CN106272507B - A robot-specific mechanical fixture - Google Patents
A robot-specific mechanical fixture Download PDFInfo
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- CN106272507B CN106272507B CN201610915209.XA CN201610915209A CN106272507B CN 106272507 B CN106272507 B CN 106272507B CN 201610915209 A CN201610915209 A CN 201610915209A CN 106272507 B CN106272507 B CN 106272507B
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- bearing seat
- diameter shaft
- grasping
- robot
- bearing
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- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000008878 coupling Effects 0.000 claims description 16
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- 239000000463 material Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of dedicated mechanical clamps of robot, end rotary shaft using robot is power source, by the way that the first multi-diameter shaft and robot end are moved axis connection, realize that the power of robot end's axis is transmitted on the first multi-diameter shaft, and pass through half bevel gear, second multi-diameter shaft, third multi-diameter shaft transfers power on cam, then the opening and closure of grasping plate are realized in the rotation of cam alternating 180 degree, to realize the movement demand of clamping workpiece, it is complicated to solve the industrial robot clamp structure with additional power source, it is difficult to install, use unstable technical problem.
Description
Technical field
The present invention relates to the dedicated mechanical clamps in the frock clamp field of automation more particularly to a kind of robot.
Background technique
The frock clamp type of industrial robot can be divided by handling characteristics:
1, universal fixture.Such as machine vice, chuck, sucker, dividing head and rotary table have very big general
Property, the transformation of manufacturing procedure and processing object can be preferably adapted to, structure has been formed, the seriation of size, specification, manipulator
A kind of accessory wherein most of standard accessories for having become lathe.
2, specificity fixture.It needs for the clamping of certain product parts in some process and specially manufactures and designs, service
Object is single-minded, and specific aim is very strong, generally by product manufacturing factory designed, designed.There are commonly turning attachment, fraise jig, drill jig,
Boring template and pallet.
3, flexible jig.The special fixture that can be replaced or adjusted components.
4, built-up jig.The fixture being made of the standardized component of different shape, specification and purposes, manipulator accessory are applicable in
In single-piece, small serial production and temporary duty that trial production of new products and product are often replaced.
Currently, frock clamp is widely used in injection-moulding device pickup, 3C process equipment and phone housing front and back sides add
In the equipment such as work loading and unloading, these frock clamps are installed on industrial robot, in industrial automation equipment, being modern
Industrial automation equipment it is new into one of technology.Mainly occur in modern industrial production, also often with the fit form of robot
The usage seen is that lathe loading and unloading, workpiece are torn open in the automation such as stacking, welding, grinding unmanned factory.
The fixture majority of industrial robot application is Pneumatic lever type clamping, is also had using stepper motor, servo motor work
For the vertical motion of manipulator, the brake power source of horizontal movement, rotary motion, there are also the hydraulically operated fixture that particular surroundings uses,
And these uses that can be summarized as the fixture of industrial robot application are required in addition to the power of industrial robot itself
Additional power source.
However, the industrial robot clamp structure with additional power source is complicated, difficult to install, use is unstable.
Summary of the invention
The embodiment of the invention discloses a kind of dedicated mechanical clamps of robot, are using the end rotary shaft of robot
Realize that the power of robot end's axis is transmitted to first by the way that the first multi-diameter shaft and robot end are moved axis connection in power source
It on multi-diameter shaft, and is transferred power on cam by half bevel gear, the second multi-diameter shaft, third multi-diameter shaft, then cam is handed over
The opening and closure for realizing grasping plate are rotated for 180 degree, to realize the movement demand of clamping workpiece, are solved with additional power
The industrial robot clamp structure in source is complicated, it is difficult to install, use unstable technical problem.
