CN220449052U

CN220449052U - Clamping robot

Info

Publication number: CN220449052U
Application number: CN202321828142.8U
Authority: CN
Inventors: 周飞
Original assignee: Hangzhou Esma Automation Technology Co ltd
Current assignee: Hangzhou Esma Automation Technology Co ltd
Priority date: 2023-07-12
Filing date: 2023-07-12
Publication date: 2024-02-06
Anticipated expiration: 2033-07-12

Abstract

The utility model relates to the technical field of clamping devices, in particular to a clamping robot which comprises a clamping mechanism and a traveling mechanism for driving the clamping mechanism to move in a set direction, wherein the clamping assembly comprises a base and clamping plates, the base is driven by the driving assembly to move transversely, a first power piece for driving the clamping plates to move vertically relative to the base is arranged on the base, a stop piece and a second power piece are arranged on the base, the second power piece is used for driving the stop piece to move transversely relative to the base between a avoiding position and a stop position, the stop piece extends out of a clamping surface of the clamping plates at least partially from the lower side of the clamping plates in the stop position, and the stop piece moves away from a vertical moving path of the clamping plates in the avoiding position, so that even if the clamping force of the clamping plates is insufficient, a workpiece can slide downwards, the workpiece is finally blocked by the stop piece is limited to slide downwards continuously so as to prevent the workpiece from falling, and the protection effect is achieved on the workpiece.

Description

Clamping robot

Technical Field

The utility model relates to the technical field of clamping devices, in particular to a clamping robot.

Background

The clamping robot is mainly used for clamping workpieces or products, and then a mechanical device for transferring the clamped workpieces or products, such as a product from a previous station to a next station.

Generally, the clamping robot mainly comprises a travelling mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the travelling mechanism and is driven by the travelling mechanism to move according to a set path; the clamping mechanism is mainly used for clamping the workpiece.

In the related art, the clamping mechanism mainly comprises two clamping plates capable of relatively moving, when the clamping mechanism is used, a workpiece is positioned between the two clamping plates, then the two clamping plates are mutually close to clamp the side walls of the opposite sides of the workpiece in a clamping mode, the workpiece can be transferred through the travelling mechanism. For such a clasping mechanism, reference is specifically made to a condenser clasping mechanism disclosed in patent document publication No. CN 215591976U.

With the clamping mechanism, although clamping of the workpiece can be realized, the clamping mechanism still has defects in use, for example, when two clamping plates clamp the workpiece, especially when some workpieces with smooth side walls are clamped, if the clamping force of the two clamping plates is insufficient, the workpiece can easily slide downwards along the clamping surfaces of the clamping plates under the self weight so as to fall down, and the workpiece is easily broken once falling down, so that improvement is still needed.

Disclosure of Invention

In order to solve at least one technical problem mentioned in the background art, the utility model aims to provide a clamping robot.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a hold and press from both sides robot, includes holding and pressing from both sides the mechanism and be used for driving according to setting for the direction removal running gear, holding and pressing from both sides the mechanism and including two clamping components that set up along horizontal relatively to and be used for driving two clamping components along horizontal mutually close or drive assembly who keeps away from, clamping components includes base and splint, the base by drive assembly drive lateral movement, be equipped with on the base and be used for driving splint for the first power spare of the vertical removal of base, be equipped with backstop spare and second power spare on the base, the second power spare is used for driving the backstop spare and moves along horizontal between dodging position and backstop position for the base, under the backstop position, the backstop spare extends the clamping face of splint from the downside of splint at least part, under dodging the position, the backstop spare moves away from in the vertical travel path of splint.

Compared with the prior art, the scheme has the advantages that:

according to the scheme, the stop piece is arranged, the clamping plates are arranged to be capable of moving vertically, so that after the workpiece is held and clamped by the two clamping plates, the two clamping plates are synchronously moved upwards through the two first power pieces until the lower end of the workpiece is higher than the height of the stop piece, then the stop piece is moved to the stop position, and the stop piece is blocked at the lower side of the workpiece.

Therefore, in the use process, even if the workpiece can slide downwards due to insufficient holding force of the two clamping plates, the lower end of the workpiece can be blocked by the stop piece when the lower end of the workpiece slides downwards to the position of the stop piece due to the existence of the stop piece, so that the workpiece is limited to slide downwards continuously to prevent the workpiece from falling, and the protection effect on the workpiece is achieved.

