CN221160382U - Multifunctional clamping paw - Google Patents
Multifunctional clamping paw Download PDFInfo
- Publication number
- CN221160382U CN221160382U CN202322710170.6U CN202322710170U CN221160382U CN 221160382 U CN221160382 U CN 221160382U CN 202322710170 U CN202322710170 U CN 202322710170U CN 221160382 U CN221160382 U CN 221160382U
- Authority
- CN
- China
- Prior art keywords
- clamping
- paw
- cylinders
- base plate
- welding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 claims abstract description 29
- 238000007667 floating Methods 0.000 claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 23
- 239000000758 substrate Substances 0.000 claims abstract description 23
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002173 cutting fluid Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a multifunctional clamping paw in the technical field of robot paws, which comprises a paw matrix, wherein the paw matrix comprises a welding matrix, floating optical axes are respectively arranged on the left side and the right side of the welding matrix, and pushing cylinders are respectively arranged on the left side and the right side of the welding matrix; the gripper clamping part comprises a clamping substrate, pressing plates are arranged at four corners of the top of the clamping substrate, and lever cylinders are arranged at four corners of the clamping substrate; coarse guide is arranged on the left side and the right side of the top of the clamping substrate, tensioning and pulling-down cylinders are arranged on the left lower side and the right upper side between the two sets of coarse guide, and guide pins are arranged on the left upper side and the right lower side between the two sets of coarse guide; an elastic locating pin is arranged at the left lower corner of the top of the clamping substrate, and a locating column is arranged at the right upper corner of the top of the clamping substrate. According to the utility model, the gripper base body is connected with the sixth shaft of the robot, double-sided clamping and grabbing of the cylinder cover are realized through the gripper clamping part, and the gripper can float within a certain range.
Description
Technical Field
The utility model relates to the technical field of robot claws, in particular to a multifunctional clamping claw.
Background
While global economy rapidly develops, market competition becomes more and more intense, enterprise production realizes high automation to be in a dominant position in economic market competition, in industrial production, requirements on the function types and the use performances of manipulators are gradually increased, and the manipulator can be applied to improve the automation level and the labor productivity of production, lighten the labor intensity, ensure the product quality and realize safe production. Especially in severe working condition environment, it can replace the manual work to carry out normal work.
In the production and processing process of the automobile cylinder cover, the cylinder cover needs to be grabbed and placed by utilizing the robot claw, and the robot claw clamps the cylinder cover to finish the work of feeding and discharging of a machine tool, circulation among working procedures and offline of a production line.
During the machining process of the machine tool, a lot of aluminum scraps and cutting fluid are generated, and the paw is required to have a cleaning function; in the processing technology of the cylinder cover, the top surface and the bottom surface of the cylinder cover are required to be processed, so that a paw is required to grasp the top surface of the cylinder cover and the bottom surface of the cylinder cover, and a workpiece is only clamped by rough positioning as a fine positioning hole is not processed yet in a blank state; the cylinder cover is positioned by the fixture tool on the machine tool, the fixture positioning precision is higher, and the robot precision is lower than the fixture tool precision, so that the paw needs a left-right floating function within a certain range.
Based on this, we propose a multifunctional gripper jaw.
Disclosure of utility model
This section is intended to outline some aspects of embodiments of the utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the utility model and in the title of the utility model, which may not be used to limit the scope of the utility model.
Therefore, the utility model aims to provide a multifunctional clamping paw which can solve the problems that the existing paw is not provided with a floating function and cannot clamp double surfaces.
In order to solve the technical problems, the utility model provides a multifunctional clamping paw, which adopts the following technical scheme: comprising the steps of (a) a step of,
The paw comprises a welding matrix, wherein three floating optical axes are respectively arranged on the left side and the right side of the welding matrix, and two pushing cylinders are respectively arranged on the left side and the right side of the welding matrix;
The gripper clamping part comprises a clamping base plate, pressing plates are arranged at four corners of the top of the clamping base plate, lever cylinders are arranged at four corners of the clamping base plate, and power ends of the lever cylinders are correspondingly connected with the pressing plates;
Coarse guide is arranged on the left side and the right side of the top of the clamping substrate, tensioning and pulling cylinders are arranged on the left lower side and the right upper side between the two groups of coarse guide, and guide pins are arranged on the left upper side and the right lower side between the two groups of coarse guide;
The top lower left corner department of centre gripping base plate is provided with the elasticity locating pin, the top upper right corner department of centre gripping base plate is provided with the reference column.
Through adopting above-mentioned technical scheme, this scheme is installed through the sixth axle connection of paw base member with the robot, through the cooperation of paw clamping part welding floating optical axis on the base member with push away by the cylinder make the paw can carry out the float in a certain extent, realize can snatch the cylinder cap top surface again and snatch the cylinder cap bottom surface.