The embodiment of the invention provides a kind of dedicated mechanical clamps of robot, comprising: with consolidating on robot end's axis
The first multi-diameter shaft for determining ring flange connection, the first bearing and first axle being from top to bottom successively nested on first multi-diameter shaft
Hold seat and half bevel gear, connect with half bevel gear by engaged gears and be symmetrically distributed in the half tooth cone tooth
Take turns two bevel gears of two sides, two the second multi-diameter shafts being separately connected with two bevel gears, it is symmetrical from the inside to the outside successively
Be nested in second multi-diameter shaft both ends second bearing and second bearing seat, two third multi-diameter shafts, for connecting described
The transmission component of two multi-diameter shafts and the third multi-diameter shaft, the third for being successively nested in third multi-diameter shaft outer end from the inside to the outside
Bearing and 3rd bearing seat connect with two spring spools of two third ladder axis connections, with two spring spools
Two compressed springs connect, the centre connecting with two compressed springs are provided with two cams of spline guide groove, two
Be provided with hinge hole tension spring, two with the first clamping plate of pin, two second clamping plates, with the cam is tangent contacts
Two tops be the first grasping plate of concave arc shape and two tops are the second grasping plate of concave arc shape, are fixed respectively by bolt
Two pressing plates in two first grasping plates and two second grasping plates are fixed on two first grasping plates and two
Rubber pad, circlip and round end flat key in second grasping plate；
The cam is designed as the different dome arc symmetric shape of two diagonal lengths；
The middle upper surface of first grasping plate and second grasping plate is provided with briquetting bolt hole；
The middle-end of first grasping plate and second grasping plate is provided with hinge hole；
First grasping plate, second grasping plate and the tension spring are nested in first folder by the hinge hole
Crawl structure is formed on the pin of plate and the crawl structure keeps gap with the first clamping plate and the second clamping plate respectively；
The first clamping plate and the second clamping plate are fixed by bolts in the first bearing seat, second axis respectively
Hold the upper and lower two sides of seat, the 3rd bearing seat；
The circlip is separately positioned on half bevel gear, the bevel gear and the cam end portion；
The round end flat key is separately positioned between the third multi-diameter shaft and the cam, the third multi-diameter shaft and institute
State between transmission component, between the transmission component and second multi-diameter shaft, first multi-diameter shaft and half tooth cone tooth
Between wheel, and the round end flat key is connect by the spline guide groove with the cam.
Optionally,
The transmission component is multi-joint Hooks coupling universal coupling；
Multi-joint Hooks coupling universal coupling both ends pass through the round end flat key and second multi-diameter shaft and described the respectively
Three ladder axis connections；
It is 45 degree that the first clamping plate and the second clamping plate end, which separately design,.
Optionally,
The transmission component is the bevel gear that two vertical distributions are connected by engaged gears；
It is 90 degree that the first clamping plate and the second clamping plate end, which separately design,.
Optionally,
The dedicated mechanical clamp of robot further include setting first ladder it is axial with it is described first folder
Tangent columned first protection cap of plate.
Optionally,
The dedicated mechanical clamp of robot further includes being fixed by bolts in the first bearing seat, second axis
Hold the second protection cap of the arranged on left and right sides of seat, the 3rd bearing seat.
Optionally,
The shape of the rubber pad can be designed according to the shape for being crawled object.
Optionally,
First grasping plate and second grasping plate are the independent single-side structural of x shape.
Optionally,
The first bearing seat, the second bearing seat and the 3rd bearing seat are completed the process by CNC, and described
The side of one bearing block, the second bearing seat and the 3rd bearing seat is symmetrically arranged with bolt hole；
The first bearing seat is designed as racetrack, the second bearing seat and the 3rd bearing seat side of being both designed as
Shape；
The width and height of the 3rd bearing seat are all larger than the width and height of the second bearing seat.
Optionally,
The transmission component, first multi-diameter shaft, second multi-diameter shaft, the third multi-diameter shaft material be 45
Steel.
Optionally,
The first bearing seat, the second bearing seat, the 3rd bearing seat, first grasping plate, described second grab
Plate, the first clamping plate, the second clamping plate material be aluminium alloy.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
It 1, is power source using the end rotary shaft of robot, by connecting the first multi-diameter shaft and robot end's kinematic axis
It connects, realizes that the power of robot end's axis is transmitted on the first multi-diameter shaft, and pass through half bevel gear, the second multi-diameter shaft, third
Multi-diameter shaft transfers power on cam, and then the opening and closure of grasping plate are realized in the rotation of cam alternating 180 degree, to realize folder
The movement demand for taking workpiece, solve the industrial robot clamp structure with additional power source it is complicated, it is difficult to install, using not
Stable technical problem.