Preferably, the base comprises a vertically arranged plate portion, and the clamping plate is slidably arranged on the inner side surface of the plate portion.

Preferably, the plate part is provided with a movable groove which transversely penetrates through the plate part, wherein the movable groove extends vertically, the back side of the clamping plate is fixedly connected with a sliding block, the sliding block is arranged in the movable groove in a vertical sliding manner, and the first power piece is connected with the sliding block to drive the sliding block to move vertically.

Preferably, the stop piece comprises a baffle plate horizontally arranged, a yielding groove transversely penetrating through the plate part is formed in the lower side of the plate part, the baffle plate is movably arranged in the yielding groove along the transverse direction, and the inner end of the baffle plate does not exceed the inner side surface of the plate part in the yielding position.

Preferably, the clamping surface of the clamping plate is provided with a plurality of convex edges.

Preferably, the rib comprises a strip of glue.

Preferably, the first power piece comprises a first hydraulic cylinder which is vertically and fixedly arranged on the base; and/or the second power piece comprises a second hydraulic cylinder which is transversely and fixedly arranged on the base.

Preferably, the driving assembly comprises a mounting seat and a guide rail which is fixed on the mounting seat and extends transversely, the base is arranged on the guide rail in a sliding manner along the transverse direction, two clamping hydraulic cylinders which are arranged transversely are arranged on the mounting seat, and the output shaft ends of the two clamping hydraulic cylinders face opposite directions and are respectively connected with the two bases.

Preferably, the set direction is a direction horizontally perpendicular to the lateral direction.

Preferably, the travelling mechanism comprises a linear module, and the linear module extends along the set direction to drive the clamping mechanism to move.

Additional advantages and effects of the utility model are set forth in the detailed description and drawings.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the structure of the clamping mechanism of the present utility model;

FIG. 3 is a schematic cross-sectional view of the stopper of the present utility model in the retracted position;

fig. 4 is a schematic cross-sectional view of the stopper of the present utility model in a stopped position.

Detailed Description

The technical solutions of the embodiments of the present utility model will be explained and illustrated below with reference to the drawings of the embodiments of the present utility model, but the following embodiments are only preferred embodiments of the present utility model, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present utility model.

In the following description, directional or positional relationships such as the terms "inner", "outer", "upper", "lower", "left", "right", etc., are presented for convenience in describing the embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the utility model.

Referring to fig. 1-4, the present embodiment provides a clamping robot, which includes a clamping mechanism and a traveling mechanism for driving the traveling mechanism to move in a set direction, where the set direction may be designed according to actual needs, and may be a transverse direction, a direction perpendicular to the transverse direction, an oblique direction, a circumferential direction, and the like, and is not limited herein; for convenience of explanation, this embodiment will be described below by taking a direction in which the set direction is a direction horizontal to the lateral direction as an example.

The traveling mechanism includes a linear module, and the linear module extends along the set direction to drive the clamping mechanism to move, where the linear module may be one or more, for example, two linear modules are specifically shown in this embodiment.

As shown in fig. 1, the linear module 1 may be a screw linear module 1, and the screw linear module 1 mainly includes a screw, a sliding seat 11, a sliding rail, and the like, and the sliding seat 11 is driven to move along the extending direction of the sliding rail by the rotation of the screw, so that the screw linear module 1 has a great number of descriptions and applications in the prior art, and thus, redundant descriptions are not made here. In the embodiment, the sliding rail of the screw linear module 1 extends along the set direction (i.e. the direction horizontal to the transverse direction); the clamping mechanism is integrally arranged on the sliding seat 11 of the screw rod linear module 1.

As shown in FIG. 2, the holding and clamping mechanism comprises two clamping assemblies which are oppositely arranged along the transverse direction, and a driving assembly which is used for driving the two clamping assemblies to be mutually close or far away along the transverse direction.

Because the two clamping assemblies have substantially the same structure, for convenience of explanation, one of the clamping assemblies is taken as an example for specific explanation in this embodiment:

as shown in fig. 2, the clamping assembly includes a base 21 and a clamping plate 22, and the base 21 is driven to move laterally by the driving assembly.

