CN219132351U - Workpiece grabbing device with triaxial compensation mechanism - Google Patents
Workpiece grabbing device with triaxial compensation mechanism Download PDFInfo
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- CN219132351U CN219132351U CN202120128313.0U CN202120128313U CN219132351U CN 219132351 U CN219132351 U CN 219132351U CN 202120128313 U CN202120128313 U CN 202120128313U CN 219132351 U CN219132351 U CN 219132351U
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Abstract
The utility model discloses a workpiece grabbing device with a triaxial compensation mechanism, and belongs to the technical field of automatic equipment. The Z-axis floating compensation cylinder connecting mechanism is connected with the plate, the output end of the Z-axis floating compensation cylinder is connected with the sliding block a, the sliding block a is slidably connected with the guide rail a positioned on the vertical plate, the bottom of the vertical plate is connected with the upper plate, the upper plate is provided with the clamping cylinder a, and the clamping cylinder a is connected with two clamping jaws which are oppositely arranged. The beneficial effects of the utility model are as follows: through the floating compensation on the triaxial, make the tongs adaptation and eliminate the differential volume that exists, accomplish smoothly and snatch the work of placing, strengthen the stability of tongs, realize the accuracy of snatching, set up two sets of clamping mechanism on a manipulator, improve and snatch efficiency, save the beat.
Description
Technical Field
The utility model relates to a workpiece grabbing device with a triaxial compensation mechanism, and belongs to the technical field of automatic equipment.
Background
In the operation of the automobile chassis mounting tray, the chassis with different types or specifications exists, the robot is required to grasp different supporting points and tightening point units, the operation frequency and the number are large in the appointed position of the chassis supporting tray, the problems that the chassis placing platform is uneven, the grasped chassis size is different and the like exist in the actual working environment, and the mechanical gripper cannot smoothly finish the grabbing work of the chassis workpiece.
Disclosure of Invention
In order to overcome the defects in the prior art, the utility model aims to provide the workpiece grabbing device with the triaxial compensation mechanism, which can ensure that grabbing work can be successfully completed.
The technical scheme of the utility model is as follows: a workpiece grabbing device with a triaxial compensation mechanism is characterized in that a connecting flange connecting mechanism is connected with a plate, a Z-axis floating compensation cylinder connecting mechanism is connected with a plate, the output end of the Z-axis floating compensation cylinder is connected with a sliding block a, the sliding block a is slidably connected with a guide rail a located on a vertical plate, the bottom of the vertical plate is connected with an upper plate, a clamping cylinder a is arranged on the upper plate, the clamping cylinder a is connected with two clamping jaws which are oppositely arranged, the top of a T-shaped connecting piece is located between the two clamping jaws, the T-shaped connecting piece is connected with a lower plate, a sliding block b which is slidably connected with a guide rail b is arranged on the lower plate, the guide rail b is located on a middle plate, the sliding block c on the upper plate is slidably connected with a guide rail c, a clamping cylinder b is fixed on the lower plate, and the clamping cylinder b is connected with a clamping jaw through a connecting plate.
A reinforcing connecting plate a is connected between the connecting plate and the clamping claw.
A reinforcing connecting plate b is connected between the vertical plate and the upper plate.
The T-shaped connecting piece is connected to the middle part of the side of the lower plate.
The two Z-axis floating compensation cylinders are symmetrically arranged on the mechanism connecting plate.
The mechanism connecting plate is connected with the industrial robot through a connecting flange.
The beneficial effects of the utility model are as follows: through the floating compensation on the triaxial, make the tongs adaptation and eliminate the differential volume that exists, accomplish smoothly and snatch the work of placing, strengthen the stability of tongs, realize the accuracy of snatching, set up two sets of clamping mechanism on a manipulator, improve and snatch efficiency, save the beat.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
fig. 2 is an enlarged view of a portion of the present utility model.
Reference numerals in the drawings are as follows: 1. the connecting flange, 2, Z-axis floating compensation cylinder, 3, riser, 4, guide rail a,5, upper plate, 6, clamping cylinder a,7, clamping jaw, 8, T-shaped connecting piece, 9, lower plate, 10, guide rail b,11, slider b,12, middle plate, 13, guide rail c,14, slider c,15, clamping cylinder b,16, connecting plate, 17, clamping claw, 18, reinforcing connecting plate a,19, reinforcing connecting plate b,20, mechanism connecting plate.
Detailed Description
The utility model is further described with reference to fig. 1-2:
a workpiece grabbing device with a triaxial compensation mechanism is characterized in that a connecting flange 1 is connected with a connecting plate 20, a Z-axis floating compensation cylinder 2 is connected with a connecting plate 20, the output end of the Z-axis floating compensation cylinder 2 is connected with a sliding block a, the sliding block a is slidingly connected with a guide rail a4 positioned on a vertical plate 3, the bottom of the vertical plate 3 is connected with an upper plate 5, a clamping cylinder a6 is arranged on the upper plate 5, two clamping jaws 7 which are oppositely arranged are connected with the clamping cylinder a6, the top of a T-shaped connecting piece 8 is positioned between the two clamping jaws 7, the T-shaped connecting piece 8 is connected with a lower plate 9, a sliding block b11 slidingly connected with a guide rail b10 is arranged on the lower plate 9, the guide rail b10 is positioned on a middle plate 12, a guide rail c13 is arranged on the sliding block c14 on the upper plate 5 and is slidingly connected with a clamping cylinder b15 on the lower plate 9, and the clamping cylinder b15 is connected with a clamping claw 17 through a connecting plate 16. A reinforcing connecting plate a18 is connected between the connecting plate 16 and the clamping claw 17. A reinforcing connecting plate b19 is connected between the vertical plate 3 and the upper plate 5. The T-shaped connecting piece 8 is connected to the middle part of the side of the lower plate 9. The two Z-axis floating compensation cylinders 2 are symmetrically arranged on the mechanism connecting plate 20. The mechanism connecting plate 20 is connected with the industrial robot through the connecting flange 1.