2, the setting of multi-joint Hooks coupling universal coupling realizes oblique 45 degree of power transmitting, makes mechanical clamp and robot end
Kinematic axis cooperation is more ingenious, and uniform force when mechanical clamp clamps heavy duty reduces the damage to robot.
3, half bevel gear realizes the accurate of twice of grasping plate of mechanical clamp, one Zhang Yihe as transmission gear and alternately changes.
4, the shape of rubber pad can be designed and be replaced according to the shape for being crawled object, more convenient flexible.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of explosion of one embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
Figure；
Fig. 2 is a kind of vertical view of one embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
Figure；
Fig. 3 is a kind of the whole outer of one embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
See figure；
Fig. 4 is that the dedicated mechanical clamp of a kind of robot provided in the embodiment of the present invention matches one of industrial robot
The overall appearance figure of embodiment；
Fig. 5 is a kind of explosion of another embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
Figure；
Fig. 6 is a kind of side view of another embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
Figure；
Fig. 7 is a kind of entirety of another embodiment of the dedicated mechanical clamp of robot provided in the embodiment of the present invention
Outside drawing；
Fig. 8 is that the dedicated mechanical clamp of a kind of robot provided in the embodiment of the present invention matches the another of industrial robot
The overall appearance figure of a embodiment.
Specific embodiment
The embodiment of the invention discloses a kind of dedicated mechanical clamps of robot, are using the end rotary shaft of robot
Realize that the power of robot end's axis is transmitted to first by the way that the first multi-diameter shaft and robot end are moved axis connection in power source
It on multi-diameter shaft, and is transferred power on cam by half bevel gear, the second multi-diameter shaft, third multi-diameter shaft, then cam is handed over
The opening and closure for realizing grasping plate are rotated for 180 degree, to realize the movement demand of clamping workpiece, are solved with additional power
The industrial robot clamp structure in source is complicated, it is difficult to install, use unstable technical problem.
An a kind of implementation of dedicated mechanical clamp of robot is provided in the embodiment of the present invention referring to FIG. 1 to FIG. 4,
Example includes: the first multi-diameter shaft 1 connecting with the fixed flange on robot end's axis, is from top to bottom successively nested in the first rank
First bearing 3 and first bearing seat 4 and half bevel gear 5 on terraced axis 1 are connect with half bevel gear 5 by engaged gears
And be symmetrically distributed in half bevel gear, 5 two sides two bevel gears 10, with two cone teeth 10 take turns be separately connected two second
Multi-diameter shaft 12, the second bearing for being symmetrically successively nested in 12 both ends of the second multi-diameter shaft from the inside to the outside and second bearing seat 11, two
Third multi-diameter shaft 1601, the transmission component 13 for connecting the second multi-diameter shaft 12 and third multi-diameter shaft 1601, from the inside to the outside successively
Be nested in 1601 outer end of third multi-diameter shaft 3rd bearing and 3rd bearing seat 15, connect with two third multi-diameter shafts 1601 two
A spring spool 1602, two compressed springs 1604 connecting with two spring spools 1602 connect with two compressed springs 1604
1605, two, two cams tension spring 20, two for being provided with hinge hole that the centre connect is provided with spline guide groove have
7, two second clamping plates 18 of first clamping plate of pin, with two tops of the tangent contact of cam 1605 are concave arc shape first grabs
Plate 21 and two tops are the second grasping plate 17 of concave arc shape, are separately fixed at by bolt two the first grasping plates 21 and two the
Two pressing plates 14 in two grasping plates 17 are fixed on two the first grasping plates 21 and rubber pad 19, circlip 6 in two the second grasping plates 17
With round end flat key 2；
