CN217801762U - Multipurpose clamping jaw mechanism - Google Patents
Multipurpose clamping jaw mechanism Download PDFInfo
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- CN217801762U CN217801762U CN202220583997.8U CN202220583997U CN217801762U CN 217801762 U CN217801762 U CN 217801762U CN 202220583997 U CN202220583997 U CN 202220583997U CN 217801762 U CN217801762 U CN 217801762U
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Abstract
The utility model discloses a multipurpose clamping jaw mechanism, which comprises a robot mounting plate and a bearing mounting plate, wherein the robot mounting plate is connected on a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates; a bearing is arranged at the central position of the bearing mounting plate, a bearing mounting shaft is mounted in the bearing, the bottom of the bearing mounting shaft is positioned through a clamp spring, the upper end of the bearing mounting shaft is connected with a bearing connecting rod through a central connecting rod, and two outer side ends of the bearing connecting rod are respectively connected with a clamping jaw assembly; two sets of vacuum generator components are arranged on the edges of two sides of the bearing mounting plate, and a sucker component is arranged right below the bearing mounting plate and connected with the four corners of the bearing mounting plate through a reset component; when the mechanism works, three different working modes can be realized. The utility model discloses rationally distributed, compact structure has realized the clamp of materials such as work piece or carrier and has got the action or absorb the action, the transport or the equipment of compatible different materials.
Description
Technical Field
The utility model relates to an automatic handling of robot, equipment field especially relate to a multipurpose gripper mechanism.
Background
With the development and application of industrial robots and industrial automation, industrial robots are increasingly widely used in the automation field, including automated handling, automated welding, automated assembly, automated packaging, and automated inspection. Particularly, in the field of automatic handling and assembly, the automation equipment for equipping the industrial robot has the advantages of simple structure, convenience in debugging, low failure rate, scientific and technological sense, reusability and the like, and along with the lower and lower cost of the robot, more and more automation manufacturers are willing to select the industrial robot, so that the application of the industrial robot in the field of automatic handling and assembly is more and more extensive. When an industrial robot carries and assembles automatically, the tail end of the industrial robot often uses a clamping jaw, a suction cup or other mechanisms designed by a designer to carry materials or assemble parts; when spare part is less, the terminal mechanism of industrial robot can choose the clamping jaw cylinder or the vacuum chuck of standard for use to design, but when the material size is great, then need design assorted mechanism by oneself and satisfy the demand. At present, most of the existing related mechanisms on the market aim at specific products, the application range is narrow, and the functions are single.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multipurpose clamping jaw mechanism solves among the prior art mechanism and is many to specific product, and its application scope is narrower, and the comparatively single problem of function.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the utility model relates to a multipurpose clamping jaw mechanism, which comprises a robot mounting plate and a bearing mounting plate, wherein one side of a positioning ring of the robot mounting plate is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates;
the center position of the bearing mounting plate is provided with a bearing, the bearing is fixed on the bearing mounting plate through three screws, a bearing mounting shaft is mounted in the bearing, the bottom of the bearing is positioned through a clamp spring, the upper end of the bearing mounting shaft is provided with a slot, a center connecting rod is mounted at the slot, two ends of the center connecting rod are connected with bearing connecting rods, and two outer side ends of each bearing connecting rod are respectively connected with a clamping jaw assembly;
the bearing mounting plate is characterized in that two sets of vacuum generator assemblies are arranged on the edges of two sides of the bearing mounting plate, a sucker assembly is arranged under the bearing mounting plate and communicated with the vacuum generator assemblies, and the sucker assembly is connected with four corners of the bearing mounting plate through a reset assembly.
Preferably, the clamping jaw assembly comprises two clamping jaws which are symmetrically arranged, the clamping jaws are respectively connected to two outer side ends of the bearing connecting rod through a left clamping jaw connecting plate and a right clamping jaw connecting plate, and two sides of the lower sides of the left clamping jaw connecting plate and the right clamping jaw connecting plate are both connected with guide assemblies; the bearing mounting panel front side is installed and is driven actuating cylinder, the piston rod front end that drives actuating cylinder is connected with the drive and connects the panel beating, the drive connect the panel beating through the bolt with left clamping jaw connecting plate links together.
