screw, and the trapezoidal lead screw includes a trapezoidal screw and two trapezoidal nuts, and the threads of the two trapezoidal nuts are respectively a positive thread and a negative thread, and the trapezoidal screw is driven to rotate by the servo motor, so that the two nuts drive the two side positioning taper pins 20 to grab and compress the part to be clamped. It will be appreciated that in other embodiments, the screw may also be a roller screw.

In addition to the above embodiments, the output shaft of the driving member 40 is connected to the screw 31 by the coupling 100, so that the connection is simple. Preferably, the coupling 100 is a diaphragm coupling or the like. It will be appreciated that in other embodiments, the coupling may be omitted and the output shaft of the drive member 40 connected directly to the screw 31.

On the basis of the above embodiment, the clamping device further comprises a fixing seat 50, the nut 32 is connected with the positioning piece through the fixing seat 50, so that the nut 32 and the positioning piece can be conveniently connected, and the structure of the positioning piece is simplified.

On the basis of the embodiment, the clamping device further comprises a guide mechanism for guiding the movement of the positioning piece, and the guide mechanism can ensure that the positioning piece moves more smoothly and the positioning is more accurate. Preferably, as shown in fig. 2, the guide mechanism includes a guide rail 61 and a slider 62, the guide rail 61 is disposed on the main body 10, and the slider 62 is connected to the fixing base 50. The guide rail 61 and the slider 62 have advantages of high positioning accuracy, less abrasion, capability of maintaining accuracy for a long time, easy assembly, simple lubricating structure, and the like. Specifically, two guide mechanisms are provided, and the two guide mechanisms are located on both sides of the screw 31.

In addition to the above embodiment, as shown in fig. 1, four pre-press members 70 are provided, two pre-press members 70 are located at one side of the body 10, and the other two pre-press members 70 are located at the other side of the body 10. It will be appreciated that in other embodiments, the number of pre-press members 70 is two, etc.

On the basis of the above embodiment, the pre-pressing member 70 includes a guide shaft 71 and an elastic member 72, one end of the guide shaft 71 is movably connected with the main body 10, and the elastic member 72 is sleeved on the guide shaft 71 and is used for applying a pre-tightening force to the member to be clamped 90. Under the action of the elastic member 72, the lower end of the guide shaft 71 abuts on the upper plane of the member to be clamped 90 and applies a downward pre-tightening force to the member to be clamped 90, thereby pressing the member to be clamped 90. It is understood that in other embodiments, the pre-tightening member 70 may be a cylinder or an air cylinder, and the piston rod of the cylinder or the air cylinder extends to apply a downward pre-tightening force to the member to be clamped 90.

Preferably, the elastic member 72 is a spring, which is convenient to use and low in cost. It is understood that in other embodiments, the resilient member 72 is a resilient sleeve.

Preferably, the guide shaft 71 includes an upper shaft section and a lower shaft section, the outer diameter of the lower shaft section is greater than that of the upper shaft section, that is, the guide shaft 71 is a stepped shaft, the elastic member 72 is sleeved on the upper shaft section, the main body 10 is provided with a mounting seat, and the upper end of the upper shaft section passes through the mounting seat 110 and is connected with the stopper 120.

On the basis of the above embodiment, as shown in fig. 2, the clamping device further includes a limiting block 80 for limiting the moving range of the positioning member, and the limiting block 80 is disposed on the main body 10, so that the rotating positioning member moves in a suitable range. Preferably, the bottom at the both ends of main part 10 along its length direction is equipped with stopper 80, and stopper 80 corresponds the setting with fixing base 50, and when fixing base 50 run into stopper 80, fixing base 50 can not continue to remove, and then carries on spacingly to the setting element.

On the basis of the above embodiment, as shown in fig. 2 and 5, the bottom surface of the main body 10 is opened with the installation groove 11, the screw 31 is installed in the installation groove, and the two guide rails 61 are installed on the bottom surface of the main body 10 and located at both sides of the installation groove 11.

On the basis of the above embodiment, as shown in fig. 6 to 10, the positioning taper pin 20 further includes a fixing section 22 and an installation section 23, the fixing seat 50 is provided with an installation hole 51, the installation section 23 is located in the installation hole 51, the outer diameter of the fixing section 22 is greater than the maximum outer diameter of the positioning taper section and the outer diameter of the installation section 23, the fixing section 22 is provided with a fixing hole 221, the fixing seat 50 is provided with a threaded hole 52, and a screw or a bolt passes through the fixing hole 221 and is in threaded connection with the threaded hole 52. It is understood that in other embodiments, the mounting segment 23 and the mounting hole 51 may not be provided.

It should be noted that the member to be clamped is a turntable. Of course, the member to be clamped may also be a member similar to a turntable or the like.

On the basis of above-mentioned embodiment, install visual identification positioner and line laser scanner on the robot body, line laser scanner scans the profile of the pilot hole of mast, and clamping device cooperates line laser scanner to carry out grabbing of carousel and puts the location, and the carousel offset when putting into the carousel at every turn is calculated to the accuracy, realizes that the carousel fine positioning snatchs and places the function.

Specifically, industrial robot still includes the robot, and clamping device's main part 10 sets up on the robot, and the robot can drive clamping device motion, realizes the automatic assembly of carousel. The robot body is only required to adopt the structure in the prior art, and detailed description is omitted here.