Cam 1605 is designed as the different dome arc symmetric shape of two diagonal lengths, when third multi-diameter shaft 1601 rotates 180
Cam 1605 is spent as long stroke, realizes that two dome arcs and the first grasping plate 21, the second grasping plate 17 immediately paste ground and open, this is clamping
Prepare；180 degree is rotated again, and cam returns to short stroke, this is clamping state；
The middle upper surface of first grasping plate 21 and the second grasping plate 17 is provided with briquetting bolt hole；
The middle-end of first grasping plate 21 and the second grasping plate 17 is provided with hinge hole；
First grasping plate 21, the second grasping plate 17 and tension spring are concentrically nested on the pin of first clamping plate 7 by hinge hole
Crawl structure is formed, which achieves the tension of tension spring to make the upper concave arc of the first grasping plate 21 and the second grasping plate 17 tight always
Close to cam, and grabs structure and keep gap with first clamping plate 7 and second clamping plate 18 respectively；
First clamping plate 7 and second clamping plate 18 are fixed by bolts in first bearing seat 4, second bearing seat 11, third respectively
The upper and lower two sides of bearing block 15；
Circlip 6 is separately positioned on 1605 end of half bevel gear 5, bevel gear 10 and cam, plays what axial limiting was fixed
Effect；
Round end flat key 2 is separately positioned between third multi-diameter shaft 1601 and cam 1605, third multi-diameter shaft 1601 and transmission
Between component 13, between transmission component 13 and the second multi-diameter shaft 12, between the first multi-diameter shaft 1 and half bevel gear 5, and round end is flat
Key 2 is connect by spline guide groove with cam 1605, plays the role of transmitting power；
It should be noted that the first multi-diameter shaft 1 is connect with the fixed flange on robot end's axis realizes power transmitting,
First multi-diameter shaft 1 is unidirectional hierarchic structure, and top is ring flange, and the axis shin of middle and lower sections is 3 placement location of first bearing, bottom
For half bevel gear, 5 placement location；
It is symmetrical, the first multi-diameter shaft 1, that the second bearing at 12 both ends of the second multi-diameter shaft is nested with second bearing seat 11
Two multi-diameter shafts 12,1601 end of third multi-diameter shaft bearing it is nested with bearing block be all it is identical, third multi-diameter shaft 1601
Outer end is exactly the opposite end of third multi-diameter shaft 1601 Yu 13 connecting pin of transmission component；
Cam 1605, which is provided with spline guide groove, can be such that round end flat key 2 mutually axially slides, the work of compressed spring 1604
With being to make cam 1605 and the concave arc of the first grasping plate 21, the second grasping plate 17 that there is buffer function, spring pocket in the axial direction when contacting
One end of cylinder 1602 is contacted with compressed spring 1604, is the limiting device of compressed spring 1604, the other end of spring spool 1602
Directly contacted with the inner ring of 3rd bearing.
Transmission component 13 is multi-joint Hooks coupling universal coupling；
Multi-joint Hooks coupling universal coupling both ends pass through round end flat key 2 and the second multi-diameter shaft 12 respectively and third multi-diameter shaft 1601 connects
It connects, is excess axle among multi-joint Hooks coupling universal coupling, and connected by mutually perpendicular diesis frame hinge,
It is 45 degree that first clamping plate 7 and 18 end of second clamping plate, which separately design, makes mechanical clamp and robot end's kinematic axis
Cooperate more ingenious, uniform force when mechanical clamp clamps heavy duty, damage of the reduction to robot.
The dedicated mechanical clamp of robot further includes the circle tangent with first clamping plate 7 being arranged in around the first multi-diameter shaft 1
Columnar first protection cap 8, the first protection cap 8 are bolted on the fixed flange on robot end's axis, are used for
Protect the first multi-diameter shaft 1 and internal structure.
The dedicated mechanical clamp of robot further includes being fixed by bolts in first bearing seat 4, second bearing seat 11, third
Second protection cap 9 of the arranged on left and right sides of bearing block 15, for protecting the internal structure of mechanical clamp.
