CN217801778U

CN217801778U - Clamp and robot

Info

Publication number: CN217801778U
Application number: CN202221834946.4U
Authority: CN
Inventors: 詹达宇; 赵甸忠; 黄华
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-11-15
Anticipated expiration: 2032-07-15

Abstract

The utility model discloses an anchor clamps and robot, anchor clamps include: the clamping assembly comprises a clamping jaw cylinder and a gripper, the gripper comprises two clamping arms, the two clamping arms are oppositely arranged and are respectively connected with two clamping jaws of the clamping jaw cylinder, and a clamping cavity is formed between the two clamping arms; the damping assembly is located on one side, away from the gripper, of the clamping jaw air cylinder and comprises a connecting plate, a hanging rod, a sleeve and an elastic piece, the connecting plate is connected with one end of the hanging rod, the sleeve is located at the other end of the hanging rod and is slidably sleeved outside the hanging rod, the sleeve is connected with the clamping jaw air cylinder, the elastic piece is located between the connecting plate and the clamping jaw air cylinder, and two ends of the elastic piece are respectively abutted to the connecting plate and the sleeve. The utility model discloses elastic component among the anchor clamps can play the cushioning effect, both can avoid producing wearing and tearing because of vibrations between work piece and the anchor clamps, can avoid anchor clamps to damage again, prolongs the life of anchor clamps.

Description

Clamp and robot

Technical Field

The utility model relates to the technical field of robot, in particular to anchor clamps and robot.

Background

The mode of present production line automatic feeding robot's anchor clamps drive tongs can be divided into three kinds: the clamp of the hydraulic driving gripper consists of a hydraulic motor, a servo valve, an oil pump and an oil tank, and the hydraulic motor drives the gripper to clamp a workpiece; the clamp of the electric drive gripper comprises a servo motor, a speed reducer and the like, and the servo motor drives the gripper to clamp a workpiece; the clamp of the pneumatic driving gripper consists of an air cylinder, an air valve, an air tank and an air compressor, and the air cylinder drives the gripper to clamp a workpiece. The hydraulic driving gripper has high pressure, high system cost, troublesome maintenance and large integral volume, and needs to work in a sufficiently spacious place; the electric drive tongs are high in cost and troublesome to maintain, and the air pressure drive tongs have the advantage of low cost, so that most automatic feeding robots of the existing production line adopt clamps of the air pressure drive tongs. However, the tongs of anchor clamps have the problem of vibrations at the in-process of the tight work piece of clamp among the present material loading robot, not only cause the work piece wearing and tearing easily, but also can cause anchor clamps to damage and lead to anchor clamps life to reduce.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an anchor clamps, the tongs that aim at solving current anchor clamps shakes at the in-process that presss from both sides tight work piece, causes work piece wearing and tearing and anchor clamps to damage, leads to the problem that anchor clamps life reduces.

In order to achieve the above object, the utility model provides an anchor clamps, anchor clamps include:

the clamping assembly comprises a clamping jaw cylinder and a gripper, the gripper comprises two clamping arms, the two clamping arms are oppositely arranged and are respectively connected with two clamping jaws of the clamping jaw cylinder, and a clamping cavity is formed between the two clamping arms; the clamping jaw air cylinder is used for driving the two clamping arms to move towards or away from each other so as to clamp or release the workpiece placed in the clamping cavity;

damping assembly, damping assembly is located the gripper cylinder deviates from one side of tongs, damping assembly includes connecting plate, peg, sleeve and elastic component, the connecting plate with the one end of peg is connected, the sleeve is located the other end of peg and slidable ground cover are located outside the peg, just the sleeve with the gripper cylinder is connected, the elastic component is located the connecting plate with between the gripper cylinder, just the both ends of elastic component respectively with the connecting plate with the sleeve butt.

Preferably, the fixture further comprises a displacement sensor, the displacement sensor is mounted on the connecting plate through a mounting block and located on one side of the elastic member, the sleeve is provided with a detection plate, the detection plate is located between the mounting block and the elastic member, and a sensing end of the displacement sensor faces the detection plate.

Preferably, one end of the hanging rod sleeved in the sleeve is provided with a limiting plate, the inner wall of the sleeve is provided with a limiting step, and the limiting plate is abutted to one side, facing the clamping jaw cylinder, of the limiting step.