The operation of the clamping device is described below with reference to fig. 1:

the robot body takes line laser scanner to scan earlier the pilot hole of mast and confirms the offset, then the robot body removes main part 10 to the position department at carousel place, with the through-hole on the carousel of location taper pin 20 alignment, then servo motor drive two location taper pins 20 move towards the centre, two location taper pins 20 press from both sides the carousel tightly, the robot body takes the carousel to slow down and be close to at a slow speed when keeping away from the mast certain distance, alignment and alignment pilot hole are carried out according to just scanning definite offset, the robot body pushes down, the pilot hole of mast is impressed to the carousel, then drive location taper pin 20 moves to both sides, put down the carousel, accomplish the assembly of carousel and mast.

It should be noted that the turntable in fig. 1 and the turntable in fig. 11 are different in type, and the positioning taper pin 20 can be positioned to clamp different types of turntables.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

1. the clamping device comprises a main body 10, a servo motor, a positioning taper pin 20, a trapezoidal lead screw, a guide shaft 71, a spring and the like, wherein the servo motor is arranged on the main body 10, the servo motor is connected with the trapezoidal lead screw through a diaphragm type coupler, the trapezoidal lead screw comprises a screw rod and two nuts, two ends of the screw rod are connected with the main body 10 through a support 33, two nuts 32 are arranged on the screw rod 31, threads of the two nuts 32 are respectively a positive thread and a negative thread, the nuts 32 are connected with a fixed seat 50, a positioning taper pin 20 for clamping and positioning is installed on the fixed seat 50, the positioning taper pin 20 on the fixed seat 50 aligns with the through hole on the turntable for positioning, the screw 31 is driven by the servo motor to rotate, the two nuts 32 drive the fixed seat 50 to move towards the middle at the same time, the turntable is clamped, and meanwhile, the turntable is tightly pressed by the guide shaft 71 under the action of the spring, so that the turntable is prevented from rotating in the moving process of the robot body.

2. The positioning turntables are clamped through the group of positioning taper pins, so that the turntables with different diameters can be grabbed, the automatic assembly of the small-sized mast turntable assembly is realized, the assembly efficiency of the mast turntable assembly of the pile machine is improved, and the automation level is improved.

3. The main body 10 is provided with a pre-pressing component, the pre-pressing component comprises a guide shaft 71 and a spring, and the turntable is pressed through the pre-tightening force of the spring to prevent the turntable from inclining in the grabbing and releasing process.

4. The guide rail 61 is installed on the main body 10, the sliding block 62 is connected with the fixed seat 50, and the sliding block 62 is matched with the guide rail 61 to guide the movement of the positioning taper pin 20.

5. The clamping device is matched with the line laser scanner to scan the outline of the workpiece, the photographing function of the visual identification positioning device is utilized to analyze and position, the offset of the rotary table on the mast is determined, the relative position of the rotary table on the mast is accurately calculated, and the automatic assembly tool of the rotary table of the mast is carried out.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. A clamping device, comprising:

a main body (10) adapted to be arranged on a robot body;

the two positioning pieces are movably arranged on the main body (10), the two positioning pieces are oppositely arranged at intervals, and the two positioning pieces are suitable for being inserted into through holes of the parts (90) to be clamped;

the driving component is connected with the two positioning pieces and drives the two positioning pieces to move so as to clamp or release the component (90) to be clamped;

a plurality of pre-pressing parts (70) which are arranged on the main body (10) at intervals and are suitable for pressing the upper plane of the part to be clamped (90).

2. The clamping device as recited in claim 1, characterized in that the positioning member is a positioning taper pin (20), the positioning taper pin (20) comprising a positioning taper section (21), the outer diameter of the positioning taper section (21) being gradually reduced in a direction towards the center of the main body (10).

3. The clamping device as claimed in claim 1, wherein said drive member comprises:

the screw rod (30) comprises a screw rod (31) and two nuts (32), the two nuts (32) are sleeved on the screw rod (31), the rotating directions of the threads of the two nuts (32) are opposite, and the two nuts (32) are connected with the two positioning pieces in a one-to-one correspondence manner;

and the driving part (40) is fixed on the main body (10), and an output shaft of the driving part (40) is connected with the screw rod (31).

4. Clamping device according to claim 3, characterized in that the output shaft of the drive element (40) is connected to the screw (31) by means of a coupling (100).

5. The clamping device as recited in claim 3, characterized in that the clamping device further comprises a fixing seat (50), and the nut (32) is connected with the positioning element through the fixing seat (50).

6. The clamping device as recited in claim 5, further comprising a guide mechanism for guiding movement of said positioning element.

7. The clamping device as recited in claim 6, characterized in that the guiding means comprise a guide rail (61) and a slider (62), the guide rail (61) being arranged on the main body (10), the slider (62) being connected with the holder (50).

8. Clamping device according to one of claims 1 to 7, characterized in that the pre-stressing element (70) comprises a guide shaft (71) and an elastic element (72), wherein one end of the guide shaft (71) is movably connected to the main body (10), and the elastic element (72) is arranged on the guide shaft (71) and is used for applying a pre-stressing force to the element (90) to be clamped.

9. The clamping device as recited in any one of claims 1 to 7, further comprising a stopper (80) for limiting a moving range of the positioning member, the stopper (80) being provided on the main body (10).

10. An industrial robot, characterized by comprising: the clamping device of any one of claims 1 to 9.