CN218052654U - Clamping jaw, manipulator and production line thereof - Google Patents
Clamping jaw, manipulator and production line thereof Download PDFInfo
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- CN218052654U CN218052654U CN202221958426.4U CN202221958426U CN218052654U CN 218052654 U CN218052654 U CN 218052654U CN 202221958426 U CN202221958426 U CN 202221958426U CN 218052654 U CN218052654 U CN 218052654U
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- clamping
- clamping rod
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Abstract
The utility model relates to a product clamping device technical field specifically discloses a clamping jaw, manipulator and production line. The clamping jaw includes mount pad and clamping structure, clamping structure includes sharp driver, first supporting rod and second supporting rod set up relatively, and be provided with the slope on the second supporting rod, the clamping jaw is when the centre gripping product, in first supporting rod and second supporting rod inserted the through-hole of product, then sharp driver drive second supporting rod goes upward and then makes the slope butt between first supporting rod and second supporting rod, make clamping jaw chucking through-hole, make the product firmly by the centre gripping. The manipulator using the clamping jaw has all the advantages of the clamping jaw. The production line using the above described gripping jaws or the above described manipulator has all the advantages of gripping jaws.
Description
Technical Field
The utility model relates to a centre gripping equipment field, in particular to clamping jaw, manipulator and production line thereof.
Background
In an automobile engine production line, mechanical clamping jaws are generally used for transferring the positions of an engine cylinder body and a cylinder cover (product), when the cylinder body or the cylinder cover is approached, the mechanical clamping jaws are opened, and when the clamping jaws correspond to the positions of the cylinder body or the cylinder cover, two opposite jaws are approached to enable the cylinder body or the cylinder cover to be clamped. However, when the clamping jaw is used for clamping a cylinder body or a cylinder cover with larger quality, such as a cylinder body or a cylinder cover, because the holding force provided between the two opposite clamping jaws is limited, and the clamping surfaces of the two clamping jaws are flat, the clamping jaw can slip off when clamping the cylinder body or the cylinder cover, and a production accident is caused.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a clamping jaw, manipulator and production line thereof extrudes each other through first supporting rod and second supporting rod in order to lock engine cylinder body or cylinder cap, has improved the problem of the easy slippage of cylinder body or cylinder cap centre gripping.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a jaw, characterized in that, comprises:
a mounting seat;
clamping structure, fixed connection in the mount pad, clamping structure includes:
the linear driver is arranged on the mounting seat;
the first clamping rod is fixedly connected to the mounting seat; and
the second clamping rod is fixedly connected with the output end of the linear driver, the second clamping rod is arranged beside the first clamping rod, a slope is arranged on the lower portion of the second clamping rod and located below the first clamping rod, and the thickness of the slope is gradually increased from top to bottom.
Preferably, the first clamping rod and the second clamping rod are both semi-cylindrical rods, and the side planes of the first clamping rod and the second clamping rod are oppositely arranged.
Preferably, the bottom surface of the first clamping rod protrudes downwards to form a first smooth curved surface, and the first smooth curved surface is tangent to the side curved surface of the first clamping rod;
the bottom surface of the second clamping rod protrudes downwards to form a second smooth curved surface, and the second smooth curved surface is tangent to the side curved surface of the second clamping rod.
Preferably, the upper portion of the slope is obliquely arranged, and the lower portion of the slope is connected with the second smooth curved surface.
Preferably, the linear actuator is a pneumatic cylinder.
Preferably, the clamping structure further comprises a sleeve, and the sleeve is fixedly connected to the mounting seat; the output shaft of the linear driver is arranged in the sleeve, the first clamping rod is fixedly connected to the inner wall of the sleeve, the first clamping rod penetrates through the sleeve and extends downwards, the second clamping rod is arranged in the inner cavity of the sleeve, and the second clamping rod penetrates through the sleeve and extends downwards; the inner cavity of the sleeve is provided with a spring, and one end of the spring abuts against the second clamping rod.
Preferably, at least two of the clamping structures are provided.
The utility model also discloses a manipulator, include:
a base;
the main body is rotatably connected to the base;
the clamping jaw is arranged on the main body.
Preferably, the manipulator includes first sensor, second sensor and controller, first sensor and second sensor all are used for responding to the relative position of product and clamping jaw, the main part is provided with five joints, the controller respectively with first sensor, second sensor with the main part communication connection.
The utility model also discloses a produce the line, should produce the line and include foretell clamping jaw or foretell manipulator.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model provides a pair of clamping jaw through the upward movement of linear actuator drive second supporting rod for the first supporting rod of slope butt of second inclined plane department, and then make the inseparable butt of first supporting rod and second supporting rod in the through-hole of engine cylinder body or cylinder cap, make centre gripping engine cylinder body or cylinder cap that the clamping jaw can be stable.