The shape of rubber pad 19 can be designed according to the shape for being crawled object, can be designed to applied to cylindrical work
Rubber pad 19 can also be designed to the rubber pad 19 of plane stripe, and detachable replacement.
First grasping plate 21 and the second grasping plate 17 are the independent single-side structural of x shape, i.e. the first grasping plate 21 and the second grasping plate 17
It is bonded x shape, but the first grasping plate 21 and the second grasping plate 17 are each half in left and right of x shape, this structure is known as x shape
Independent single-side structural.
First bearing seat 4, second bearing seat 11 and 3rd bearing seat 15 are completed the process by CNC, and first bearing seat 4,
The side of second bearing seat 11 and 3rd bearing seat 15 is symmetrically arranged with bolt hole；
First bearing seat 4 is designed as racetrack, and second bearing seat 11 and 3rd bearing seat 15 are both designed as rectangular；
In view of the stress problem of multi-diameter shaft, the width and height of 3rd bearing seat 15 are all larger than the width of second bearing seat 11
Degree and height.
Transmission component 13, the first multi-diameter shaft 1, the second multi-diameter shaft 12, third multi-diameter shaft 1601 material be 45 steel.
First bearing seat 1, second bearing seat 12,3rd bearing seat 1601, the first grasping plate 21, the second grasping plate 17, first folder
Plate 7, second clamping plate 18 material be aluminium alloy.
Fig. 5 to Fig. 8 is please referred to, a kind of another reality of dedicated mechanical clamp of robot is provided in the embodiment of the present invention
Example is applied to include: the first multi-diameter shaft 1 connecting with the fixed flange on robot end's axis, be from top to bottom successively nested in first
First bearing 3 and first bearing seat 4 and half bevel gear 5 and half bevel gear 5 on multi-diameter shaft 1 pass through engaged gears and connect
Two bevel gears 10 that are connecing and being symmetrically distributed in half bevel gear, 5 two sides take turns be separately connected two the with two cone teeth 10
Two multi-diameter shafts 12, the second bearing and second bearing seat 11, two for being symmetrically successively nested in 12 both ends of the second multi-diameter shaft from the inside to the outside
A third multi-diameter shaft 1601, the transmission component 13 for connecting the second multi-diameter shaft 12 and third multi-diameter shaft 1601, from the inside to the outside according to
The secondary 3rd bearing for being nested in 1601 outer end of third multi-diameter shaft and 3rd bearing seat 15 are connect with two third multi-diameter shafts 1601
Two spring spools 1602, two compressed springs 1604 being connect with two spring spools 1602 and two compressed springs 1604
The centre of connection be provided with spline guide groove 1605, two, two cams are provided with 20, two bands of tension spring of hinge hole
Two tops of 7, two second clamping plates 18 of first clamping plate and the tangent contact of cam 1605 for having pin are the first of concave arc shape
Grasping plate 21 and two tops are the second grasping plate 17 of concave arc shape, are separately fixed at two the first grasping plates 21 and two by bolt
Two pressing plates 14 in second grasping plate 17 are fixed on two the first grasping plates 21 and rubber pad 19, card in two the second grasping plates 17
Spring 6, round end flat key 2；
Cam 1605 is designed as the different dome arc symmetric shape of two diagonal lengths, when third multi-diameter shaft 1601 rotates 180
Cam 1605 is spent as long stroke, realizes that two dome arcs and the first grasping plate 21, the second grasping plate 17 immediately paste ground and open, this is clamping
Prepare；180 degree is rotated again, and cam returns to short stroke, this is clamping state；
The middle upper surface of first grasping plate 21 and the second grasping plate 17 is provided with briquetting bolt hole；
The middle-end of first grasping plate 21 and the second grasping plate 17 is provided with hinge hole；
First grasping plate 21, the second grasping plate 17 and tension spring are concentrically nested on the pin of first clamping plate 7 by hinge hole
Crawl structure is formed, which achieves the tension of tension spring to make the upper concave arc of the first grasping plate 21 and the second grasping plate 17 tight always
Close to cam, and grabs structure and keep gap with first clamping plate 7 and second clamping plate 18 respectively；