Preferably, be formed with installation cavity and spacing chamber that communicate each other in the sleeve, spacing chamber with the installation cavity is along deviating from gripper cylinder's direction arranges in proper order, the installation cavity with the junction in spacing chamber forms spacing step, the chamber wall of installation cavity with peg sliding contact cooperation, the limiting plate stretches into in the spacing intracavity.

Preferably, the limiting plate is connected with the hanging rod through a locking bolt.

Preferably, the elastic element is a spring, and the spring is sleeved outside the hanging rod.

Preferably, an annular flange is arranged outside the sleeve, the annular flange is formed by protruding outwards from the outer wall of the sleeve, and the annular flange is detachably connected with the clamping jaw air cylinder.

Preferably, the clamping jaw cylinder is a parallel cylinder, and the two clamping jaws of the parallel cylinder are detachably connected with the two clamping arms respectively.

Preferably, two ends of each clamping arm are respectively a connecting end and a free end, and the connecting ends are connected with the corresponding clamping jaws; the clamping cavity is formed between the two free ends of the two clamping arms.

The utility model also provides a robot, robot include the manipulator and as above anchor clamps, the manipulator through a connecting seat with the connection can be dismantled to the connecting plate.

The utility model discloses anchor clamps are in the course of the work, and the robot drives anchor clamps through its manipulator and removes work piece department to make the work piece be located the centre gripping intracavity between two tight arms of clamp, two clamping jaws of clamping jaw cylinder move in opposite directions afterwards, and then drive two tight arms of clamp and move in opposite directions and press from both sides the work piece with the centre gripping intracavity tightly. The vibration generated by the gripper of the clamp in the process of clamping a workpiece can be transmitted to the sleeve, the sleeve slides and goes up and down relative to the hanging rod, and the sleeve is buffered under the elastic deformation effect of the elastic piece so as to play a role in damping the clamp and the workpiece. The utility model discloses elastic component among the anchor clamps can play the cushioning effect, both can avoid producing wearing and tearing because of vibrations between work piece and the anchor clamps, can avoid anchor clamps to damage again, prolongs the life of anchor clamps.

Drawings

In order to more clearly illustrate the embodiments of the present invention 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, 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 structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of a fixture according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a clamp according to an embodiment of the present invention;

fig. 3 is an exploded view of a clamp according to an embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name(s)	Reference numerals	Name(s)
				100	Clamp apparatus	231	Limiting step
10	Clamping assembly	232	Mounting cavity
				11	Clamping jaw cylinder	233	Spacing chamber
11a	Parallel cylinder	234	Annular flange
				111	Clamping jaw	24	Elastic piece
12	Gripper	24a	Spring
				121	Clamping arm	30	Displacement sensor
1211	Connecting end	40	Mounting block
				1212	Free end	50	Detection board
1213	Clamping cavity	60	Limiting plate
				20	Shock-absorbing assembly	70	Locking bolt
21	Connecting plate	80	Connecting base
				22	Hanging rod	81	Connecting flange
23	Sleeve barrel

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back \8230;) in the present embodiment are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions in the present application as to "first," "second," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions of the embodiments of the present invention can be combined with each other, but it is necessary to use a person skilled in the art to realize the basis, and when the technical solutions are combined and contradictory to each other or cannot be realized, the combination of the technical solutions should not exist, and is not within the protection scope of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present invention is described in the directions of "up", "down", "front", "back", "left", "right", etc. with reference to the directions shown in fig. 1 and fig. 2, and is only used to explain the relative positional relationship between the components in the postures shown in fig. 1 and fig. 2, and if this specific posture is changed, this directional indication is also changed accordingly.

The utility model provides a clamp 100.