Preferably, the direction subassembly includes linear guide and slider, linear guide passes through bolted connection on the bearing mounting panel, slider bolted connection be in left side clamping jaw connecting plate and right clamping jaw connecting plate downside both sides, the slider with linear guide phase-match is followed linear guide straight reciprocating motion, linear guide's the outside is connected with the linear guide dog.
Preferably, the sucking disc subassembly includes vacuum chuck upper plate and vacuum chuck hypoplastron, the vacuum chuck upper plate pass through the bolt with the vacuum chuck hypoplastron is connected, be equipped with the sealing washer between vacuum chuck upper plate and the vacuum chuck hypoplastron binding face, the last inboard of vacuum chuck upper plate is equipped with two inside vacuum adapters, and the outside of vacuum chuck upper plate is equipped with two outside vacuum adapters, inside vacuum adapter, outside vacuum adapter pass through the pipeline respectively with one of them is a set of vacuum generator subassembly intercommunication, the four corners of vacuum chuck upper plate with reset assembly connects.
Preferably, the subassembly that resets includes loose axle, linear bearing and spring, four linear bearing connects the four corners department of bearing mounting panel, the inside registrates of linear bearing the loose axle, the upper end of loose axle is passed through the bolt and is blockked the gasket and be connected, the lower extreme of loose axle pass through the screw thread with the vacuum chuck upper plate is connected, the cover of loose axle outside has compression state the spring.
Compared with the prior art, the utility model discloses a beneficial technological effect:
the utility model relates to a multipurpose clamping jaw mechanism, which comprises a robot mounting plate and a bearing mounting plate, wherein one side of a positioning ring of the robot mounting plate is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate is connected with the bearing mounting plate through two connecting plates; firstly, a bearing is arranged at the central position of a bearing mounting plate, a bearing mounting shaft is arranged in the bearing, the bottom of the bearing mounting shaft is positioned by a clamp spring, the upper end of the bearing mounting shaft is connected with a bearing connecting rod through a central connecting rod, and two outer side ends of the bearing connecting rod are symmetrically connected with clamping jaw assemblies, so that the transfer and carrying operation after the clamping of a product or a carrier is realized; the central connecting rod and the bearing connecting rod form a connecting rod mechanism to realize synchronous movement of the clamping jaws, and stability of the clamping jaws during movement is guaranteed through arrangement of the guide assembly.
Secondly, the both sides edge of bearing mounting panel is equipped with two sets of vacuum generator subassemblies, is provided with the sucking disc subassembly under the bearing mounting panel, realizes the absorption operation of materials such as film through the design of this sucking disc subassembly, and the design of four corners reset assembly plays the cushioning effect firstly, prevents that pressure is too big, has exactly to reduce position error again, guarantees the absorption packing force, also is exactly to guarantee the operation that resets after adsorbing.
Moreover, different assemblies are mounted on the bearing mounting plate, three working modes of single-adsorption operation, single-clamping-jaw operation and composite operation are realized, the application range is greatly improved, the switching of various modes is simple, and the assembling and disassembling operation is convenient and fast.
In general, the utility model has reasonable layout and compact structure, realizes the clamping action or the sucking action of materials such as workpieces or carriers, and can be compatible with the transportation or the assembly of different materials; the mechanism is low in cost, strong in reusability, multiple in purpose, suitable for the tail end assembly of the industrial robot and widely applied to the fields of automatic carrying and assembling.
Drawings
The present invention will be further explained with reference to the following description of the drawings.
