CN218082775U - Push type robot grabbing device - Google Patents
Push type robot grabbing device Download PDFInfo
- Publication number
- CN218082775U CN218082775U CN202221352139.9U CN202221352139U CN218082775U CN 218082775 U CN218082775 U CN 218082775U CN 202221352139 U CN202221352139 U CN 202221352139U CN 218082775 U CN218082775 U CN 218082775U
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- guide
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- seat
- clamping
- type robot
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- 238000003825 pressing Methods 0.000 claims abstract description 29
- 210000000078 claw Anatomy 0.000 claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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Abstract
The utility model discloses a push type robot grabbing device, be in including pressing from both sides tight base, setting press from both sides the three radial motion's of tight base upper end outer lane flexible claw seat, fix the clamping jaw in every flexible claw seat upper end, and fix press from both sides the elastic pressure plate subassembly at tight base upper end middle part. The gripping device of the utility model effectively solves the problems of accuracy and reliability when the robot grips the workpiece; the gripping device of the utility model effectively eliminates the displacement problem and the steering problem when clamping the workpiece; the utility model discloses grabbing device's clamping jaw structure's improvement has expanded the function and the range of application of robot tongs.
Description
Technical Field
The utility model relates to a push type robot grabbing device belongs to machining technical field.
Background
Parts are processed on an automatic production line, and workpieces are generally grabbed or placed from positions such as a material box, a clamping workbench, a machine tool workbench, a reversing workbench and the like through a gripper device at the front end of a robot, so that normal production is realized. However, in the practical application process, because the clamping center formed by the 3 clamping jaws at the front end of the robot is not coaxial with the workpiece center, and the telescopic motion of the cylinder driving the 3 clamping jaws to clamp is unstable, the accumulation of the two factors causes that the clamping jaw closer to the workpiece firstly touches the workpiece to cause the workpiece to displace or rotate in the clamping process, so that the workpiece clamped by the gripper at the front end of the robot is different from the original position, the position precision of the subsequently processed workpiece is unqualified, and the problem of clamping centering cannot be solved.
A traditional method for grabbing a workpiece by a robot to eliminate displacement rotation is characterized in that clamping jaws for clamping the workpiece at the front end of a manipulator are designed into a pair of (2-jaw) V-shaped blocks, the method has the advantage that the center of the workpiece can be automatically aligned during clamping, and the defects that the clamping force is small and easy to slip, and a 30KG heavy object cannot be grabbed due to the fact that the V-shaped blocks are in line contact; despite the increased clamping power and anti-slip pads sought in practice, the problem of slip clamping heavy workpieces has remained unsolved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the grabbing device of robot manipulator front end when snatching the work piece, can ensure that the centre gripping in-process does not shift to the work piece that neutrality is good, the centre gripping work piece does not rotate, centre gripping 30KG is heavy not skidded. Therefore, the push type robot gripping device is required to be provided on the basis of three claws at the front end of the manipulator.
The utility model aims at realizing through the following technical scheme:
the utility model discloses a push type robot grabbing device, be in including pressing from both sides tight base, setting press from both sides the flexible claw seat of the three radial motion of tight base upper end outer lane, fix the clamping jaw in every flexible claw seat upper end, and fix the elasticity clamp plate subassembly at tight base upper end middle part of clamp.
The elastic pressing plate assembly comprises a connecting plate, a guide seat, a pressure spring, a guide rod and a pressing plate;
the guide seat consists of an upper end plate with a guide hole in the middle and a side plate with a screw hole at the lower end part;
the upper end of the guide rod is a polished rod section with the diameter matched with that of the guide hole of the upper end plate of the guide seat, and the lower end part of the guide rod radially extends to form a limiting table;
the lower plate surface of the connecting plate is fixed in the middle of the upper end of the clamping base, a group of guide seats uniformly distributed in the circumferential direction are fixed on the upper plate surface of the connecting plate, guide rods are respectively inserted into the upper plate of each guide seat through guide holes, the upper end of each guide rod is fixed with the lower plate surface of the pressing plate, and the pressure spring is sleeved on the side wall of each guide rod between the pressing plate and the upper plate of the guide seat.
