CN217200798U - Clamping mechanism and transfer robot - Google Patents

Abstract

The utility model relates to a fixture and transfer robot, wherein, fixture includes bed frame, holder, a actuating mechanism and linkage assembly. The clamping piece is at least three and the setting of equal central angle, and every clamping piece all can set up on the bed frame slidable. A plurality of first actuating mechanism and holder one-to-one set up to set up between bed frame and holder, first actuating mechanism is suitable for the drive holder to gather together or separate each other. The linkage assembly is located between the clamping pieces and hinged to the base frame, and the linkage assembly is connected with each clamping piece and can drive the linkage assembly to rotate when moving. The clamping members can apply larger clamping force to the round workpiece, so that the clamping mechanism can clamp the round workpiece more stably. The utility model discloses a fixture can replace the manual work to carry circular workpiece, overcomes the defect that artifical transport circular workpiece is inefficient, and intensity of labour is high to improve circular workpiece's transport and assembly efficiency, reduce operator's intensity of labour.

Description

Clamping mechanism and transfer robot

Technical Field

The utility model relates to a get and put technical field, concretely relates to fixture and transfer robot.

Background

The planet carrier is one of the main components of the planetary reducer structure, and a planet wheel shaft or a bearing is arranged on the planet carrier. When the planet wheel is used as a basic component, the planet wheel is the part which bears the largest external moment in the mechanism. The structural design and manufacture of the planet wheels has a great influence on the load distribution among the planet wheels, so that the bearing capacity, noise, vibration and the like of the transmission device are greatly influenced.

Because the common clamping mechanism can not ensure that the centroid of the planet carrier is unchanged in the carrying process, in the prior art, the carrying and assembling processes of circular workpieces represented by the planet carrier are generally completed manually, so that the carrying and assembling efficiency of the planet carrier is low, and the labor intensity of operators is high.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the artifical circular workpiece of transport among the prior art, transport and assembly efficiency are low, the high defect of operator intensity of labour to a fixture and transfer robot that can guarantee that circular workpiece's centroid is unchangeable are provided, with the transport and the assembly efficiency that improve circular workpiece, reduce operator's intensity of labour.

In order to solve the above problem, the utility model provides a clamping mechanism, including bed frame, holder, a drive mechanism and linkage assembly. Wherein, the holder is that at least three and equal central angle set up, and every holder all can set up on the bed frame slidably. A plurality of first actuating mechanism and holder one-to-one set up to set up between bed frame and holder, first actuating mechanism is suitable for the drive holder to gather together or separate each other. The linkage assembly is located between the clamping pieces and hinged to the base frame, the linkage assembly is connected with each clamping piece respectively, and the clamping pieces can drive the linkage assembly to rotate when moving.

Further, the linkage assembly includes:

the rotary table is hinged with the base frame, and the distances between the hinged point of the rotary table and the base frame and the plurality of clamping pieces are the same;

the connecting rods are arranged in one-to-one correspondence with the clamping pieces, the first end of each connecting rod is hinged to the rotary table, and the second end of each connecting rod is hinged to one clamping piece.

Further, the holder includes:

the mounting seat is slidably arranged on the base frame;

the clamping fingers are fixedly arranged on the mounting seat and extend towards the direction far away from the base frame.

Furthermore, the first driving mechanism is fixedly arranged on one side, away from the clamping piece, of the base frame and is in one-to-one correspondence with the clamping piece, a communicating hole is formed in the base frame, the mounting seat penetrates through the communicating hole, and the telescopic rod of the first driving mechanism is connected with the mounting seat.

Furthermore, fixture still includes the connecting seat that sets up on the bed frame and lie in between a plurality of intercommunicating pores, and every first actuating mechanism's main part and a lateral wall fixed connection of connecting seat, telescopic link and a mount pad fixed connection.

Further, the clamping mechanism further comprises an ejecting component which is arranged on the base frame and is suitable for ejecting the workpiece between the clamping parts.