First clamping plate 7 and second clamping plate 18 are fixed by bolts in first bearing seat 4, second bearing seat 11, third respectively
The upper and lower two sides of bearing block 15；
Circlip 6 is separately positioned on 1605 end of half bevel gear 5, bevel gear 10 and cam, plays what axial limiting was fixed
Effect；
Round end flat key 2 is separately positioned between third multi-diameter shaft 1601 and cam 1605, third multi-diameter shaft 1601 and transmission
Between component 13, between transmission component 13 and the second multi-diameter shaft 12, between the first multi-diameter shaft 1 and half bevel gear 5, and round end is flat
Key 2 is connect by spline guide groove with cam 1605, plays the role of transmitting power；
It should be noted that the first multi-diameter shaft 1 is connect with the fixed flange on robot end's axis realizes power transmitting,
First multi-diameter shaft 1 is unidirectional hierarchic structure, and top is ring flange, and the axis shin of middle and lower sections is 3 placement location of first bearing, bottom
For half bevel gear, 5 placement location；
It is symmetrical, the first multi-diameter shaft 1, that the second bearing at 12 both ends of the second multi-diameter shaft is nested with second bearing seat 11
Two multi-diameter shafts 12,1601 end of third multi-diameter shaft bearing it is nested with bearing block be all it is identical, third multi-diameter shaft 1601
Outer end is exactly the opposite end of third multi-diameter shaft 1601 Yu 13 connecting pin of transmission component；
Cam 1605, which is provided with spline guide groove, can be such that round end flat key 2 mutually axially slides, the work of compressed spring 1604
With being to make cam 1605 and the concave arc of the first grasping plate 21, the second grasping plate 17 that there is buffer function, spring pocket in the axial direction when contacting
One end of cylinder 1602 is contacted with compressed spring 1604, is the limiting device of compressed spring 1604, the other end of spring spool 1602
Directly contacted with the inner ring of 3rd bearing.
Unlike upper one embodiment, the transmission component 13 in the present embodiment is that two vertical distributions are stung by gear
Close the bevel gear 10 of connection；
It is 90 degree that first clamping plate 7 and 18 end of second clamping plate, which separately design,.
The dedicated mechanical clamp of robot further includes the circle tangent with first clamping plate 7 being arranged in around the first multi-diameter shaft 1
Columnar first protection cap 8, the first protection cap 8 are bolted on the fixed flange on robot end's axis, are used for
Protect the first multi-diameter shaft 1 and internal structure.
The dedicated mechanical clamp of robot further includes being fixed by bolts in first bearing seat 4, second bearing seat 11, third
Second protection cap 9 of the arranged on left and right sides of bearing block 15, for protecting the internal structure of mechanical clamp.
The shape of rubber pad 19 can be designed according to the shape for being crawled object, can be designed to applied to cylindrical work
Rubber pad 19 can also be designed to the rubber pad 19 of plane stripe, and detachable replacement.
First grasping plate 21 and the second grasping plate 17 are the independent single-side structural of x shape, i.e. the first grasping plate 21 and the second grasping plate 17
It is bonded x shape, but the first grasping plate 21 and the second grasping plate 17 are each half in left and right of x shape, this structure is known as x shape
Independent single-side structural.
First bearing seat 4, second bearing seat 11 and 3rd bearing seat 15 are completed the process by CNC, and first bearing seat 4,
The side of second bearing seat 11 and 3rd bearing seat 15 is symmetrically arranged with bolt hole；
First bearing seat 4 is designed as racetrack, and second bearing seat 11 and 3rd bearing seat 15 are both designed as rectangular；
In view of the stress problem of multi-diameter shaft, the width and height of 3rd bearing seat 15 are all larger than the width of second bearing seat 11
Degree and height.
Transmission component 13, the first multi-diameter shaft 1, the second multi-diameter shaft 12, third multi-diameter shaft 1601 material be 45 steel.
First bearing seat 1, second bearing seat 12,3rd bearing seat 1601, the first grasping plate 21, the second grasping plate 17, first folder
Plate 7, second clamping plate 18 material be aluminium alloy.