Preferably, the left end, the right end and the middle position of the front side of the top of the clamping substrate are respectively provided with a mounting shaft sleeve matched with the floating optical axis, and the mounting shaft sleeves are fixed on the clamping substrate through screws.
Based on the technical characteristics, the connection and the installation of the welding base body and the clamping substrate in the clamping part of the paw are convenient.
Preferably, the welding matrix is formed by welding steel plates, and a sealing space is formed in the middle of the welding matrix.
Based on the technical characteristics, the welding matrix is in a hollow state, and accessories such as electric elements and pneumatic elements can be conveniently installed in the welding matrix.
Preferably, the pushing cylinder adopts a Fischer-Tropsch ADNGF-50 compact cylinder.
Based on the technical characteristics, when the claws feed the machine tool clamp, the air cylinders are in a retracted state, and the clamping parts in front of the claws can float up, down, left, right, front and back, so that the positioning holes on the cylinder covers are aligned with the holes of the clamp tool.
Preferably, the floating optical axis is a GCr15 optical axis; a floating gap of 2mm is arranged between the floating optical axis and the gripper clamping part.
Based on the technical characteristics, the floating function is conveniently realized.
Preferably, the lever cylinder adopts a high-capacity pneumatic lever-type clamping device of the GoldMei WCE0602-2 ACN.
Based on the technical characteristics, the four support angles of the top surface of the cylinder cover are clamped by matching with the self-made pressing plate, so that the grabbing of the top surface of the cylinder cover is completed.
Preferably, the tensioning and pulling-down cylinder adopts a high-capacity tensioning and pulling-down clamp of Kaschin SWE 2000-A-100-H60.
Based on the technical characteristics, the guide pin provides coarse guide, and the tensioning and pulling-down cylinder finishes the action of grabbing the bottom surface of the cylinder cover through the clamping hole.
Preferably, the clamping substrate is a 45-steel plate.
Based on the technical characteristics, the clamping substrate has certain hardness, and various parts can be conveniently mounted on the clamping substrate.
Preferably, the positioning column and the guide pin are respectively provided with 4 inner air channels, and the positioning column is also provided with 1 airtight detection air channel.
Based on the technical characteristics, the inner gas circuit is convenient for detecting whether the top surface of the cylinder cover is clamped in place in a leaning way or not and detecting whether the cylinder cover is in place or not in order to clean aluminum scraps.
In summary, the present utility model includes at least one of the following beneficial effects: according to the utility model, the paw body is connected with the sixth shaft of the robot, and the paw clamping part is matched with the floating optical axis and the pushing cylinder on the welding body, so that the paw can float within a certain range, and the aim of grabbing the top surface and the bottom surface of the cylinder cover is achieved; meanwhile, the tensioning pull-down cylinder is provided with a cleaning air circuit, so that aluminum scraps adhered to the cylinder can be cleaned; the cylinder has the functions of clamping, loosening and abnormal airtight detection, so that the gripper has the functions of in-situ detection of workpieces and whether the workpieces are in-place by being attached to the clamping cylinder cover.
Drawings
FIG. 1 is a schematic view of a usage state structure of the present utility model;
FIG. 2 is a top view of FIG. 1 of the present utility model;
FIG. 3 is a schematic view of the structure of the paw body of the present utility model;
FIG. 4 is a left side view of FIG. 3 in accordance with the present utility model;
FIG. 5 is a schematic view of the structure of the grip portion of the paw of the present utility model;
FIG. 6 is a top view of FIG. 5 in accordance with the present utility model;
In the drawings, the list of components represented by the various numbers is as follows:
The device comprises a 1-paw matrix, a 2-paw clamping part, a 3-welding matrix, a 4-floating optical axis, a 5-pushing cylinder, a 6-clamping base plate, a 7-guide pin, an 8-elastic locating pin, a 9-lever cylinder, a 10-tensioning pull-down cylinder, an 11-locating column, a 12-rough guide and a 13-pressing plate.
Detailed Description
The utility model is described in further detail below with reference to fig. 1-6.