Further, the jacking assembly comprises:

a support plate disposed on the base frame;

a linear drive mechanism provided on the support plate;

the pushing piece is connected with a telescopic rod of the linear driving mechanism;

the guide rod is connected with the supporting plate in a sliding mode, the extending direction of the guide rod is perpendicular to the plane where the base frame is located, and the guide rod is connected with the pushing piece.

Further, the fixture still includes the displacement sensor who sets up on the bed frame, and displacement sensor is suitable for the displacement that detects the bed frame.

Furthermore, the base frame is provided with three sliding rails which are distributed in a radial shape and arranged at equal central angles;

each clamping piece is slidably arranged on one sliding rail.

The utility model discloses the second aspect provides a transfer robot, include according to the utility model discloses the fixture of first aspect.

The utility model has the advantages of it is following:

1. according to the above technical scheme, the utility model discloses fixture of first aspect mainly includes bed frame, holder, a drive mechanism and linkage assembly. The clamping pieces are at least three, the first driving mechanisms are also at least three and are arranged in a one-to-one correspondence mode with the clamping pieces, the clamping pieces can be driven to move in a gathering or separating mode one by one, the round workpieces are clamped when gathered, and the round workpieces are released when separated. Because every holder is driven by a actuating mechanism, a plurality of holders can exert great clamping-force to circular workpiece when gathering together each other to make fixture's centre gripping to circular workpiece more stable. The linkage assembly can rotate when the clamping pieces move, and can limit a plurality of clamping pieces connected with the linkage assembly to synchronously gather or separate in the rotating process so as to ensure that the circular centroid is unchanged in the carrying process. Therefore, the utility model discloses a fixture can replace artifical circular workpiece to carry on spacingly, and this makes transfer robot carry out automatic transport to circular workpiece, can overcome among the prior art artifical transport circular workpiece inefficiency, and the defect that operator intensity of labour is high can improve circular workpiece's transport and assembly efficiency, reduces operator's intensity of labour. Additionally, the utility model discloses a fixture's simple structure, it is easy to make, uses safe and reliable, and the implementation of being convenient for is popularized and applied.

2. The clamping mechanism further comprises a connecting seat arranged on the base frame and positioned among the plurality of communicating holes. The main part of every first actuating mechanism and a lateral wall fixed connection of connecting seat, telescopic link and a mount pad fixed connection can implement fixedly to a plurality of first actuating mechanism with the help of a mount pad to make a plurality of first actuating mechanism offset each other the impact force of connecting seat, can make fixture's structure compacter, the motion is more steady.

3. The clamping piece comprises a mounting seat and clamping fingers. The mounting seat is slidably arranged on the base frame. The clamping fingers are fixedly arranged on the mounting seat and extend towards the direction far away from the base frame. In order to improve the stability of the clamping piece on the circular workpiece, the grinding increasing protrusions are arranged on the clamping fingers, when the grinding increasing protrusions are arranged on the clamping fingers, the clamping piece can not only reliably restrain the circular workpiece, but also the requirement on the driving distance of the first driving mechanism cannot be increased.

4. The first driving mechanism is fixedly arranged on one side, away from the clamping piece, of the base frame and corresponds to the clamping piece. The base frame is provided with a communicating hole, the mounting seat penetrates through the communicating hole, and the telescopic rod of the first driving mechanism is connected with the mounting seat. The number of the clamping pieces is three, so that the circular workpiece can be stably and reliably limited, and the cost of the clamping mechanism and the requirement on the manufacturing precision of the clamping mechanism are not excessively increased. Preferably, the base frame is provided with three sliding rails which are radially distributed and arranged at equal central angles. Each clamping piece is slidably arranged on one sliding rail. Specifically, the mount pad of every holder can with slide rail sliding connection, can enough make the holder slide on the base more smoothly, can effectively retrain the movement track of holder again.