FIG. 1 is a schematic axial view of the multi-purpose clamping jaw mechanism of the present invention;
FIG. 2 is a schematic side view of the rear axle of the robot mounting plate for dismantling according to the present invention;
FIG. 3 is a top view of the robot mounting plate removed according to the present invention;
FIG. 4 is a front view of the multi-purpose clamping jaw mechanism of the present invention;
FIG. 5 is a side view of the multi-purpose clamping jaw mechanism of the present invention;
description of reference numerals: 1. a robot mounting plate; 2. a connecting plate; 3. a bearing mounting plate; 4. a vacuum generator assembly; 5. a blocking spacer; 6. a movable shaft; 7. a linear bearing; 8. a linear guide rail; 9. a bearing; 10. a screw; 11. a bearing mounting shaft; 12. a central link; 13. a bearing link; 14. a right clamping jaw connecting plate; 15. a clamping jaw; 16. a driving cylinder; 17. a linear guide rail stop block; 18. driving the connecting metal plate; 19. a left clamping jaw connecting plate; 20. a spring; 21. an external vacuum adapter; 22. vacuum chuck upper plate; 23. a vacuum chuck lower plate; 24. a carrier; 25. a film; 26. an internal vacuum adapter.
Detailed Description
As shown in fig. 1-5, a multi-purpose clamping jaw mechanism comprises a robot mounting plate 1 and a bearing mounting plate 3, wherein one side of a positioning ring of the robot mounting plate 1 is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate 1 is connected with the bearing mounting plate 3 through two connecting plates 2; a bearing 9 is arranged at the central position of the bearing mounting plate 3, the bearing 9 is fixed on the bearing mounting plate 3 through three screws 10, a bearing mounting shaft 11 is mounted inside the bearing 9, the bottom of the bearing mounting shaft is positioned through a clamp spring, a groove is formed in the upper end of the bearing mounting shaft 11, a central connecting rod 12 is mounted at the groove, two ends of the central connecting rod 12 are connected with bearing connecting rods 13, and two outer side ends of each bearing connecting rod 13 are respectively connected with a clamping jaw assembly; two sets of vacuum generator assemblies 4 are arranged on the edges of two sides of the bearing mounting plate 3, a sucker assembly is arranged under the bearing mounting plate 3 and communicated with the vacuum generator assemblies 4, and the sucker assembly is connected with four corners of the bearing mounting plate 3 through a reset assembly.
Specifically, as shown in fig. 3, the clamping jaw assembly includes two clamping jaws 15 symmetrically arranged, the clamping jaws 15 are respectively connected to two outer side ends of the bearing connecting rod 13 through a left clamping jaw connecting plate 19 and a right clamping jaw connecting plate 14, and two sides of the lower sides of the left clamping jaw connecting plate 19 and the right clamping jaw connecting plate 14 are both connected with a guide assembly; the bearing mounting panel 3 front side is installed and is driven actuating cylinder 16, the piston rod front end that drives actuating cylinder 16 is connected with drive connection panel beating 18, drive connection panel beating 18 through the bolt with left clamping jaw connecting plate 19 links together. A central connecting rod and two bearing connecting rods form a connecting rod mechanism, and synchronous movement of the clamping jaws is achieved.
The direction subassembly includes linear guide 8 and slider, linear guide 8 passes through bolted connection on bearing mounting panel 3, slider bolted connection be in left clamping jaw connecting plate 19 and the 14 downside both sides of right clamping jaw connecting plate, the slider with linear guide 8 phase-matches are followed linear guide 8 straight reciprocating motion, linear guide 8's the outside is connected with linear guide dog 17. The arrangement of the guide component ensures the stability of the clamping jaw during movement
Specifically, as shown in fig. 2 and 4, the sucking disc subassembly includes vacuum chuck upper plate 22 and vacuum chuck hypoplastron 23, vacuum chuck upper plate 22 pass through the bolt with vacuum chuck hypoplastron 23 is connected, be equipped with the sealing washer between vacuum chuck upper plate 22 and the vacuum chuck hypoplastron 23 binding face, vacuum chuck upper plate 22's last inboard is equipped with two inside vacuum adapter 26, and vacuum chuck upper plate 22's the outside is equipped with two outside vacuum adapter 21, inside vacuum adapter 26, outside vacuum adapter 21 pass through the pipeline respectively with one of them a set of vacuum generator subassembly 4 communicates, vacuum chuck upper plate 22's four corners with reset assembly connects.