The telescopic claw seat is controlled to move in the radial direction by the air cylinder.
The clamping jaw is characterized in that a deformation groove is formed in the clamping surface on the inner side of the clamping jaw, and when a large clamping force is applied, the clamping jaw generates elastic deformation through the deformation groove, so that the clamping jaw is prevented from being broken.
The lower end of the clamping jaw is connected with the upper end of the telescopic jaw seat through a key structure, and the thrust is transmitted between the clamping jaw and the telescopic jaw seat through the key structure.
Working process
The gripping device is fixed on the mechanical arm, when a workpiece is gripped, the mechanical arm controls the gripping device to move to a position right above the workpiece, and then the gripping device is controlled to move downwards, so that the elastic pressure plate assembly is firstly contacted with the workpiece, and a pressing plate of the elastic pressure plate assembly compresses the pressure spring backwards to press the workpiece in the vertical direction; then, three clamping jaws fixed on the telescopic jaw seat are controlled by the cylinder to be folded inwards in the radial direction, so that the workpiece is clamped in the horizontal direction; after the mechanical arm is lifted, the workpiece is clamped by the pressing plate and the clamping jaw in the grabbing device. When the grabbed workpiece needs to be conveyed to the designated position of the placing plane, the mechanical arm controls the grabbing device to convey the lower end of the workpiece to be in contact with the designated position of the placing plane, and the three clamping jaws are controlled to radially expand outwards through the air cylinder under the condition that the elastic pressing plate assembly is kept in a compressed state, so that the workpiece cannot be displaced or rotated in the expanding process of the clamping jaws; and finally, controlling the gripping device to vertically move upwards by the mechanical arm until the elastic pressing plate assembly is separated from the workpiece.
Advantageous effects
The gripping device of the utility model effectively solves the problems of accuracy and reliability when the robot grips the workpiece; the gripping device of the utility model effectively eliminates the displacement problem and the steering problem when clamping the workpiece; the utility model discloses grabbing device's clamping jaw structure's improvement has expanded the function and the range of application of robot tongs.
Drawings
Fig. 1 is a three-dimensional structure diagram of the gripping device of the present invention;
in the figure, 1-pressing plate; 2-clamping the base; 3-a guide rod; 4, pressing a spring; 5-a guide seat; 6-connecting plates; 7-a clamping jaw; 8-telescopic claw seat.
Detailed Description
The following detailed description of the present invention is made with reference to the accompanying drawings and examples.
Examples
As shown in fig. 1, the utility model discloses a push type robot grabbing device, be in including pressing from both sides tight base 2, setting press from both sides the flexible claw seat 8 of the three radial motion of tight base 2 upper end outer lane, fix the clamping jaw 7 in every flexible claw seat 8 upper end, and fix press from both sides the elastic pressure plate subassembly at tight base 2 upper end middle part.
The elastic pressing plate assembly comprises a connecting plate 6, a guide seat 5, a pressure spring 4, a guide rod 3 and a pressing plate 1;
the guide seat 5 consists of an upper end plate with a guide hole in the middle and a side plate with a screw hole at the lower end;
the upper end of the guide rod 3 is a polished rod section with the diameter matched with that of the guide hole of the upper end plate of the guide seat 5, and the lower end part of the guide rod 3 radially extends to form a limit table;
the lower plate surface of the connecting plate 6 is fixed to the middle of the upper end of the clamping base 2, a group of guide seats 5 which are uniformly distributed circumferentially are fixed to the upper plate surface of the connecting plate 6, guide rods 3 are respectively inserted into the upper plate of each guide seat 5 through guide holes, the upper ends of the guide rods 3 are fixed to the lower plate surface of the pressing plate 1, and pressure springs 4 are sleeved on the side walls of the guide rods 3 between the pressing plate 1 and the upper plate surfaces of the guide seats 5.
The telescopic claw seat 8 controls the radial movement thereof through an air cylinder.
The clamping jaw 7 is characterized in that a deformation groove is formed in the inner clamping surface of the clamping jaw 7, and when a large clamping force is applied, the clamping jaw 7 generates elastic deformation through the deformation groove, so that the clamping jaw is prevented from being broken.