5. In order to release the round workpiece to the machine tool, the clamping mechanism further comprises a pushing assembly which is arranged on the base frame and is suitable for pushing the workpiece between the clamping pieces to enable the round workpiece to be separated from the clamping pieces. The pushing assembly comprises a supporting plate, a linear driving mechanism, a pushing piece and a guide rod. Wherein, the backup pad sets up on the bed frame. The linear driving mechanism is arranged on the supporting plate. The pushing piece is connected with a telescopic rod of the linear driving mechanism. The guide rod is connected with the supporting plate in a sliding way. The extending direction of the guide rod is vertical to the plane of the base frame, and the guide rod is connected with the pushing piece. The guide rod can restrict the pushing piece to move along the direction perpendicular to the plane of the base frame, and the pushing direction of the pushing piece is prevented from inclining. The pushing piece is preferably but not limited to a pushing disc capable of making surface contact with the round workpiece, so that the contact area between the pushing assembly and the round workpiece can be increased, and the risk of damaging the round workpiece is avoided.

6. An avoiding through hole is formed in the base frame, and the linear driving mechanism and the guide rod of the pushing assembly can penetrate through the avoiding through hole. The pushing assembly can be partially stored on one side, far away from the clamping piece, of the base frame, the structure of the clamping mechanism can be more compact, and the space occupied by the clamping mechanism is reduced.

7. The utility model discloses the second aspect relates to a transfer robot, include the utility model discloses a fixture, it can overcome among the prior art artifical transport circular workpiece inefficiency, and the defect that operator intensity of labour is high can improve circular workpiece's transport and assembly efficiency, reduces operator's intensity of labour.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Figure 1 schematically illustrates a clamping mechanism according to an embodiment of the invention;

fig. 2 shows the clamping mechanism according to the embodiment of the present invention at another angle.

Description of reference numerals:

100. a clamping mechanism; 1. a base frame; 11. a communicating hole; 12. a connecting seat; 2. a clamping member; 21. a mounting seat; 22. clamping fingers; 23. grinding the protrusions; 3. a first drive mechanism; 41. a turntable; 42. a connecting rod; 5. a slide rail; 6. a pushing assembly; 61. a support plate; 62. a linear drive mechanism; 63. pushing the piece; 64. a guide bar; 7. and a displacement sensor.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Fig. 1 schematically shows a clamping mechanism according to an embodiment of the invention. Fig. 2 is the fixture of the embodiment of the present invention at another angle, and for the convenience of displaying the holder 2 of the fixture and the pushing assembly 6, the pushing assembly of the pushing assembly is not shown in fig. 2. As shown in fig. 1 and 2, the clamping mechanism 100 of the present embodiment mainly includes a base frame 1, a clamping member 2, a first driving mechanism 3, and a linkage assembly. Wherein, holder 2 is for at least three and equal central angle setting. Each clamping member 2 is slidably arranged on the base frame 1. The first driving mechanisms 3 are multiple and are arranged in one-to-one correspondence with the clamping pieces 2. The first driving mechanism 3 is arranged between the base frame 1 and the clamping pieces 2 and is suitable for driving the clamping pieces 2 to gather or separate from each other. The linkage assembly is located between the plurality of clamping members 2 and is hinged with the base frame 1. A linkage assembly is connected to each of the grippers 2, respectively, and the grippers 2 are capable of driving the linkage assembly to rotate when moving. Wherein, the first driving mechanism 3 is preferably, but not limited to, a linear driving mechanism 62, and the linear driving mechanism 62 can be optionally arranged along the radial equal central angle of the base frame 1. The linear driving mechanism 62 may be selected from devices capable of outputting linear motion, such as a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, or a combination of an electric motor and a rack and pinion, etc.