The clamping plate 22 is movably arranged on the base 21, and a first power piece for driving the clamping plate 22 to move vertically relative to the base 21 is arranged on the base 21, which is worth noting that in the two clamping assemblies, the two first power pieces synchronously move in the same direction, and further drive the two clamping plates 22 to synchronously move in the same direction.

The base 21 is provided with a stop member 3 and a second power member, and the second power member is used for driving the stop member 3 to move between the avoidance position and the stop position along the transverse direction relative to the base 21:

in the stop position, reference can be made to the state shown in fig. 4, in which the stop 3 extends at least partly from the underside of the clamping plate 22 beyond the clamping surface of the clamping plate 22, where the clamping surface of the clamping plate 22 is also understood to be the side of the clamping plates 22 on opposite sides.

In the retracted position, the stop 3 is moved away from the vertical movement path of the clamping plate 22, as shown in fig. 3, to ensure that in this position the stop 3 does not block the vertical movement of the clamping plate 22, interfering with the normal vertical movement of the clamping plate 22.

In the initial state, the two clamping plates 22 are in a mutually distant position (the mutually distant position is understood to mean that the distance between the two clamping plates 22 is enough for the workpiece to be put in), as shown in fig. 3, and the two stopping pieces 3 are in the avoiding positions, and the two clamping plates 22 are in the lower side positions, preferably the lower ends of the clamping plates 22 extend out of the lower end of the base 21.

In the initial state, clamping is started, specifically, the workpiece is located between the two clamping plates 22, then the driving assembly drives the two clamping assemblies to be mutually close along the transverse direction, at the moment, the two clamping plates 22 are mutually close to move, and finally the two clamping plates 22 are respectively clamped on two sides of the workpiece.

Then, the two first power parts drive the two clamping plates 22 to synchronously move vertically upwards, so that the two clamping plates 22 hold the workpiece to lift upwards until the lower end of the workpiece is higher than the height of the stop piece 3.

Finally, the two second power parts drive the two stopping parts 3 to transversely move to the stopping positions, and the two stopping parts 3 are positioned at the lower side positions of the workpieces in the state shown in fig. 4.

Thus, in the use process, even if the clamping force of the two clamping plates 22 is insufficient to enable the workpiece to slide downwards, due to the existence of the stop piece 3, the lower end of the workpiece can be blocked by the stop piece 3 when the workpiece slides downwards to the position of the stop piece 3, so that the workpiece is limited to slide downwards continuously to prevent the workpiece from falling off, and the protection effect on the workpiece is achieved.

In order to enable the base plate to move vertically relative to the base 21, in this embodiment, as shown in fig. 2, the base 21 includes a vertically disposed plate portion 211, and the clamping plate 22 is slidably disposed on an inner side surface of the plate portion 211 such that the clamping plate 22 can move vertically along the inner side surface of the plate portion 211. The inner side of the plate portion 211 is herein understood to be the side of the plate portion 211 on the opposite side.

The plate portion 211 is provided with a movable groove 212 which transversely penetrates through the plate portion 211, wherein the movable groove 212 extends vertically, a sliding block 221 is fixedly connected to the back side of the clamping plate 22, and the sliding block 221 is arranged in the movable groove 212 in a vertically sliding manner.

The first power piece is connected with the sliding block 221 to drive the sliding block 221 to move vertically, wherein the first power piece can adopt a first hydraulic cylinder 4; the upper end of the plate portion 211 is bent outwards to form a first connecting portion 214, the first hydraulic cylinder 4 is vertically and fixedly mounted on the first connecting portion 214, the output shaft end of the first hydraulic cylinder is fixedly connected with the sliding block 221, the sliding block 221 is driven to vertically move through telescopic action of the first hydraulic cylinder 4, and then the clamping plate 22 is pulled to vertically move.

The stop member 3 includes a baffle plate 31 horizontally disposed, a relief groove 213 transversely penetrating the plate portion 211 is disposed at a lower side of the plate portion 211, the baffle plate 31 is movably disposed in the relief groove 213 in a transverse direction, and in the relief position, an inner end of the baffle plate 31 does not exceed an inner side surface of the plate portion 211, and preferably, the inner end of the baffle plate 31 is disposed in the relief groove 213.