The working principle of the utility model is as follows:
before clamping the chassis workpiece, the clamping cylinder b15 acts to enable the clamping claw 17 to be in an open state, the Z-axis floating compensation cylinder 2 is decompressed to stop working, the sliding block a and the guide rail a can slide freely, so that floating compensation in the Z-axis direction is achieved when the clamping claw 17 is close to the chassis workpiece, the clamping cylinder a6 drives the clamping jaw 7 to open before clamping the workpiece, the T-shaped connecting piece 8 can move in the X direction and the Y direction between the two clamping jaws 7, namely the clamping claw 17 can move in the X direction and the Y direction, and floating compensation in the X direction and the Y direction is achieved. The mechanical arm drives the device to be close to a chassis workpiece to be clamped, if the clamping claw 17 moves in the Z-axis direction, the sliding block a and the guide rail a relatively move, so that the clamping claw 17 moves in the Z-axis direction for compensation, if the clamping claw 17 has position errors in the X-axis direction and the Y-axis direction, the compensation movement among the guide rail b10, the sliding block b, the guide rail c13 and the sliding block c14 eliminates the position difference between the clamping claw 17 and the chassis workpiece to be clamped, so that the clamping claw 17 can smoothly finish the clamping work of the workpiece, when the clamping claw 17 leaves a workpiece storage position after clamping the workpiece, the clamping cylinder a6 acts, so that the clamping claw 7 holds the T-shaped connecting piece 8 tightly, the clamping claw 17 returns to the initial position in the X, Y axis direction, so that the workpiece is accurately placed, the mechanical arm is symmetrically provided with two clamping claws 17, after the first clamping claw 17 grips the workpiece, the Z-axis floating compensation cylinder 2 acts, the sliding block a is fastened on the guide rail a4, and the mechanical arm rotates 180 degrees, so that the second clamping claw 17 grips the workpiece. After the two clamping claws 17 grab the workpiece, one clamping claw 17 is driven by the mechanical arm to move to the workpiece placement position, the clamping claw 17 which moves to the position is loosened, the workpiece is put down, then the mechanical arm continues to move and simultaneously rotates, the other clamping claw 17 which also clamps the workpiece is operated to the position, and then the clamping claw 17 is loosened, so that the workpiece is put down. Two clamping claws 17 are arranged on one manipulator, so that the grabbing efficiency is improved, and the beat is saved.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.
Claims (6)
1. The utility model provides a work piece grabbing device with triaxial compensation mechanism, its characterized in that flange (1) coupling mechanism links board (20), Z axle floating compensation cylinder (2) coupling mechanism links board (20), and slider a is connected to the output of Z axle floating compensation cylinder (2), slider a sliding connection is located guide rail a (4) on riser (3), riser (3) bottom connection upper plate (5), is equipped with on upper plate (5) and presss from both sides tight cylinder a (6), presss from both sides tight cylinder a (6) and connects two clamping jaw (7) that set up relatively, T type connecting piece (8) top are located two between clamping jaw (7), T type connecting piece (8) are connected with hypoplastron (9), be equipped with slider b (11) with guide rail b (10) sliding connection on hypoplastron (9), guide rail b (10) are located medium plate (12), be equipped with guide rail c (13) on medium plate (12), slider c (14) sliding connection on upper plate (5) is on guide rail c (13), and clamping cylinder b (15) are connected through clamp jaw (17) on hypoplastron (9).
2. Workpiece gripping device with a three-axis compensation mechanism according to claim 1, characterized in that a reinforcing web a (18) is connected between the web (16) and the clamping jaw (17).
3. Workpiece gripping device with a three-axis compensation mechanism according to claim 1, characterized in that a reinforcing web b (19) is connected between the riser (3) and the upper plate (5).
4. Workpiece gripping device with a three-axis compensation mechanism according to claim 1, characterized in that the T-shaped connection piece (8) is connected to the side middle of the lower plate (9).
5. The workpiece gripping device with the three-axis compensation mechanism according to claim 1, wherein two Z-axis floating compensation cylinders (2) are symmetrically arranged on the mechanism connecting plate (20).
6. Workpiece gripping device with a three-axis compensation mechanism according to claim 1, characterized in that the mechanism connection plate (20) is connected to the industrial robot via a connection flange (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120128313.0U CN219132351U (en) | 2021-01-18 | 2021-01-18 | Workpiece grabbing device with triaxial compensation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120128313.0U CN219132351U (en) | 2021-01-18 | 2021-01-18 | Workpiece grabbing device with triaxial compensation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219132351U true CN219132351U (en) | 2023-06-06 |
Family
ID=86598611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120128313.0U Active CN219132351U (en) | 2021-01-18 | 2021-01-18 | Workpiece grabbing device with triaxial compensation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219132351U (en) |
-
2021
- 2021-01-18 CN CN202120128313.0U patent/CN219132351U/en active Active
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