As can be seen from the above technical solutions, the clamping mechanism 100 of the present embodiment mainly includes a base frame 1, a clamping member 2, a first driving mechanism 3 and a linkage assembly. Wherein, holder 2 is at least three, and first actuating mechanism 3 also is at least three, and sets up with holder 2 one-to-one, can drive a plurality of holders 2 one-to-one and do the motion of gathering together each other or separating to when gathering together the circular work piece of centre gripping, release circular work piece when separating. Because every holder 2 is driven by a actuating mechanism 3, a plurality of holders 2 can exert great clamping-force to circular workpiece when gathering together each other to make fixture 100 more stable to the centre gripping of circular workpiece. The linkage assembly can rotate when the clamping pieces 2 move, and can limit the plurality of clamping pieces 2 connected with the linkage assembly to synchronously perform gathering or separating movement in the rotating process so as to ensure that the centroid of the circular workpiece is unchanged in the carrying process. Therefore, the clamping mechanism 100 of the embodiment can replace manual circular workpieces to limit, so that the conveying robot can automatically convey the circular workpieces, the defects that in the prior art, the efficiency of manually conveying the circular workpieces is low, and the labor intensity of operators is high can be overcome, the conveying and assembling efficiency of the circular workpieces can be improved, and the labor intensity of the operators can be reduced. Wherein, the circular workpiece is preferably but not limited to a planet carrier, and the outer diameter of the planet carrier is preferably in the range of 170-290 mm. In addition, the clamping mechanism 100 of the present embodiment has a simple structure, is easy to manufacture, is safe and reliable to use, and is convenient to implement, popularize and apply.

The linkage assembly may optionally include a dial 41 and a plurality of ramps formed on the dial 41. Each clamp 2 can pass through one slideway. When the clamping members 2 are driven by the first driving mechanism 3 to move, the rotating disc 41 can rotate along with the first driving mechanism and restrain the plurality of clamping members 2 to synchronously perform gathering or separating movement through the slide ways. Preferably, in the present embodiment, the linkage assembly includes a dial 41 and a link 42. Wherein, the rotating disc 41 is hinged with the base frame 1. The pivot point of the turntable 41 to the base frame 1 is at the same distance from the plurality of clamping members 2. The links 42 are provided in one-to-one correspondence with the holders 2. Each link 42 is hinged at a first end to the turntable 41 and at a second end to one of the clamping members 2. When the clamping member 2 is driven by the first driving mechanism 3 to move, the rotating disc 41 can rotate along with the first driving mechanism and the first end of the connecting rod 42 rotates along the circumferential direction of the rotating disc 41, and the second end of the connecting rod 42 drives the clamping member 2 connected with the connecting rod to move along the radial direction of the rotating disc 41.

In the present embodiment, the clamping mechanism 100 further includes a connecting seat 12 provided on the base frame 1 between the plurality of communication holes 11. The main body of each first driving mechanism 3 is fixedly connected with one side wall of the connecting seat 12, the telescopic rod is fixedly connected with one mounting seat 21, the fixing of the first driving mechanisms 3 can be realized by means of one mounting seat 21, the impact force of the first driving mechanisms 3 on the connecting seat 12 is offset, the structure of the clamping mechanism 100 is more compact, and the movement is more stable.

In the present embodiment, the clamp 2 preferably comprises a mounting seat 21 and a clamping finger 22. The mount 21 is slidably provided on the base frame 1. The clamping fingers 22 are fixedly arranged on the mounting base 21 and extend in a direction away from the base frame 1. In order to improve the stability of the clamping piece 2 on the round workpiece, the clamping finger 22 is optionally provided with a grinding-increasing bulge 23, or an anti-drop hook part is arranged at one end of the clamping finger 22 far away from the mounting seat 21. The anti-falling hook part can limit the round workpiece between the base and the anti-falling hook part, and the reliability of the constraint of the clamping mechanism 100 on the round workpiece is improved. However, when releasing the circular workpiece, the end of the anti-drop hook portion needs to be completely separated from the circular workpiece, which requires a longer driving distance of the first driving mechanism 3 to the clamping member 2. When the wear-increasing protrusions 23 are provided on the clamping fingers 22, the clamping member 2 can not only perform reliable constraint on a circular workpiece, but also does not increase the requirement for the driving distance of the first driving mechanism 3.