Referring to fig. 1-2, in order to solve the problems that the existing gripper does not have a floating function and cannot clamp double sides, the utility model discloses a multifunctional clamping gripper which is a robot gripper with a cleaning belt and floating and capable of clamping double sides, and comprises a gripper base 1 and a gripper clamping part 2; the paw matrix 1 comprises a welding matrix 3, wherein the welding matrix 3 is formed by welding steel plates, and has the characteristics of firmness, reliability and strong bearing capacity; the middle of the welding matrix 3 is a sealed space, which is convenient for placing accessories such as electric elements, pneumatic elements and the like;
Referring to fig. 3-4, three floating optical axes 4 are respectively arranged on the left side and the right side of the welding matrix 3, two pushing cylinders 5 are respectively arranged on the left side and the right side of the welding matrix 3, the two pushing cylinders 5 are respectively distributed among the three floating optical axes 4 one by one on each side of the welding matrix 3, and the floating optical axes 4 are made of a material GCr15 optical axis; a floating clearance of 2mm is arranged between the floating optical axis 4 and the paw clamping part 2; the pushing cylinder 5 adopts a Fischer-Tropsch ADNGF-50 compact cylinder, when the gripper feeds the machine tool clamp, the cylinder is in a retracted state, and the clamping part in front of the gripper can float up, down, left, right, front and back, so that the positioning hole on the cylinder cover is aligned with the hole of the clamp tool, the pushing cylinder 5 is used for supporting the substrate, and the substrate is prevented from shaking after the robot gripper is converted from a vertical state to a horizontal state.
Referring to fig. 5 to 6, the gripper clamping part 2 comprises a clamping base plate 6, wherein the clamping base plate is a 45 steel plate and is provided with an inner air passage to complete air passage connection of an air cylinder; the parts such as the air cylinder, the positioning column and the like are arranged on the base plate, the G thread is punched, and the screwed joint is connected with the cleaning gas circuit. Is connected with the paw base body through the guide piece.
The four corners of the top of the clamping base plate 6 are respectively provided with a pressing plate 13, the four corners of the clamping base plate 6 are respectively provided with a lever cylinder 9, and the power ends of the lever cylinders 9 are correspondingly connected with the pressing plates 13; the lever cylinder 9 adopts a high-capacity pneumatic lever-type clamping device of the Goldmei WCE0602-2ACN, and is matched with a self-made pressing plate 13 to clamp four support angles of the top surface of the cylinder cover so as to finish the grabbing of the top surface of the cylinder cover; when the air pressure is suddenly zero, the clamping state is kept through the built-in spring and the mechanical self-locking state, so that the paw has the functions of air break, looseness prevention and falling prevention;
Coarse guide 12 is arranged on the left side and the right side of the top of the clamping base plate 6, and coarse positioning is provided for the grippers when clamping the blank; a tensioning and pulling-down cylinder 10 is arranged at the left lower side and the right upper side between the two groups of coarse guides 12; the tensioning and pulling-down cylinder 10 adopts a tensioning and pulling-down clamp with high capacity of Kaschin SWE2000-A-100-H60, and the action of grabbing the bottom surface of the cylinder cover is completed through a clamping hole; the air cylinder is provided with a cleaning air circuit, so that aluminum scraps adhered to the air cylinder can be cleaned; the cylinder has the functions of clamping, loosening and abnormal airtight detection, so that the paw has the functions of in-situ detection of workpieces and whether the workpieces are in-place or not by being attached to the clamping cylinder cover.
The left upper side and the right lower side between the two groups of coarse guide 12 are respectively provided with a guide pin 7, and the guide pins 7 provide auxiliary positioning for the tensioning pull-down cylinder 10; meanwhile, 4 inner air channels are arranged on the guide pin 7, so that the cleaning effect on the close-fitting surface of the cylinder cover can be achieved;
An elastic locating pin 8 is arranged at the left lower corner of the top of the clamping base plate 6, the elastic locating pin 8 enables the locating pin to have certain displacement through adding a spring, and the state of the gripper clamping the cylinder cover is judged through detecting the displacement position through a proximity switch;
The positioning surface is provided for the paw to grasp the top surface of the cylinder cover, and 3 internal air channels are arranged to clean the close-fitting surface of the cylinder cover; 1 airtight detection gas circuit is provided to detect whether the cylinder cover is clamped in place by leaning on.
The upper right corner of the top of the clamping substrate 6 is provided with a positioning column 11, the positioning column 11 provides a positioning surface for a paw to grasp the top surface of the cylinder cover, 4 inner air channels are arranged on the positioning column 11, so that the cleaning effect on the close surface of the cylinder cover can be achieved, and 1 airtight detection air channel is also arranged, so that whether the cylinder cover is close to the cylinder cover or not is conveniently detected;
The left and right ends of the back side of the top of the clamping substrate 6 and the middle position of the front side of the top are respectively provided with a mounting shaft sleeve matched with the floating optical axis 4, and the mounting shaft sleeves are fixed on the clamping substrate 6 through screws, so that the welding substrate 3 and the clamping substrate 6 in the claw clamping part 2 are convenient to connect and mount.
The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.