In addition, set up first supporting rod and second supporting rod into the semicylinder pole, increase the area of contact between supporting rod and cylinder body or the cylinder cap through-hole for the centre gripping is more stable, avoids first supporting rod and second supporting rod to scrape colored through-hole at centre gripping cylinder body or cylinder cap in-process simultaneously. The bottom surfaces of the first clamping rod and the second clamping rod are set to be smooth curved surfaces, so that the first clamping rod and the second clamping rod can smoothly enter the cylinder body or the cylinder cover through hole, and the first clamping rod and the second clamping rod can be prevented from scraping the flower through hole in the process of clamping the cylinder body or the cylinder cover. The lower part of the slope is connected with the second smooth curved surface, so that the second clamping rod can be conveniently processed and produced. The cylinder is selected as the driver, and the structure is simple and easy to replace and maintain. Through setting up sleeve and spring cooperation second supporting rod that resets, do not need the cylinder to make the action once more, the energy saving. Through setting up two at least clamping structure for more stable when centre gripping cylinder body or cylinder cap.
The utility model also discloses a manipulator, this manipulator include foretell clamping jaw to possess all advantages of clamping jaw. The manipulator responds to the relative position of the clamping jaw and the cylinder body or the cylinder cover by arranging the first sensor and the second sensor, and the controller controls the main body to do corresponding actions according to the relative position, so that the manipulator can accurately clamp the cylinder body or the cylinder cover.
The utility model also discloses a produce the line, should produce the line and include foretell clamping jaw or manipulator, should produce all advantages that the line has clamping jaw or manipulator.
Drawings
Fig. 1 is a schematic view of a first viewing angle structure of a clamping jaw according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
fig. 3 is a schematic view illustrating a clamping principle of a clamping jaw according to an embodiment of the present invention;
fig. 4 is a schematic view of a second view angle of the clamping jaw according to an embodiment of the present invention;
fig. 5 is an exploded view of a clamping structure according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a manipulator according to an embodiment of the present invention.
Description of the main element symbols: 1-robot, 10-gripper, 110-mount, 120-gripping structure, 1210-linear actuator, 1220-first gripping rod, 1221-first smooth curve, 1230-second gripping rod, 1231-ramp, 1232-second smooth curve, 1240-gap, 1250-sleeve, 1251-spring, 20-base, 30-body, 40-first sensor, 50-second sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in the present invention can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Moreover, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific type and configuration may or may not be the same), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
The technical solution of the present invention will be further described with reference to the following examples and drawings.
The products mentioned in the utility model are the cylinder body or the cylinder cover of the engine mentioned in the background art as the work piece with the through hole, and the product outline is used in the specification.
Examples
Referring to fig. 1-5, the clamping jaw 10 of the present invention includes a mounting base 110 and a clamping structure 120, wherein the clamping structure 120 is fixedly connected to the mounting base 110. The gripping structure 120 includes a linear actuator 1210, a first gripping bar 1220, and a second gripping bar 1230. The linear actuator 1210 is installed on the mounting base 110, the first clamping rod 1220 is fixedly connected to the mounting base 110, the second clamping rod 1230 is relatively disposed beside the first clamping rod 1220, a certain gap 1240 is formed between the first clamping rod 1220 and the second clamping rod 1230, and the output end of the second clamping rod 1230 is fixedly connected to the linear actuator 1210 and driven by the linear actuator 1210 to move up and down. The lower portion of the second clamping rod 1230 is provided with a slope 1231, and the slope 1231 is disposed below the first clamping rod 1220, and the thickness of the slope is gradually increased from top to bottom. When the linear driver 1210 drives the second clamping bar 1230 up, the ramp 1231 abuts the first clamping bar 1220. When the clamping jaw 10 clamps a product, the first clamping rod 1220 and the second clamping rod 1230 are inserted into the same through hole, the linear driver 1210 drives the second clamping rod 1230 to ascend, the second clamping rod 1230 ascends to drive the slope 1231 to ascend, so that the gap 1240 between the first clamping rod 1220 and the second clamping rod 1230 is increased, and the wall surfaces of the first clamping rod 1220 and the second clamping rod 1230 are tightly abutted to the through hole of the product, so that the product is clamped, and the product slippage is avoided.
It will be appreciated that the ramp 1231 is located within or below the through hole of the product. When the slope 1231 is located in the product through hole, the first clamping rod 1220 and the second clamping rod 1230 abut against a clamping through hole, so that the clamping jaw 10 can stably clamp the product. When the slope 1231 is located below the product through hole, the first clamping rod 1220 and the second clamping rod 1230 on the slope 1231 are still located in the through hole, and the sum of the sectional areas of the first clamping rod 1220 and the second clamping rod 1230 on the slope 1231 is greater than the sectional area of the through hole, so that the product is well clamped by the clamping jaw 10 and cannot slip off.
Alternatively, in an embodiment of the present invention, the first clamping rod 1220 and the second clamping rod 1230 may be one of a square rod, a round rod, or other polygonal rod.
Preferably, in an embodiment of the present invention, in order to better fit the inner wall of the through hole, the first clamping rod 1220 and the second clamping rod 1230 are both semi-cylindrical rods. The side planes (the side surfaces of the semi-cylindrical rods comprise a plane and a curved surface, and the plane part is called as the side plane) of the first clamping rod 1220 and the second clamping rod 1230 are oppositely arranged, the shape of the first clamping rod 1220 and the second clamping rod 1230 after combination is matched with the shape of the through hole, the contact area of the first clamping rod 1220 and the second clamping rod 1230 with the inner wall of the through hole of the product is larger, and the product can be clamped more stably.
Meanwhile, the side curved surface of the semi-cylindrical rod is abutted against the inner wall of the through hole, and the joint of the side curved surface and the inner wall of the through hole is not provided with a boundary of a polygonal column, so that the inner wall of the through hole of the product can be prevented from being scraped by the first clamping rod 1220 and the second clamping rod 1230.
When the clamping jaw 10 moves downward to make the first clamping rod 1220 and the second clamping rod 1230 enter the product through hole, the bottoms of the first clamping rod 1220 and the second clamping rod 1230 firstly contact with the upper part of the product, and the bottom surfaces of the first clamping rod 1220 and the second clamping rod 1230 are planes, so if a slight error exists in the positioning process, the first clamping rod 1220 and the second clamping rod 1230 cannot smoothly enter the product through hole in the downward process of the clamping jaw 10.
Preferably, in an embodiment of the present invention, in order to smoothly enter the first clamping rod 1220 and the second clamping rod 1230 into the through hole, a bottom surface of the first clamping rod 1220 protrudes downward to form a first smooth curved surface 1221, and the first smooth curved surface 1221 is tangent to a side curved surface of the first clamping rod 1220; the bottom surface of the second clamping bar 1230 is downwardly convex to form a second smooth curved surface 1232, and the second smooth curved surface 1232 is tangent to the side curved surface of the second clamping bar 1230. When the positioning of the clamping jaws 10 is slightly wrong, the clamped product is squeezed and displaced, so that the first clamping rod 1220 and the second clamping rod 1230 are smoothly inserted into the product through hole.
It is understood that the ramp 1231 may be provided at any position of the second clamping bar 1230 below the first clamping bar 1220.
Preferably, in an embodiment of the present invention, in order to facilitate the processing of the second clamping rod 1230, the slope 1231 is disposed at the lower portion of the second clamping rod 1230, and the lower portion of the slope 1231 is connected to the second smooth curved surface 1232.
Optionally, in an embodiment of the present invention, the linear actuator 1210 is used for driving the first clamping rod 1220 to move up and down, and the linear actuator 1210 may be one of a screw rod, a push rod motor, a linear motor, an air cylinder and a hydraulic cylinder.
Preferably, in an embodiment of the present invention, the linear actuator 1210 is a cylinder, and the cylinder has a simple structure and is easy to maintain.
It will be appreciated that the gripper 10 lifts the second gripping rod 1230 when gripping a product and pushes the second gripping rod 1230 to reset when gripping a placed product.
Preferably, in an embodiment of the present invention, the clamping structure 120 further includes a sleeve 1250.
The sleeve 1250 is fixedly coupled to the mounting block 110, and the output end of the linear actuator 1210 is disposed in the inner cavity of the sleeve 1250, the first clamping bar 1220 is fixedly coupled to the inner wall of the sleeve 1250, the first clamping bar 1220 extends downward through the sleeve 1250, and the second clamping bar 1230 is disposed in the inner cavity of the sleeve 1250 and extends downward through the sleeve 1250. The inner cavity of the sleeve 1250 is provided with a spring 1251, one end of the spring 1251 is fixedly connected with the sleeve 1250, and the other end abuts against the second clamping rod 1230. When the cylinder moves the second clamping rod 1230 up, the spring 1251 is compressed. After placing the product, the second clamping bar 1230 needs to be reset to separate the jaw 10 from the product. The compressed spring 1251 drives the second clamping rod 1230 to reset, so that the air cylinder does not need to make a driving action, and energy is saved.
A plurality of through holes are usually formed in a product (an engine block or a cylinder head), and the through holes are generally formed in four corners and other positions of the product.
Preferably, in an embodiment of the present invention, the holding structure 120 is provided with at least two opposite corners for holding the product, so that the holding is relatively stable.
