CN216099004U - Clamping jaw mechanism and six-axis robot - Google Patents
Clamping jaw mechanism and six-axis robot Download PDFInfo
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- CN216099004U CN216099004U CN202121903956.4U CN202121903956U CN216099004U CN 216099004 U CN216099004 U CN 216099004U CN 202121903956 U CN202121903956 U CN 202121903956U CN 216099004 U CN216099004 U CN 216099004U
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Abstract
The utility model discloses a clamping jaw mechanism and a six-axis robot, which comprise a mounting disc (4), wherein a gripper (5) is arranged on the mounting disc (4), the gripper (5) comprises a first clamping jaw (51), and the six-axis robot is characterized in that: and the mounting disc (4) is also provided with a three-jaw chuck (6). The utility model increases the supporting force applied on the porous workpiece and the force application area, avoids the porous workpiece from rotating when the porous workpiece is transported, and also avoids the phenomenon that the workpiece is damaged due to stress concentration caused by the increase of the supporting force.
Description
Technical Field
The utility model relates to the field of intelligent robots, in particular to a clamping jaw mechanism and a six-axis robot.
Background
In a manufacturing plant, workpiece gripping is generally performed by a six-axis robot having a robot arm that moves a workpiece from one station to another by gripping. For clamping the porous piece, the clamping jaw mechanism of the manipulator only comprises one gripper which comprises two clamping jaws, the two clamping jaws are driven by a cylinder, so that the two clamping jaws can move towards or away from each other, when the workpiece is clamped, the gripper extends into a hole of the workpiece, and then the two clamping jaws move away from each other, so that the two clamping jaws are supported on the side wall of the hole.
However, because only one gripper exists, if the supporting force is insufficient, after the workpiece is gripped, the workpiece is easy to rotate by taking the axis direction of the hole as an axis, so that the placing posture of the workpiece is irregular, the subsequent workpiece mounting precision is insufficient, and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a clamping jaw mechanism aiming at the technical problem that the existing clamping jaw mechanism has small supporting force on a porous workpiece and is easy to cause the workpiece to rotate; the other purpose is to provide a six-axis robot with the clamping jaw mechanism.
In order to realize the purpose of the utility model, the utility model provides the following technical scheme:
the clamping jaw mechanism comprises a mounting disc, wherein a gripper is arranged on the mounting disc and comprises a first clamping jaw, and a three-jaw chuck is further arranged on the mounting disc.
According to the technical means, the device is provided with the hand grab and the three-jaw chuck on the mounting disc at the same time, the hand grab and the three-jaw chuck can be connected with two different holes on the porous workpiece, so that when the first clamping jaw and the second clamping jaw are respectively supported on the inner walls of the two holes, compared with the prior art, the supporting force applied to the porous workpiece is increased, meanwhile, due to the fact that the stress area of the porous workpiece is increased, the damage of the workpiece caused by stress concentration is avoided, the supporting force applied to the porous workpiece can be increased, the rotation of the porous workpiece is avoided, the stress concentration can be avoided, the generated workpiece is damaged, the connecting position of the workpiece on the mounting disc is further increased, and the rotation of the mounting disc is further avoided.
Further, the three-jaw chuck is installed on the mounting disc, the three-jaw chuck includes round platform and second clamping jaw, still be equipped with the rand on the round platform, the rand passes through the elastic component with the round platform and is connected, the second clamping jaw is located the inside of rand.
According to the technical means, the pressing force is applied to the porous workpiece besides the supporting force on the inner wall of the hole, so that the stability of the workpiece during transportation is further improved.
Further, an end of the second jaw remote from the circular table is provided with a boss extending outward in a radial direction of the three-jaw chuck.
Further, the mounting disc is mounted on a rotating shaft of a rotating cylinder, and the rotating cylinder is mounted on a flange connected with the manipulator.
According to the technical means, the hand grip and the three-jaw chuck can rotate, and the relative position of the hand grip and the three-jaw chuck and the hole to be assembled can be adjusted.