In order to avoid interference of the first drive mechanism 3 with the clamp 2. In the present embodiment, the first driving mechanism 3 is fixedly disposed on a side of the base frame 1 away from the clamping member 2 and is disposed corresponding to the clamping member 2. The base frame 1 is provided with a communication hole 11, the mounting seat 21 passes through the communication hole 11, and the telescopic rod of the first driving mechanism 3 is connected with the mounting seat 21. The number of the clamping members 2 is not excessively restricted, and preferably, in the embodiment, the number of the clamping members 2 is three, so that not only can stable and reliable limiting of the circular workpiece be performed, but also the cost of the clamping mechanism 100 and the requirement for the manufacturing precision of the clamping mechanism 100 are not excessively increased. Preferably, in this embodiment, the base frame 1 is provided with three sliding rails 5, and the three sliding rails 5 are radially distributed and arranged at equal central angles. Each clamp 2 is slidably arranged on a slide rail 5. Specifically, the mount pad 21 of every holder 2 can with slide rail 5 sliding connection, can enough make holder 2 slide on the base more smoothly, can effectively retrain the movement track of holder 2 again.

In order to facilitate releasing the circular workpiece onto the machine tool, in the present embodiment, the clamping mechanism 100 further includes an ejector assembly 6 disposed on the base frame 1 and adapted to eject the workpiece between the clamping members 2 to separate the circular workpiece from the plurality of clamping members 2. The pushing assembly 6 is preferably, but not limited to, a device capable of outputting a linear motion, such as a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, or a combination of a motor and a rack and pinion, etc. Preferably, in the present embodiment, the pushing assembly 6 includes a support plate 61, a linear driving mechanism 62, a pushing member 63, and a guide rod 64. Wherein the support plate 61 is arranged on the base frame 1. The linear drive mechanism 62 is provided on the support plate 61. The pusher 63 is connected to the telescopic rod of the linear drive mechanism 62. The guide rod 64 is slidably connected to the support plate 61. The guide rod 64 extends in a direction perpendicular to the plane of the base frame 1, and the guide rod 64 is connected to the pushing member 63. The guide rod 64 can restrict the pushing member 63 from moving in a direction perpendicular to the plane of the base frame 1, so as to prevent the pushing direction of the pushing member 63 from inclining. The pushing member 63 is preferably, but not limited to, a pushing disk capable of making surface contact with the circular workpiece, so as to increase the contact area between the pushing assembly 6 and the circular workpiece and avoid the risk of damaging the circular workpiece.

Preferably, in the present embodiment, an avoiding through hole is further formed on the base frame 1, and the linear driving mechanism 62 and the guide rod 64 of the pushing assembly 6 can pass through the avoiding through hole. This enables the pushing assembly 6 to be partially accommodated to a side of the base frame 1 away from the clamping member 2, which enables the structure of the clamping mechanism 100 to be more compact, and reduces the space occupied by the clamping mechanism 100.

In the present embodiment, the chucking mechanism 100 preferably further includes a displacement sensor 7 provided on the base frame 1. The displacement sensor 7 is adapted to detect the displacement of the base frame 1, and the size of the circular workpiece can be obtained by detecting the displacement of the clamping member 2.

Example 2

Embodiment 2 relates to a transfer robot, including the utility model discloses fixture 100 of embodiment 1 to can drive fixture 100 through devices such as arm or automated guided transporting vehicle. The carrying robot can replace a manual round workpiece to carry out limiting, so that the carrying robot can carry out automatic carrying on the clamping mechanism 100, the defects that in the prior art, the efficiency of carrying the round workpiece manually is low, and the labor intensity of an operator is high can be overcome, the carrying and assembling efficiency of the round workpiece can be improved, and the labor intensity of the operator is reduced.