The above is the detailed description carried out to the structure and connection type of a kind of dedicated mechanical clamp of robot, for convenient for
Understand, a kind of application of the dedicated mechanical clamp of robot will be illustrated with a concrete application scene below, application examples packet
It includes:
End rotary shaft using robot is power source, by connecting the first multi-diameter shaft 1 with robot end's kinematic axis
Connect, realize robot end's axis power be transmitted to 1 on the first multi-diameter shaft, and by half bevel gear 5, the second multi-diameter shaft 12,
Third multi-diameter shaft 1601 transfers power on cam 1605, and then cam 1605 replaces 180 degree rotation the first grasping plate 21 of realization
With the opening and closure of the second grasping plate 17, thus realize clamping workpiece movement demand.
A kind of dedicated mechanical clamp of robot provided by the present invention is described in detail above, for this field
Those skilled in the art, thought according to an embodiment of the present invention has change in specific embodiments and applications
Place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of dedicated mechanical clamp of robot characterized by comprising connect with the fixed flange on robot end's axis
First bearing, the first bearing for placing the first bearing of the first multi-diameter shaft connect and the first ladder axis connection
Seat, connect with the first bearing half bevel gear, connect with half bevel gear by engaged gears and symmetrical point
Cloth two bevel gears of half bevel gear two sides, two the second multi-diameter shafts being separately connected with two bevel gears,
It is respectively intended to place two second bearing seats of two second multi-diameter shafts, for connecting the second multi-diameter shaft and third multi-diameter shaft
Two transmission components, connect with two transmission components two third multi-diameter shafts, for placing two third ranks
Two 3rd bearing seats of terraced axis and two spring spools of two third ladder axis connections and two spring pockets
Two compressed springs of cylinder connection, the centre that is connect with two compressed springs be provided with spline guide groove two cams,
Two are provided with that the tension spring of hinge hole, two with the first clamping plate of pin, two second clamping plates, tangent with the cam
Two tops of contact are the first grasping plate of concave arc shape and two tops are the second grasping plate of concave arc shape, by bolt difference
Be fixed on two first grasping plates and two pressing plates in two second grasping plates, be fixed on two first grasping plates and
Rubber pad, circlip and round end flat key in two second grasping plates；
The cam is designed as the convex symmetric shape of the different circular arc of two diagonal lengths；
The middle upper surface of first grasping plate and second grasping plate is provided with briquetting bolt hole；
The middle-end of first grasping plate and second grasping plate is provided with hinge hole；
First grasping plate, second grasping plate and the tension spring are nested in the first clamping plate by the hinge hole
Crawl structure is formed on pin and the crawl structure keeps gap with the first clamping plate and the second clamping plate respectively；
The first clamping plate and the second clamping plate are fixed by bolts in the first bearing seat, the second bearing respectively
The upper and lower two sides of seat, the 3rd bearing seat；
The circlip is separately positioned on half bevel gear, the bevel gear and the cam end portion；
The round end flat key is separately positioned between the compressed spring and the cam, first multi-diameter shaft and described first
Between bearing, and the round end flat key is connect by the spline guide groove with the cam.
2. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the transmission component is multi-joint
Hooks coupling universal coupling；
Multi-joint Hooks coupling universal coupling both ends pass through the round end flat key and second multi-diameter shaft and the third rank respectively
Terraced axis connection；
It is 45 degree that the first clamping plate and the second clamping plate end, which separately design,.
3. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the transmission component is two and hangs down
Directly it is distributed the bevel gear connected by engaged gears；
It is 90 degree that the first clamping plate and the second clamping plate end, which separately design,.
4. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that further include being arranged described first
Ladder is axial with tangent columned first protection cap of the first clamping plate.
5. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that further include being fixed by bolts in
The first bearing seat, the second bearing seat, the second protection cap of the arranged on left and right sides of the 3rd bearing seat.
6. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the shape of the rubber pad can be with
It is designed according to the shape for being crawled object.
7. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that first grasping plate and described
Two grasping plates are the independent single-side structural of x shape.
8. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the first bearing seat, described
Second bearing seat and the 3rd bearing seat are completed the process by CNC, and the first bearing seat, the second bearing seat and institute
The side for stating 3rd bearing seat is symmetrically arranged with bolt hole；
The first bearing seat is designed as racetrack, and the second bearing seat and the 3rd bearing seat are both designed as rectangular；
The width and height of the 3rd bearing seat are all larger than the width and height of the second bearing seat.
9. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the transmission component, described
One multi-diameter shaft, second multi-diameter shaft, the third multi-diameter shaft material be 45 steel.
10. the dedicated mechanical clamp of robot according to claim 1, which is characterized in that the first bearing seat, described
Second bearing seat, the 3rd bearing seat, first grasping plate, second grasping plate, the first clamping plate, the second clamping plate
Material be aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915209.XA CN106272507B (en) | 2016-10-20 | 2016-10-20 | A robot-specific mechanical fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915209.XA CN106272507B (en) | 2016-10-20 | 2016-10-20 | A robot-specific mechanical fixture |
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| Publication Number | Publication Date |
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| CN106272507A CN106272507A (en) | 2017-01-04 |
| CN106272507B true CN106272507B (en) | 2019-05-07 |
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| CN201610915209.XA Active CN106272507B (en) | 2016-10-20 | 2016-10-20 | A robot-specific mechanical fixture |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608028A (en) * | 2018-03-30 | 2018-10-02 | 刘路清 | A kind of pipeline puncher for building |
| CN108621181A (en) * | 2018-06-11 | 2018-10-09 | 珠海格力智能装备有限公司 | Clamping mechanism and robot with same |
| TWM600237U (en) * | 2019-07-05 | 2020-08-21 | 信錦企業股份有限公司 | Self-propelled gripper |
| CN110757486A (en) * | 2019-11-06 | 2020-02-07 | 江苏科技大学 | A forging robot with two heads and two claws underranked fixture |
| CN110744575B (en) * | 2019-11-15 | 2025-01-14 | 上海图灵智造机器人股份有限公司 | A double-claw device for separating blanks from robots |
| CN111251330A (en) * | 2020-03-27 | 2020-06-09 | 浙江精力工具有限公司 | Manipulator clamp for motor rotor production |
| CN111618888A (en) * | 2020-05-13 | 2020-09-04 | 苏州康达尔智能科技有限公司 | Linkage double-station center clamp |
| CN111941448B (en) * | 2020-07-18 | 2021-12-28 | 中国船舶重工集团公司第七一六研究所 | Forging robot under-rank connecting rod end effector |
| CN113559955B (en) * | 2021-01-29 | 2022-07-01 | 广东润鹏生物技术有限公司 | Clamping mechanism and transfer device |
| CN113305868A (en) * | 2021-06-25 | 2021-08-27 | 哈尔滨工业大学 | Multi-degree-of-freedom robot finger-based joint |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201970312U (en) * | 2010-11-11 | 2011-09-14 | 南京农业大学 | End effector with three degrees of freedom |
| US9551628B2 (en) * | 2014-03-31 | 2017-01-24 | Automation Controls & Engineering, LLC | Flexible automation cell for performing secondary operations in concert with a machining center and roll check operations |
| CN104476556B (en) * | 2014-12-05 | 2016-08-17 | 合肥工业大学 | One is used for capturing long straight rod member biserial rack type mechanical hand |
| CN205466265U (en) * | 2016-01-12 | 2016-08-17 | 宁波长晟电子科技有限公司 | Industrial robot rack and pinion presss from both sides tight structure |
| CN205325701U (en) * | 2016-01-26 | 2016-06-22 | 象山星旗电器科技有限公司 | Get thing and adjust gripper |
| CN105583819B (en) * | 2016-03-15 | 2017-06-30 | 三峡大学 | A kind of robot palletizer for possessing crawl function |
| CN206242074U (en) * | 2016-10-20 | 2017-06-13 | 广东工业大学 | A kind of special mechanical clamp of robot |
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