Reset assembly includes loose axle 6, linear bearing 7 and spring 20, four linear bearing 7 is connected the four corners department of bearing mounting panel 3, this linear bearing 7 chooses for use the bearing of taking the ring flange, and the ring flange of bottom passes through bolt-up to be connected on the bearing mounting panel 3, the inside registrate of linear bearing 7 loose axle 6, the upper end of loose axle 6 is passed through the bolt and is connected with stopping gasket 5, the lower extreme of loose axle 6 pass through the screw thread with vacuum chuck upper plate 22 is connected, the cover has compression state in the 6 outside of loose axle spring 20, spring 20's both ends butt is in on the opposite face of vacuum chuck upper plate 22 and linear bearing 7's ring flange. This reset assembly design of four corners departments, firstly play the cushioning effect, prevent that pressure is too big, guarantee to adsorb the packing force again exactly, guarantee the operation that resets after adsorbing in addition exactly.
A use method of the multipurpose clamping jaw mechanism comprises the following working modes:
in the first mode, when the material taking device is used as a single sucker, a clamping jaw assembly is detached, the clamping jaw assembly is connected to the tail end of a robot through a robot mounting plate 1, then the clamping jaw assembly moves to a material taking position, the tail end posture of the robot is adjusted, the vacuum sucker upper plate 22 and the vacuum sucker lower plate 23 gradually press materials to be taken and are over-pressed for a certain distance, then a vacuum generator assembly 4 acts to suck the materials, and finally the robot moves to carry or assemble the materials to a preset position; for example, when the material is a film, the film 25 is placed on the carrier 24, the carrier 24 is located right below the vacuum chuck lower plate 23, the suction and transfer operations of the film 25 can be realized through the chuck assembly, and the carrier 24 is kept at the original position to realize the storage and support operations of the material.
In the second mode, the chuck assembly is used as a single clamping jaw, is detached and is connected to the tail end of the robot through the robot mounting plate 1; firstly, a piston rod of a driving cylinder 16 is in an extending state, two clamping jaws 15 are far away from each other and then move to a position for taking a product or a carrier, the tail end posture of the robot is adjusted and the robot moves down to a fixed position of a material, a piston rod of a driving cylinder 4 retracts and drives the two clamping jaws 15 to mutually approach and clamp a product or a carrier 24, and then the robot moves to carry or assemble the product or the carrier to a preset position; at this time, the carrier and the products on the carrier can be synchronously transferred to the next station.
Mode three, as compound clamping jaw uses, clamping jaw subassembly and sucking disc subassembly installation are put in place, connect at the robot end through robot mounting panel 1, the piston rod that drives actuating cylinder 16 at first is in stretching out the state, drive two clamping jaws 15 and keep away from each other, then move to getting the thing material position, the terminal gesture of adjustment robot, vacuum chuck upper plate 22 and vacuum chuck lower plate 23 press gradually and wait to get the material and the excessive pressure certain distance, then vacuum generator subassembly 4 action makes the sucking disc absorb the material, then the piston rod that drives actuating cylinder 16 retracts makes two clamping jaws 15 press from both sides tight product or carrier, carry or assemble to preset position through the robot motion at last.