Further, a blocky connecting body is arranged on the flange, the connecting body comprises a plurality of mounting surfaces, each mounting surface is provided with the rotary cylinder, and the mounting surfaces are circumferentially arranged along a rotating shaft of the connecting body.
According to the technical means, the simultaneous clamping of a plurality of workpieces can be realized.
The six-axis robot comprises a mechanical arm, wherein the clamping jaw mechanism is arranged on the mechanical arm.
Compared with the prior art, the utility model has the beneficial effects that:
the utility model increases the supporting force, the force application area and the fixing point applied on the porous workpiece, avoids the porous workpiece from rotating when the porous workpiece is transported, and simultaneously avoids the phenomenon of workpiece damage caused by stress concentration after the supporting force is increased.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure (partial structure) of the present invention;
FIG. 3 is a schematic view of a three-jaw chuck;
FIG. 4 is an enlarged view of portion A of FIG. 3;
fig. 5 is a structural view of the hand grip.
The labels in the figure are: 1-a flange; 2-a linker; 3-rotating the cylinder; 4-mounting a disc; 5, gripping the hand; 51-a seat body; 52-a first jaw; 6-three-jaw chuck; 61-a second jaw; 62-a collar; 63-an elastic member; 64-a circular truncated cone; 65-boss.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
The embodiment provides a clamping jaw mechanism, as shown in fig. 1-4, which includes a connecting body 2, the connecting body 2 is mounted on a mechanical arm of a six-axis robot (not shown in the figure) through a flange 1, the mechanical arm can drive the connecting body 2 to rotate, the connecting body 2 has four mounting surfaces, each mounting surface is provided with a hand grip 5 and a three-jaw chuck 6, and the hand grip 5 and the three-jaw chuck 6 are used for gripping porous workpieces.
The four mounting surfaces are distributed along the circumferential direction of the rotating shaft of the connecting body 2, and can simultaneously take a plurality of workpieces, for example, when one workpiece needs to be taken, the mechanical arm is operated, so that the connecting body 2 rotates by 90 degrees, the workpiece on the same station is clamped again, and the purpose of simultaneously clamping a plurality of workpieces is achieved.
The hand grip 5 and the three-jaw chuck 6 are both arranged on the mounting disc 4, the mounting disc 4 is connected with a rotating shaft of the rotating cylinder 3, the rotating cylinder 3 can drive the mounting disc 4 to rotate, and the position relation between the hand grip 5 and the three-jaw chuck 6 and holes in a workpiece can be adjusted. For example, assuming that the hand grip 5 and the three-jaw chuck 6 are arranged transversely and two holes for fitting the apparatus in a multi-hole workpiece at a station are arranged vertically, the rotary cylinder 3 is driven to rotate the mounting plate 4 by 90 ° and then the hand grip 5 and the three-jaw chuck 6 are brought into correspondence with the positions of the holes.
The three-jaw chuck 6 comprises a circular truncated cone 64 installed on the installation disc 4, the circular truncated cone 64 protrudes outwards relative to the installation disc 4, second clamping jaws 61 are installed on the circular truncated cone 64, the number of the second clamping jaws 61 is 3, and the connecting line of the centers of the three second clamping jaws 61 is triangular. Further, the number of the second clamping jaws 61 may be more than three, and the connecting line of the centers of the second clamping jaws 61 is in the shape of a regular polygon.
The holes in the workpiece are circular, when the second clamping jaws 61 extend into the corresponding holes, and then the second clamping jaws 61 are opened, the holes can be supported on the inner wall of the holes after being moved by the same distance, and the second clamping jaws 61 are uniformly distributed on the inner avoiding surface of the holes, so that the damage to the workpiece caused by stress concentration is avoided.
The second clamping jaw 61 can move towards the center close to or far away from the table top of the circular truncated cone 64, so that the second clamping jaw 61 can clamp and release the workpiece. The movement of the second jaw 61 may be pushed by a cylinder, providing an air inlet on the circular table 64.
The end part, far away from the circular truncated cone 64, of the second clamping jaw 61 is provided with a boss 65 extending outwards, so that the second clamping jaw 61 is integrally in a hook shape, when the second clamping jaw 61 extends into a hole of a workpiece and is opened, the boss 65 can be hooked on the workpiece, and the stability of the second clamping jaw 61 when being connected with the workpiece during clamping of the porous workpiece is improved.