The lower end of the clamping jaw 7 is connected with the upper end of the telescopic jaw seat 8 through a key structure, and thrust is transmitted between the clamping jaw 7 and the telescopic jaw seat 8 through the key structure.
Working process
The grabbing device is fixed on a mechanical arm, when a workpiece is grabbed, the mechanical arm controls the grabbing device to move to a position right above the workpiece, and then the grabbing device is controlled to move downwards, so that the elastic pressing plate assembly is firstly contacted with the workpiece, and the pressing plate 1 of the elastic pressing plate assembly compresses the pressing spring 4 backwards, and the workpiece is pressed in the vertical direction; then, three clamping jaws 7 fixed on a telescopic jaw seat 8 are controlled by a cylinder to be folded inwards in the radial direction, so that the workpiece is clamped in the horizontal direction; after the robot arm is lifted, the workpiece is clamped in the gripping device by the pressing plate 1 and the clamping jaws 7. When a gripped workpiece needs to be conveyed to a specified position of a placing plane, the mechanical arm controls the gripping device to convey the lower end of the workpiece to be in contact with the specified position of the placing plane, and the three clamping jaws 7 are controlled to radially expand outwards through the air cylinder under the condition that the elastic pressing plate assembly is kept in a compressed state, so that the workpiece is prevented from being displaced or rotated in the expansion process of the clamping jaws; and finally, controlling the grabbing device to vertically move upwards by the mechanical arm until the elastic pressing plate assembly is separated from the workpiece.
Claims (5)
1. The utility model provides a push type robot grabbing device which characterized by: including pressing from both sides tight base, setting up press from both sides the flexible claw seat of the three radial motion of tight base upper end outer lane, fix the clamping jaw in every flexible claw seat upper end, and fix the elastic pressure plate subassembly of tight base upper end middle part presss from both sides.
2. The push type robot gripping device of claim 1, wherein: the elastic pressing plate assembly comprises a connecting plate, a guide seat, a pressure spring, a guide rod and a pressing plate;
the guide seat consists of an upper end plate with a guide hole in the middle and a side plate with a screw hole at the lower end part;
the upper end of the guide rod is a polished rod section with the diameter matched with that of the guide hole of the upper end plate of the guide seat, and the lower end part of the guide rod radially extends to form a limiting table;
the lower plate surface of the connecting plate is fixed in the middle of the upper end of the clamping base, a group of guide seats uniformly distributed in the circumferential direction are fixed on the upper plate surface of the connecting plate, guide rods are respectively inserted into the upper plate of each guide seat through guide holes, the upper end of each guide rod is fixed with the lower plate surface of the pressing plate, and the pressure spring is sleeved on the side wall of each guide rod between the pressing plate and the upper plate of the guide seat.
3. The press type robot gripping device as claimed in claim 1 or 2, wherein: the telescopic claw seat is controlled to move in the radial direction by the air cylinder.
4. The press type robot gripping device according to claim 1 or 2, wherein: the clamping surface of the inner side of the clamping jaw is provided with a deformation groove.
5. The press type robot gripping device as claimed in claim 1 or 2, wherein: the lower end of the clamping jaw is connected with the upper end of the telescopic jaw seat through a key structure, and the thrust is transmitted between the clamping jaw and the telescopic jaw seat through the key structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221352139.9U CN218082775U (en) | 2022-05-31 | 2022-05-31 | Push type robot grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221352139.9U CN218082775U (en) | 2022-05-31 | 2022-05-31 | Push type robot grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218082775U true CN218082775U (en) | 2022-12-20 |
Family
ID=84461494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221352139.9U Expired - Fee Related CN218082775U (en) | 2022-05-31 | 2022-05-31 | Push type robot grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218082775U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781242A (en) * | 2023-01-06 | 2023-03-14 | 赫比(苏州)通讯科技有限公司 | Motor press-mounting device |
-
2022
- 2022-05-31 CN CN202221352139.9U patent/CN218082775U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781242A (en) * | 2023-01-06 | 2023-03-14 | 赫比(苏州)通讯科技有限公司 | Motor press-mounting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221220 |