The above-mentioned embodiments are only described in the preferred embodiments of the present invention, but not limited to the scope of the present invention, and various modifications and improvements made by the technical solutions of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (5)
1. A multipurpose gripper mechanism is characterized in that: the robot mounting plate comprises a robot mounting plate (1) and a bearing mounting plate (3), wherein one side of a positioning ring of the robot mounting plate (1) is connected to a terminal flange of a robot, and the bottom surface of the robot mounting plate (1) is connected with the bearing mounting plate (3) through two connecting plates (2);
the clamping jaw type clamping device is characterized in that a bearing (9) is arranged at the central position of the bearing mounting plate (3), the bearing (9) is fixed on the bearing mounting plate (3) through three screws (10), a bearing mounting shaft (11) is mounted inside the bearing (9), the bottom of the bearing mounting shaft is positioned through a clamping spring, a slot is formed in the upper end of the bearing mounting shaft (11), a central connecting rod (12) is mounted at the slot, bearing connecting rods (13) are connected to the two ends of the central connecting rod (12), and clamping jaw components are connected to the two outer side ends of each bearing connecting rod (13);
the vacuum cup is characterized in that two sets of vacuum generator assemblies (4) are arranged on the edges of two sides of the bearing mounting plate (3), a sucker assembly is arranged under the bearing mounting plate (3), the sucker assembly is communicated with the vacuum generator assemblies (4), and the sucker assembly is connected with four corners of the bearing mounting plate (3) through a reset assembly.
2. The multi-purpose gripper mechanism of claim 1, wherein: the clamping jaw assembly comprises two clamping jaws (15) which are symmetrically arranged, the clamping jaws (15) are respectively connected to two outer side ends of the bearing connecting rod (13) through a left clamping jaw connecting plate (19) and a right clamping jaw connecting plate (14), and two sides of the lower sides of the left clamping jaw connecting plate (19) and the right clamping jaw connecting plate (14) are respectively connected with a guide assembly; bearing mounting panel (3) front side is installed and is driven actuating cylinder (16), the piston rod front end that drives actuating cylinder (16) is connected with drive connection panel beating (18), drive connection panel beating (18) through the bolt with left clamping jaw connecting plate (19) link together.
3. The multi-purpose jaw mechanism of claim 2, wherein: the direction subassembly includes linear guide (8) and slider, linear guide (8) are through bolted connection on bearing mounting panel (3), slider bolted connection is in left side clamping jaw connecting plate (19) and right clamping jaw connecting plate (14) downside both sides, the slider with linear guide (8) phase-match is followed linear guide (8) straight reciprocating motion, the outside of linear guide (8) is connected with linear guide dog (17).
4. The multi-purpose jaw mechanism of claim 1, wherein: the sucking disc subassembly includes vacuum chuck upper plate (22) and vacuum chuck hypoplastron (23), vacuum chuck upper plate (22) pass through the bolt with vacuum chuck hypoplastron (23) are connected, be equipped with the sealing washer between vacuum chuck upper plate (22) and vacuum chuck hypoplastron (23) binding face, the last inboard of vacuum chuck upper plate (22) is equipped with two inside vacuum adapter (26), and the outside of vacuum chuck upper plate (22) is equipped with two outside vacuum adapter (21), inside vacuum adapter (26), outside vacuum adapter (21) pass through the pipeline respectively with wherein a set of vacuum generator subassembly (4) intercommunication, the four corners of vacuum chuck upper plate (22) with reset subassembly connects.
5. The multi-purpose gripper mechanism according to claim 4, wherein: reset assembly includes loose axle (6), linear bearing (7) and spring (20), four linear bearing (7) are connected the four corners department of bearing mounting panel (3), linear bearing (7) inside registrates loose axle (6), the upper end of loose axle (6) is passed through the bolt and is blocked gasket (5) and be connected, the lower extreme of loose axle (6) pass through the screw thread with vacuum chuck upper plate (22) are connected, loose axle (6) outside cover has compression state spring (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220583997.8U CN217801762U (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220583997.8U CN217801762U (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism |
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| CN217801762U true CN217801762U (en) | 2022-11-15 |
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| CN202220583997.8U Active CN217801762U (en) | 2022-03-17 | 2022-03-17 | Multipurpose clamping jaw mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454205A (en) * | 2022-03-17 | 2022-05-10 | 上海巨灵信息技术股份有限公司 | Multipurpose clamping jaw mechanism and using method thereof |
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2022
- 2022-03-17 CN CN202220583997.8U patent/CN217801762U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454205A (en) * | 2022-03-17 | 2022-05-10 | 上海巨灵信息技术股份有限公司 | Multipurpose clamping jaw mechanism and using method thereof |
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