As shown in fig. 1 to 3, a clamping apparatus 100 of the present embodiment includes a clamping assembly 10 and a damping assembly 20, wherein the clamping assembly 10 includes a clamping jaw cylinder 11 and a clamping jaw 12, the clamping jaw 12 includes two clamping arms 121, the two clamping arms 121 are disposed opposite to each other and are respectively connected to two clamping jaws 111 of the clamping jaw cylinder 11, and a clamping cavity 1213 is formed between the two clamping arms 121; the clamping jaw cylinder 11 is used for driving the two clamping arms 121 to move towards or away from each other so as to clamp or release a workpiece placed in the clamping cavity 1213; damping component 20 is located the one side that gripper cylinder 11 deviates from tongs 12, damping component 20 includes connecting plate 21, peg 22, sleeve 23 and elastic component 24, connecting plate 21 is connected with peg 22's one end, sleeve 23 is located the other end of peg 22 and overlaps outside peg 22 is located to the slidable, and sleeve 23 is connected with gripper cylinder 11, elastic component 24 is located between connecting plate 21 and the gripper cylinder 11, and the both ends of elastic component 24 respectively with connecting plate 21 and sleeve 23 butt.

As shown in fig. 1, two clamp arms 121 are connected to the two clamp jaws 111 on the lower side of the clamp jaw cylinder 11, respectively. The shock absorbing assembly 20 is located at an upper side of the jaw cylinder 11. In the damping module 20, the lower side of the connecting plate 21 is connected with the upper end of the hanging rod 22, the sleeve 23 is positioned at the lower end of the hanging rod 22 and slidably sleeved outside the hanging rod 22, the lower end of the sleeve 23 is connected with the upper side of the clamping jaw cylinder 11, the upper end of the elastic element 24 is abutted against the lower side of the connecting plate 21, and the lower end of the elastic element 24 is abutted against the upper end of the sleeve 23.

The utility model discloses an anchor clamps 100 can be applied to the robot, and the manipulator of robot can be connected with the connecting plate 21 of anchor clamps 100 to drive anchor clamps 100 through the manipulator and remove.

The utility model discloses anchor clamps 100 are in the course of the work, and the robot drives anchor clamps 100 through its manipulator and removes work piece department to make the work piece be located the centre gripping chamber 1213 between two clamping arms 121, two clamping jaws 111 relative motion of clamping jaw cylinder 11 afterwards, and then drive two clamping arms 121 relative motion with the work piece clamp tight in the centre gripping chamber 1213. The vibration generated by the gripper 12 of the clamp 100 in the process of clamping the workpiece can be transmitted to the sleeve 23, the sleeve 23 slides and ascends relative to the hanging rod 22, and is buffered under the action of the elastic deformation of the elastic piece 24, so that the clamp 100 and the workpiece are damped. The utility model discloses elastic component 24 among anchor clamps 100 can play the cushioning effect, both can avoid producing wearing and tearing because of vibrations between work piece and the anchor clamps 100, can avoid anchor clamps 100 to damage again, prolongs anchor clamps 100's life.

In one embodiment, the fixture 100 further comprises a displacement sensor 30, the displacement sensor 30 is mounted on the connecting plate 21 by a mounting block 40 and located at one side of the elastic member 24, the sleeve 23 is mounted with a detection plate 50, the detection plate 50 is located between the mounting block 40 and the elastic member 24, and a sensing end of the displacement sensor 30 faces the detection plate 50.

As shown in fig. 1, the mounting block 40 is mounted on the lower side of the connecting plate 21, a gap exists between the mounting block 40 and the elastic member 24, the displacement sensor 30 is mounted on the lower side of the connecting plate 21 through the mounting block 40, the displacement sensor 30 is located on the left side of the elastic member 24, the upper end of the sleeve 23 is provided with the detection plate 50, the detection plate 50 is located between the mounting block 40 and the elastic member 24 and located in the gap, and the sensing end of the displacement sensor 30 faces the detection plate 50.