The circular truncated cone 64 is also provided with a clamping ring 62, the clamping ring 62 is connected with the circular truncated cone 64 through an elastic piece 63, the second clamping jaws 61 are positioned inside the clamping ring 62, the radius of the clamping ring 62 is larger than the diameter of a hole to be clamped, when the second clamping jaws 61 extend into the hole and are opened, the bosses 65 can be fixed on one side surface of a workpiece, and the clamping ring 62 is pressed on the other side surface (opposite side surfaces) of the workpiece under the action of the elastic force of the elastic piece 63, so that the stability of the connection of the second clamping jaws 61 and the workpiece when the porous workpiece is clamped is further improved.
The mounting plate 4 is further provided with a hand grip 5, the hand grip 5 comprises two first clamping jaws 52, the first clamping jaws 52 are mounted on the base body 51 and can move towards or away from each other in a pneumatic manner, and the arrangement of the hand grip 5 is the prior art and is not explained here.
When the manipulator is connected with a porous workpiece to be transported, the manipulator is started, the gripper 5 and the three-jaw chuck 6 are made to be close to the porous workpiece to be clamped, the rotary cylinder 3 is started, the positions of the gripper 5 and the three-jaw chuck 6 and corresponding holes are finely adjusted, the gripper 5 and the three-jaw chuck 6 are made to correspond to the holes to be connected, then the manipulator and the cylinders for driving the first clamping jaw 52 and the second clamping jaw 61 are started, and the first clamping jaw 52 and the second clamping jaw 61 are supported on the inner wall of the corresponding holes, so that the purpose of clamping is achieved.
Claims (6)
1. The utility model provides a clamping jaw mechanism, includes mounting disc (4), be equipped with tongs (5) on mounting disc (4), tongs (5) include first clamping jaw (52), its characterized in that: and the mounting disc (4) is also provided with a three-jaw chuck (6).
2. The jaw mechanism of claim 1, wherein: three-jaw chuck (6) are installed on mounting disc (4), three-jaw chuck (6) include round platform (64) and second clamping jaw (61), still be equipped with rand (62) on round platform (64), rand (62) are connected through elastic component (63) with round platform (64), second clamping jaw (61) are located the inside of rand (62).
3. The jaw mechanism of claim 2, wherein: the end of the second clamping jaw (61) remote from the circular table (64) is provided with a boss (65) extending outwards in the radial direction of the three-jaw chuck (6).
4. The jaw mechanism of claim 1, wherein: the mounting disc (4) is mounted on a rotating shaft of the rotating cylinder (3), and the rotating cylinder (3) is mounted on a flange (1) connected with a manipulator.
5. The jaw mechanism of claim 4, wherein: the flange (1) is provided with a blocky connecting body (2), the connecting body (2) comprises a plurality of mounting surfaces, each mounting surface is provided with the rotary cylinder (3), and the mounting surfaces are circumferentially arranged along a rotating shaft of the connecting body (2).
6. The utility model provides a six axis robot, includes arm, its characterized in that: the mechanical arm is provided with a clamping jaw mechanism according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121903956.4U CN216099004U (en) | 2021-08-13 | 2021-08-13 | Clamping jaw mechanism and six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121903956.4U CN216099004U (en) | 2021-08-13 | 2021-08-13 | Clamping jaw mechanism and six-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216099004U true CN216099004U (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121903956.4U Active CN216099004U (en) | 2021-08-13 | 2021-08-13 | Clamping jaw mechanism and six-axis robot |
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| Country | Link |
|---|---|
| CN (1) | CN216099004U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654293A (en) * | 2022-04-07 | 2022-06-24 | 无锡科技职业学院 | Mechanical grabbing device |
-
2021
- 2021-08-13 CN CN202121903956.4U patent/CN216099004U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654293A (en) * | 2022-04-07 | 2022-06-24 | 无锡科技职业学院 | Mechanical grabbing device |
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