Wherein the second power member comprises a second hydraulic cylinder 5; the lower end of the plate 211 is bent outwards to form a second connecting part 215, the second hydraulic cylinder 5 is transversely and fixedly arranged on the second connecting part 215, the output shaft end of the second hydraulic cylinder is fixedly connected with the stop piece 3, and the stop piece 3 is driven to transversely move through the telescopic action of the second hydraulic cylinder 5.

In order to increase the friction force of the clamping plate 22 when clamping the workpiece, as shown in fig. 2, a plurality of ribs 222 are provided on the clamping surface of the clamping plate 22, wherein the ribs 222 preferably include a plurality of adhesive strips, for example, adhesive strips, each adhesive strip is vertically and sequentially arranged, and each adhesive strip is horizontally arranged.

In this embodiment, as shown in fig. 1, the driving assembly includes a mounting seat 61 and a guide rail 62 fixed on the mounting seat 61 and extending in a transverse direction, wherein the mounting seat 61 is fixedly mounted on the slide 11 of the screw linear module 1, and is driven by the screw linear module 1 to move along a set direction.

The base 21 is arranged on the guide rail 62 in a sliding manner along the transverse direction; the mounting seat 61 is provided with two clamping hydraulic cylinders 63 which are transversely arranged, and output shaft ends of the two clamping hydraulic cylinders 63 face opposite directions and are respectively connected with the two bases 21, namely one clamping hydraulic cylinder 63 corresponds to one base 21.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. The utility model provides a hold and press from both sides robot, includes holding and pressing from both sides the mechanism and be used for driving according to setting for the direction removal running gear, holding and pressing from both sides the mechanism and including two clamping components that set up along horizontal relatively to and be used for driving two clamping components along horizontal mutually close or drive assembly who keeps away from, a serial communication port, clamping components includes base and splint, the base by drive assembly drive lateral movement, be equipped with on the base and be used for driving splint for the first power spare of base vertical movement, be equipped with backstop spare and second power spare on the base, the second power spare is used for driving the backstop spare and moves along horizontal between dodging position and backstop position for the base, under the backstop position, the backstop spare extends the clamp face of splint from the downside of splint at least part, dodges under the position, the backstop spare moves away from the vertical travel path of splint.

2. The clasping robot of claim 1 wherein the base comprises a vertically disposed plate portion and the clamp plate is slidably disposed on an inner side of the plate portion.

3. The holding and clamping robot according to claim 2, wherein the plate portion is provided with a movable groove which transversely penetrates through the plate portion, the movable groove extends vertically, a sliding block is fixedly connected to the back side of the clamping plate, the sliding block is arranged in the movable groove in a vertically sliding mode, and the first power piece is connected with the sliding block to drive the sliding block to move vertically.

4. The holding and clamping robot according to claim 2, wherein the stop piece comprises a baffle plate horizontally arranged, a yielding groove transversely penetrating through the plate part is formed in the lower side of the plate part, the baffle plate is movably arranged in the yielding groove along the transverse direction, and the inner end of the baffle plate does not exceed the inner side surface of the plate part in the yielding position.

5. The robot of claim 1, wherein the clamping surface of the clamping plate is provided with a plurality of ribs.

6. The clasping robot of claim 5 wherein said ribs comprise glue strips.

7. The clasping robot of claim 1 wherein the first power member comprises a first hydraulic cylinder, the first hydraulic cylinder being vertically fixedly mounted to the base; and/or the second power piece comprises a second hydraulic cylinder which is transversely and fixedly arranged on the base.

8. The holding and clamping robot according to claim 1, wherein the driving assembly comprises a mounting seat and a guide rail fixed on the mounting seat and extending transversely, the base is arranged on the guide rail in a sliding manner transversely, two holding and clamping hydraulic cylinders arranged transversely are arranged on the mounting seat, and output shaft ends of the two holding and clamping hydraulic cylinders face oppositely and are respectively connected with the two bases.

9. The clasping robot of claim 1 wherein the set orientation is a horizontal orientation perpendicular to the lateral orientation.

10. The clasping robot of claim 9, wherein the travel mechanism comprises a linear module that extends in the set direction to drive movement of the clasping mechanism.