The utility model discloses a fixture 100 can be applied to the robot, and fixture 100's displacement sensor 30 can be with robot communication connection. The utility model discloses anchor clamps 100 are in the course of the work, and the robot drives anchor clamps 100 through its manipulator and removes, and when the robot drives anchor clamps 100 and breaks down at the in-process that removes, when the clamping jaw cylinder 11 or the clamping arm 121 of anchor clamps 100 collided with ground or other equipment, sleeve 23 upwards slided along the axial direction of peg 22 because of the collision of clamping jaw cylinder 11 or clamping arm 121. The sleeve 23 compresses the elastic member 24 and drives the detection plate 50 to slide upwards in the process of sliding upwards, the displacement of the detection plate 50 sliding upwards is the same as the compression amount of the elastic member 24, and the displacement sensor 30 indirectly senses the compression amount of the elastic member 24 by sensing the displacement of the detection plate 50 sliding upwards. The displacement sensor 30 sends a compression amount signal sensing the elastic element 24 to the robot in real time, the robot judges whether the compression amount of the elastic element 24 exceeds a safety value according to the signal, when the robot judges that the compression amount of the elastic element 24 exceeds the safety value according to the signal, the robot controls the manipulator to stop driving the clamp 100 to move, so that the manipulator is prevented from continuously driving the clamp 100 to move under the condition that a fault occurs, the clamping jaw air cylinder 11 or the clamping arm 121 is continuously collided with the ground or other equipment to cause damage to the clamp 100, the clamp 100 is effectively protected, potential safety hazards are eliminated, and the safety of the clamp 100 is improved.

In an embodiment, a limiting plate 60 is disposed at an end of the hanging rod 22 sleeved in the sleeve 23, a limiting step 231 is formed on an inner wall of the sleeve 23, and the limiting plate 60 is configured to abut against a side of the limiting step 231 facing the clamping jaw cylinder 11.

As shown in fig. 2, the lower end of the hanging rod 22 is provided with the limiting plate 60, the inner wall of the sleeve 23 forms the limiting step 231, the limiting plate 60 abuts against the lower side of the limiting step 231 to limit the sleeve 23 at the lower end of the hanging rod 22, the sleeve 23 can be prevented from sliding out of the lower end of the hanging rod 22, and the structure design is simple, reasonable and compact.

In one embodiment, an installation cavity 232 and a limiting cavity 233 which are communicated with each other are formed in the sleeve 23, the limiting cavity 233 and the installation cavity 232 are sequentially arranged along the direction departing from the clamping jaw cylinder 11, a limiting step 231 is formed at the joint of the installation cavity 232 and the limiting cavity 233, the cavity wall of the installation cavity 232 is in sliding contact fit with the hanging rod 22, and the limiting plate 60 extends into the limiting cavity 233.

As shown in fig. 2, the limiting cavity 233 and the mounting cavity 232 are sequentially arranged in the up-down direction, the mounting cavity 232 is located above the limiting cavity 233, and the wall of the mounting cavity 232 is in sliding contact with the hanging rod 22 to achieve better guiding and limiting effects on the sliding of the sleeve 23, so that the sliding stability of the sleeve 23 is ensured, and the damping effect of the clamp 100 is further improved.

In one embodiment, the retainer plate 60 is connected to the hanger bar 22 by a lock bolt 70. Specifically, as shown in fig. 2, the limiting plate 60 is detachably connected to the lower end of the hanging rod 22 through the locking bolt 70, and when the limiting plate 60 needs to be replaced, the limiting plate 60 can be detached from the hanging rod 22 through the detaching locking bolt 70, so that the device is simple and convenient and is convenient to detach and replace.

In an embodiment, the elastic element 24 is a spring 24a, the spring 24a is sleeved outside the hanging rod 22, and the spring 24a has the advantages of convenient installation and easy material selection, and is beneficial to realizing the damping function of the clamp 100.

In one embodiment, an annular flange 234 is provided outside the sleeve 23, the annular flange 234 is formed to protrude outward from the outer wall of the sleeve 23, and the annular flange 234 is detachably connected to the jaw cylinder 11. The sleeve 23 is connected to the jaw cylinder 11 by the annular flange 234 to make the connection of the sleeve 23 to the jaw cylinder 11 more stable. And annular flange 234 can be dismantled with clamping jaw cylinder 11 and be connected, when needing to change clamping jaw cylinder 11, with clamping jaw cylinder 11 from annular flange 234 dismouting can, simple and convenient, be convenient for dismouting and change.

In one embodiment, the clamping jaw cylinder 11 is a parallel cylinder 11a, and the two clamping jaws 111 of the parallel cylinder 11a are detachably connected to the two clamping arms 121, respectively. The parallel cylinder 11a has advantages of small size and large driving force. The utility model discloses the clamping jaw cylinder 11 of anchor clamps 100 adopts the little parallel cylinder 11a of size, can reduce the whole volume of anchor clamps 100, makes anchor clamps 100 can stretch into constrictive regional tight work piece of clamp, has widened anchor clamps 100's suitable scene, and two tight arms 121 of the big drive power of parallel cylinder 11a of clamp of drive power drive press from both sides the stable clamp of work piece, improves anchor clamps 100's use reliability. Two clamping jaws 111 of parallel cylinder 11a can dismantle with two clamp arms 121 respectively and be connected, when two clamp arms 121 need to be changed, with two clamp arms 121 respectively from two clamping jaws 111 dismouting can, simple and convenient, be convenient for dismouting and change.

In one embodiment, each clamping arm 121 has a connecting end 1211 and a free end 1212, respectively, and the connecting end 1211 is connected to the corresponding clamping jaw 111; in the two clamp arms 121, a clamping chamber 1213 is formed between the two free ends 1212.

As shown in fig. 2, the upper end of each clamping arm 121 is a connecting end 1211, the connecting end 1211 is detachably connected to the corresponding clamping jaw 111, and the lower end of each clamping arm 121 is a free end 1212. In two clamp arms 121, form centre gripping chamber 1213 between two free ends 1212, make centre gripping chamber 1213 keep away from clamping jaw cylinder 11 and set up, when anchor clamps 100 is clamping the work piece, clamping jaw cylinder 11 is kept away from to the work piece in the centre gripping chamber 1213, can avoid work piece and clamping jaw cylinder 11 to take place to interfere, has promoted anchor clamps 100's rationality.

The utility model also provides a robot, this robot includes manipulator and foretell anchor clamps 100, and the manipulator can be dismantled with connecting plate 21 through a connecting seat 80 and be connected. Specifically, the lower end of connecting seat 80 is detachably connected with connecting plate 21 of fixture 100 through a connecting flange 81, and the upper end of connecting seat 80 is detachably connected with the manipulator through another connecting flange 81, so that detachable connection between fixture 100 and the manipulator is realized, and when fixture 100 needs to be replaced, fixture 100 can be disassembled from connecting seat 80 or connecting seat 80 can be disassembled from the manipulator, which is simple and convenient, and is convenient for disassembly and replacement. The specific structure of the clamp 100 refers to the above embodiments, and since the clamp 100 adopts all technical solutions of all the above embodiments, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. A clamp, characterized in that it comprises:

2. The clamp of claim 1, further comprising a displacement sensor mounted to said attachment plate on one side of said resilient member by a mounting block, said sleeve mounting a sensing plate, said sensing plate being positioned between said mounting block and said resilient member, a sensing end of said displacement sensor facing said sensing plate.

3. The clamp according to claim 1, wherein a limiting plate is disposed at one end of the hanging rod sleeved in the sleeve, a limiting step is formed on the inner wall of the sleeve, and the limiting plate is abutted against one side of the limiting step facing the clamping jaw cylinder.

4. The clamp according to claim 3, wherein a mounting cavity and a limiting cavity which are communicated with each other are formed in the sleeve, the limiting cavity and the mounting cavity are sequentially arranged along a direction departing from the clamping jaw cylinder, the limiting step is formed at the joint of the mounting cavity and the limiting cavity, the wall of the mounting cavity is in sliding contact fit with the hanging rod, and the limiting plate extends into the limiting cavity.

5. The clamp of claim 3, wherein the limiting plate is connected with the hanging rod through a locking bolt.

6. The clamp according to any one of claims 1 to 5, wherein the elastic member is a spring, and the spring is sleeved outside the hanging rod.

7. The clamp of any one of claims 1 to 5, wherein an annular flange is provided externally of the sleeve, the annular flange projecting outwardly from an outer wall of the sleeve, the annular flange being releasably connectable to the jaw cylinder.

8. The clamp of any one of claims 1 to 5, wherein the clamping jaw cylinder is a parallel cylinder, and two clamping jaws of the parallel cylinder are detachably connected with two clamping arms respectively.

9. The clamp of any one of claims 1 to 5, wherein each of said clamping arms has an attached end and a free end at each end, said attached ends being attached to respective ones of said clamping jaws; the clamping cavity is formed between the two free ends of the two clamping arms.

10. A robot, characterized in that it comprises a manipulator and a gripper according to any one of claims 1 to 9, said manipulator being detachably connected to said connection plate by means of a connection seat.