As described above, the gripping mechanism 100 according to embodiment 1 and the transfer robot according to embodiment 2 have the following advantages:

1) the clamping jaw is opened and closed by three cylinders, and the clamping force is three times that of a single cylinder;

2) the three clamping fingers 22 are linked, so that the workpiece is clamped more stably and the centroid is more accurate;

3) the clamping state of the workpiece can be detected in real time through the displacement sensor 7;

4) the auxiliary push disc can assist the workpiece to release stably.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. A clamping mechanism, comprising:

a base frame (1);

the clamping pieces (2) are arranged in an equal-central-angle mode, and each clamping piece (2) is arranged on the base frame (1) in a sliding mode;

the first driving mechanisms (3) are arranged in one-to-one correspondence with the clamping pieces (2) and arranged between the base frame (1) and the clamping pieces (2), and the first driving mechanisms (3) are suitable for driving the clamping pieces (2) to gather or separate from each other;

the linkage assembly is positioned among the clamping pieces (2) and hinged to the base frame (1), the linkage assembly is respectively connected with each clamping piece (2), and the clamping pieces (2) can drive the linkage assembly to rotate when moving.

2. The clamping mechanism of claim 1, wherein said linkage assembly comprises:

a rotary table (41) hinged to the base frame (1), wherein the distance between the hinged point of the rotary table (41) and the base frame (1) and the plurality of clamping pieces (2) is the same;

the connecting rods (42) are arranged in one-to-one correspondence with the clamping pieces (2), the first end of each connecting rod (42) is hinged to the rotary table (41), and the second end of each connecting rod is hinged to one clamping piece (2).

3. Clamping mechanism according to claim 1, characterized in that the clamping member (2) comprises:

a mounting seat (21) slidably provided on the base frame (1);

and the clamping fingers (22) are fixedly arranged on the mounting seat (21) and extend towards the direction away from the base frame (1).

4. The clamping mechanism according to claim 3, wherein the first driving mechanism (3) is fixedly arranged on one side of the base frame (1) far away from the clamping member (2) and is arranged corresponding to the clamping member (2) one by one, a communication hole (11) is formed in the base frame (1), the installation seat (21) penetrates through the communication hole (11), and the telescopic rod of the first driving mechanism (3) is connected with the installation seat (21).

5. The clamping mechanism according to claim 4, further comprising a connecting seat (12) arranged on the base frame (1) and located between the plurality of communication holes (11), wherein the main body of each first driving mechanism (3) is fixedly connected with one side wall of the connecting seat (12), and the telescopic rod is fixedly connected with one mounting seat (21).

6. The clamping mechanism according to any one of claims 1 to 5, further comprising an ejection assembly (6) arranged on the base frame (1) adapted to eject the workpiece between the clamping members (2).

7. The clamping mechanism according to claim 6, wherein said thrusting assembly (6) comprises:

a support plate (61) provided on the base frame (1);

a linear drive mechanism (62) provided on the support plate (61);

the pushing piece (63) is connected with the telescopic rod of the linear driving mechanism (62);

the guide rod (64) is connected with the supporting plate (61) in a sliding mode, the extending direction of the guide rod (64) is perpendicular to the plane of the base frame (1), and the guide rod (64) is connected with the pushing piece (63).

8. Clamping mechanism according to any of claims 1-5, further comprising a displacement sensor (7) arranged on the base frame (1), the displacement sensor (7) being adapted to detect a displacement of the base frame (1).

9. The clamping mechanism according to any one of claims 1 to 5, wherein the base frame (1) is provided with three sliding rails (5), and the three sliding rails (5) are distributed in a radial shape and are arranged at equal central angles;

each clamping piece (2) is slidably arranged on one sliding rail (5).

10. A handling robot, characterized by comprising a gripper mechanism (100) according to any one of claims 1 to 9.

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