More preferably, in an embodiment of the present invention, the clamping structures 120 are provided with four, and the four clamping structures 120 respectively correspond to four corners of the product, so that the clamped product is stable.
As shown in fig. 6, the present invention further discloses a manipulator 1, wherein the manipulator 1 includes a base 20, a main body 30 and the clamping jaw 10. The base 20 is used for connecting a rack of a production line, the main body 30 is installed on the base 20, and the clamping jaw 10 is installed on the main body 30.
Preferably, in an embodiment of the present invention, the main body 30 of the robot 1 generally includes five joints, and the multiple degrees of freedom enable the robot 1 to grasp products at various positions.
Preferably, in an embodiment of the present invention, the robot 1 further includes a first sensor 40, a second sensor 50, and a controller. Wherein the first sensor 40 is arranged beside the clamping jaw 10 for sensing the relative position of the clamping jaw 10 and the product, and the second sensor 50 is arranged on the lower surface of the mounting seat 110 for sensing the distance between the clamping jaw 10 and the product. The controller is in communication with the first sensor 40 and the second sensor 50, respectively, for driving the main body 30 to move according to the signals fed back by the first sensor 40 and the second sensor 50.
Preferably, in an embodiment of the present invention, the first sensor 40 is an image sensor, and the second sensor 50 is a distance sensor.
The utility model also discloses a produce the line, should produce the line and include foretell clamping jaw 10 or manipulator 1 to possess clamping jaw 10 or manipulator 1's all advantages.
It is understood that equivalent substitutions or changes can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such changes or substitutions shall fall within the scope of the present invention.
Claims (10)
1. A jaw, characterized in that comprises:
a mounting seat;
clamping structure, fixed connection in the mount pad, clamping structure includes:
the linear driver is arranged on the mounting seat;
the first clamping rod is fixedly connected to the mounting seat; and
the second clamping rod is fixedly connected with the output end of the linear driver, the second clamping rod is arranged beside the first clamping rod, a slope is arranged on the lower portion of the second clamping rod and located below the first clamping rod, and the thickness of the slope is gradually increased from top to bottom.
2. The clamping jaw according to claim 1, wherein the first clamping bar and the second clamping bar are each semi-cylindrical bars, and the side planes of the first clamping bar and the second clamping bar are oppositely disposed.
3. A jaw as claimed in claim 1 or 2, characterized in that the bottom surface of the first clamping bar is downwardly convex forming a first smooth curved surface which is tangential to the side curved surface of the first clamping bar;
the bottom surface of the second clamping rod protrudes downwards to form a second smooth curved surface, and the second smooth curved surface is tangent to the side curved surface of the second clamping rod.
4. A jaw according to claim 3, characterized in that said upper ramp portion is arranged obliquely and said lower ramp portion is connected to said second smoothly curved surface.
5. A jaw as claimed in claim 3, characterized in that said linear actuator is a pneumatic cylinder.
6. A jaw as claimed in claim 5, wherein said clamp structure further comprises a sleeve fixedly connected to said mount; the output shaft of the linear driver is arranged in the sleeve, the first clamping rod is fixedly connected to the inner wall of the sleeve, the first clamping rod penetrates through the sleeve and extends downwards, the second clamping rod is arranged in the inner cavity of the sleeve, and the second clamping rod penetrates through the sleeve and extends downwards; the inner cavity of the sleeve is provided with a spring, and one end of the spring abuts against the second clamping rod.
7. A jaw as claimed in claim 6, characterized in that said gripping structure is provided in at least two.
8. A manipulator, comprising:
a base;
the main body is rotatably connected to the base;
a jaw as claimed in any of claims 1 to 7, mounted to the body.
9. The robot of claim 8, comprising a first sensor, a second sensor and a controller, wherein the first sensor and the second sensor are each adapted to sense the relative position of a product and a jaw, wherein the body is provided with five joints, and wherein the controller is in communication with the first sensor, the second sensor and the body, respectively.
10. A production line comprising a gripper as claimed in any one of claims 1 to 7 or a robot as claimed in any one of claims 8 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221958426.4U CN218052654U (en) | 2022-07-27 | 2022-07-27 | Clamping jaw, manipulator and production line thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221958426.4U CN218052654U (en) | 2022-07-27 | 2022-07-27 | Clamping jaw, manipulator and production line thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218052654U true CN218052654U (en) | 2022-12-16 |
Family
ID=84401927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221958426.4U Active CN218052654U (en) | 2022-07-27 | 2022-07-27 | Clamping jaw, manipulator and production line thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218052654U (en) |
-
2022
- 2022-07-27 CN CN202221958426.4U patent/CN218052654U/en active Active
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