Claims (9)
1. A multifunctional clamping paw which is characterized in that: comprising the steps of (a) a step of,
The paw body (1) comprises a welding body (3), wherein three floating optical axes (4) are respectively arranged on the left side and the right side of the welding body (3), and two pushing cylinders (5) are respectively arranged on the left side and the right side of the welding body (3);
The gripper clamping part (2) comprises a clamping base plate (6), pressing plates (13) are arranged at four corners of the top of the clamping base plate (6), lever cylinders (9) are arranged at four corners of the clamping base plate (6), and power ends of the lever cylinders (9) are correspondingly connected with the pressing plates (13);
Coarse guide (12) are arranged on the left side and the right side of the top of the clamping substrate (6), tensioning pull-down cylinders (10) are arranged on the left lower side and the right upper side between the two groups of coarse guide (12), and guide pins (7) are arranged on the left upper side and the right lower side between the two groups of coarse guide (12);
Elastic locating pins (8) are arranged at the left lower corners of the top of the clamping base plate (6), and locating columns (11) are arranged at the right upper corners of the top of the clamping base plate (6).
2. The multi-function clamping jaw of claim 1 wherein: the left end, the right end and the middle position of the front side of the top of the clamping substrate (6) are respectively provided with a mounting shaft sleeve matched with the floating optical axis (4), and the mounting shaft sleeves are fixed on the clamping substrate (6) through screws.
3. The multi-function clamping jaw of claim 1 wherein: the welding matrix (3) is formed by welding steel plates, and a sealing space is formed in the middle of the welding matrix (3).
4. The multi-function clamping jaw of claim 1 wherein: the pushing cylinder (5) adopts Fei Situo ADNGF-50 compact cylinders.
5. The multi-function clamping jaw of claim 1 wherein: the floating optical axis (4) is made of a GCr15 optical axis; a floating clearance of 2mm is arranged between the floating optical axis (4) and the paw clamping part (2).
6. The multi-function clamping jaw of claim 1 wherein: the lever cylinder (9) adopts a high-capacity pneumatic lever-type clamping device of the Goldmei WCE0602-2 ACN.
7. The multi-function clamping jaw of claim 1 wherein: the tensioning and pulling-down cylinder (10) adopts a high-capacity tensioning and pulling-down clamp of Kadsimei SWE 2000-A-100-H60.
8. The multi-function clamping jaw of claim 1 wherein: the clamping base plate (6) is a 45-steel plate.
9. The multi-function clamping jaw of claim 1 wherein: the positioning column (11) and the guide pin (7) are respectively provided with 4 inner air passages, and the positioning column (11) is also provided with 1 airtight detection air passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322710170.6U CN221160382U (en) | 2023-10-10 | 2023-10-10 | Multifunctional clamping paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322710170.6U CN221160382U (en) | 2023-10-10 | 2023-10-10 | Multifunctional clamping paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221160382U true CN221160382U (en) | 2024-06-18 |
Family
ID=91532313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322710170.6U Active CN221160382U (en) | 2023-10-10 | 2023-10-10 | Multifunctional clamping paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221160382U (en) |
-
2023
- 2023-10-10 CN CN202322710170.6U patent/CN221160382U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107081772B (en) | Flexible curved surface milling production device of robot | |
| CN210081241U (en) | Machine tool clamp with anti-crushing function for mechanical automation | |
| CN221160382U (en) | Multifunctional clamping paw | |
| CN219212341U (en) | Turning tool for thin-wall piece | |
| CN211072730U (en) | Safe hydraulic locking tool for machine tool | |
| CN2803612Y (en) | Positioned gripping jaw base assembly | |
| CN212946252U (en) | Quick switching mechanism of spot welding anchor clamps | |
| CN212601865U (en) | Fixture for industrial robot | |
| CN109093207A (en) | Self-centering double-station unidirectionally clamps circular rack gear milling clamper | |
| CN212946596U (en) | Cradle mechanism of five-axis machining center | |
| CN212371695U (en) | Multifunctional part clamping device | |
| CN208961151U (en) | Self-centering double-station unidirectionally clamps circular rack gear milling clamper | |
| CN214053981U (en) | Electric spark machine tool operation workbench | |
| CN214134920U (en) | Anchor clamps that commonality is high | |
| CN220407876U (en) | Clamp for metal cutting machine tool | |
| CN220783090U (en) | Special section bar frock clamp in machining center | |
| CN214265577U (en) | Automatic adjustable clamping jig | |
| CN210125758U (en) | Connecting rod clamp of drilling machine | |
| CN213003916U (en) | Clamping tool for six-axis robot gear box shell | |
| CN219504782U (en) | Flexible mechanical gripper and mounting equipment | |
| CN216991034U (en) | Simple clamping jaw clamp | |
| CN215358018U (en) | Novel vice | |
| CN220637031U (en) | Double-sided clamping tool structure of support | |
| CN219767467U (en) | Machine tool workpiece fixing clamp | |
| CN211916214U (en) | Special ratchet spanner anchor clamps of machining center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |