AU2019101620A4 - An industrial robot loading and unloading clamping mechanism - Google Patents
An industrial robot loading and unloading clamping mechanism Download PDFInfo
- Publication number
- AU2019101620A4 AU2019101620A4 AU2019101620A AU2019101620A AU2019101620A4 AU 2019101620 A4 AU2019101620 A4 AU 2019101620A4 AU 2019101620 A AU2019101620 A AU 2019101620A AU 2019101620 A AU2019101620 A AU 2019101620A AU 2019101620 A4 AU2019101620 A4 AU 2019101620A4
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- AU
- Australia
- Prior art keywords
- clamping
- end surface
- fixture
- fixing plate
- travel switch
- 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.)
- Ceased
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Classifications
-
- 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
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses an industrial robot loading and unloading clamping mechanism, including a first fixing plate, a second fixing plate and a clamping mounting base, wherein a driven roller is rotatably inserted into the center of the right end surface of said first fixing plate, said first servo motor is connected with a driving roller through a dynamic axis, and said rectangular steel frame slides through two rectangular adjusting holes in an adjusting beam. Said second servo motor runs rotatably through top end surface of clamping mounting base by dynamic axis, and is in spigot and socket connection with driving gear and second clamping bar through driving axis. Driven gear and first clamping bar are in spigot and socket connection through the driving axis in the left side of inner cavity of said clamping mounting base, and said driving gear is engaged with said driven gear. A first fixture and a second fixture are fixed on top of said first clamping bar and second clamping bar respectively. In the present invention, the clamping force that can be undertaken by clamping piece may be preset, to prevent the influence on the production process due to the clamping piece being damaged by the fixture, thus assisting the loading and unloading operation. DRAWINGS OF THE SPECIFICATION -25 Figure 1 Figure 2
Description
DESCRIPTION
2019101620 16 Dec 2019 [0003] The present invention aims to provide an industrial robot loading and unloading clamping mechanism, to address the problems raised in the foregoing background, such as too large clamping force of the fixture, which often causes the product to be damaged, thus influencing the product quality.
[0004] To address the foregoing technical problems, the present invention has provided the technical scheme described below: an industrial robot loading and unloading clamping mechanism, including a first fixing plate, a second fixing plate and a clamping mounting base, wherein a driven roller is rotatably inserted into the center of the right end surface of said first fixing plate, a first travel switch and a second travel switch are symmetrically embedded through a mounting block by taking the driven roller as the center on the right end surface of said first fixing plate, a touch rod is set radially on the left end of said driven roller, first servo motor is fixed on the left end surface of said second fixing plate through a support, and said first servo motor is connected with a driving roller through dynamic axis. A rectangular steel frame is welded between said driving roller and said driven roller, and an adjusting beam is welded on the front end surface of said clamping mounting base. Said adjusting beam is U-shaped, and rectangular adjusting holes are made in left and right, back and front. Said rectangular steel frame slides through two rectangular adjusting holes in said adjusting beam. Said clamping
DESCRIPTION
2019101620 16 Dec 2019 mounting base is a U-shaped hollow frame, a second servo motor is fixed on the right side of its top surface, and said second servo motor slides through the top surface of said clamping mounting base by dynamic axis, and is in spigot and socket connection with a driving gear and a second clamping bar by the driving axis. A driven gear and a first clamping bar are in spigot and socket connection through the driving axis in the left side of inner cavity of said clamping mounting base, said first clamping bar is under said driven gear, and said driving gear is engaged with said driven gear. A first fixture and a second fixture are fixed on top of said first clamping bar and said second clamping bar respectively. T-shaped buffer grooves are embedded symmetrically in the right end surface of said first fixture and left end surface of said second fixture, buffer clamping plates slide in spigot and socket connection with inner cavity of said T-shaped buffer grooves in said first fixture and said second fixture through a slide bar. Pressure sensors are embedded in the medium position of two said buffer clamping plates, and signal output ports of two said pressure sensors are connected with PLC controllers.
[0005] Preferably, said first fixing plate and second fixing plate are opposite each other in the left and right sides, and both are made with symmetrical installation holes in the front and back.
[0006] Preferably, the distance from said first travel switch and second travel switch to said driven roller is equal to the length of said touch rod,
DESCRIPTION
2019101620 16 Dec 2019 and said touch rod is situated above the horizontal surface of first travel switch and second travel switch.
[0007] Preferably, an adjusting screw is in rotatable spigot and socket connection through the threaded hole in the center of the front end surface of said adjusting beam, the rear end of said adjusting screw is extended to the front end surface of a rectangular steel frame, and connected rotatably with the center of the front end surface of said rectangular steel frame through a rotating disc.
[0008] Preferably, two said buffer clamping plates are of arc shape and in left-right symmetric distribution, and a buffer spring is set between said slide bar of two said buffer clamping plates and inner cavity of said T-shaped buffer groove.
[0009] Preferably, both signal output ports of said first travel switch and second travel switch are connected with signal input port of a PLC controller, and signal output port of said PLC controller is connected with an A/D converter. Signal output port of said A/D converter is connected with a LED display, said first servo motor and second servo motor are connected with signal output port of said PLC controller.
[0010] Compared with the currently available technologies, the present invention has the beneficial effects described below:
[0011] 1. In the present invention, with the pressure sensing signal value of pressure sensor preset by PLC controller, it is possible to preset the
DESCRIPTION
2019101620 16 Dec 2019 clamping force undertaken by the clamping piece, to prevent the influence on the production process due to the clamping piece being damaged by the fixture, thus assisting the production and processing operation.
[0012] 2. In the present invention, by setting a first travel switch and a second travel switch, PLC controller can control the positive and negative rotation and stop the rotation of first servo motor and second servo motor, facilitating the auxiliary loading and unloading operation.
[0013] 3. In the present invention, during the loading and unloading operation, the starting and closing times that PLC controller analyzes and processes a first travel switch and a second travel switch every time constitute one loading and unloading process, that is, one workpiece, which is then subject to analog to digital conversion by an A/D converter, and specific value is indicated on a LED display, facilitating the workpiece counting and mastering the use of raw materials.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS [0014] Figure 1 is the vertical view of internal structure in the embodiment of the present invention;
[0015] Figure 2 is the schematic view for structural enlargement of
DESCRIPTION
2019101620 16 Dec 2019 clamping mounting base in the embodiment of the present invention;
[0016] Figure 3 is the left view of first fixture in the embodiment of the present invention;
[0017] Figure 4 is the structural front view of second servo motor, driving gear and second fixture in the embodiment of the present invention;
[0018] Figure 5 is the schematic view for structural enlargement of adjusting beam in the embodiment of the present invention;
[0019] Figure 6 is the working schematic diagram in the embodiment of the present invention.
[0020] In the figures: 1. Buffer spring; 2. T-shaped buffer groove; 3. Slide bar; 4. Buffer clamping plate; 5. First fixture; 6. First clamping bar; 7. Driven gear; 8. Adjusting beam; 9. Second travel switch; 10. Touch rod;
11. Driven roller; 12. First fixing plate; 13. Mounting block; 14. Second travel switch; 15. Rectangular steel frame; 16. Adjusting screw; 17. Driving roller; 18. Second fixing plate; 19. Support; 20. First servo motor; 21. Second servo motor; 22. Clamping mounting base; 23. Second clamping bar; 24. Pressure sensor; 25. Second fixture; 26. Driving gear; 27. Rectangular adjusting hole; 28. PLC controller; 29. LED display; 30. A/D converter.
DESCRIPTION
2019101620 16 Dec 2019
DETAILED DESCRIPTION OF THE INVENTION [0021] To address the problem that the product is damaged often due to too large clamping force and the product quality is influenced, the embodiment of the present invention provides an industrial robot loading and unloading clamping mechanism. The technical scheme in the embodiments of the present invention will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present invention, and obviously the described embodiments are only some embodiments of the present invention, instead of all embodiments. All other embodiments obtained by general technicians without creative labor in this field based on the embodiments of the present invention shall fall into the scope of protection in the present invention.
[0022] Embodiment 1 [0023] Refer to Figures 1-6. This embodiment provides an industrial robot loading and unloading clamping mechanism, including first fixing plate 12, second fixing plate 18 and clamping mounting base 22, wherein driven roller 11 is rotatably inserted into the center of the right end surface of first fixing plate 12, first travel switch 14 and second travel switch 9 are symmetrically embedded through a mounting block 13 by taking the driven roller 11 as the center on the right end surface of first fixing plate 12, touch rod 10 is set radially on the left end of said driven
DESCRIPTION
2019101620 16 Dec 2019 roller 11, first servo motor 20 is fixed on the left end surface of second fixing plate 18 through a support 19, first servo motor 20 is connected with a driving roller 17 through dynamic axis. Rectangular steel frame 15 is welded between driving roller 17 and driven roller 11, and adjusting beam 8 is welded on front end surface of clamping mounting base 22. The adjusting beam 8 is U-shaped, and rectangular adjusting holes 27 are made in left and right, back and front. The rectangular steel frame 15 slides through two rectangular adjusting holes 27 in adjusting beam 8. The clamping mounting base 22 is a U-shaped hollow frame, second servo motor 21 is fixed on the right of its top surface, and second servo motor 21 slides through the top surface of clamping mounting base 22 by dynamic axis, and is in spigot and socket connection with driving gear 26 and second clamping bar 23 by the driving axis. The driven gear 7 and first clamping bar 6 are in spigot and socket connection through the driving axis in the left side of inner cavity of clamping mounting base 22, first clamping bar 6 is under driven gear 7, and driving gear 26 is engaged with driven gear 7. First fixture 5 and second fixture 25 are fixed on top of first clamping bar 6 and second clamping bar 23 respectively. T-shaped buffer grooves 2 are embedded symmetrically in the right end surface of first fixture 5 and left end surface of second fixture 25, buffer clamping plates 4 slide in spigot and socket connection with inner cavity of T-shaped buffer grooves 2 in first fixture 5 and second fixture 25 through
DESCRIPTION
2019101620 16 Dec 2019 slide bar 3. Pressure sensors 24 are embedded in the medium position of two buffer clamping plates 4, and signal output ports of two pressure sensors 24 are connected with PLC controllers 28.
[0024] In this embodiment, the workpiece is placed between first fixture 5 and second fixture 25, and first servo motor 20 and second servo motor 21 are started. When second servo motor 21 motivates the driving gear 26 to make rotation counterclockwise, driving gear 26 is engaged with driven gear 7 for rotation, and driven gear 7 rotates clockwise. The clamped piece may be clamped, and PLC controller 28 with the model of S7-200 is used to preset the pressure sensing signal value of pressure sensor 24, that is, the clamping force that can be undertaken by the clamped piece is preset. Once the pressure signal value of pressure sensor 24 reaches the preset value, second servo motor 21 will stop rotation, to prevent the damage of the clamped piece by the fixture, which would influence the production process. At this moment, PLC controller 28 carries out electrical control of first servo motor 20 for counterclockwise rotation, and driving roller 17 drives rectangular steel frame 15 for rotation. Once touch rod 10 contacts first travel switch 14, first servo motor 20 will stop operation. Then PLC controller 28 will carry out electrical control of second servo motor 21 for clockwise rotation, driving gear 26 rotates clockwise and driven gear 7 rotates counterclockwise. Afterwards first fixture 5 is separate from second fixture 25 to finish
DESCRIPTION
2019101620 16 Dec 2019 blanking. PLC controller 28 will carry out electrical control of first servo motor 20 for rotation clockwise. Once touch rod 10 contacts second travel switch 9, first servo motor 20 stop operation. Then second servo motor 21 clamps the clamped piece again, repeats the foregoing steps, and finishes the loading and unloading for times.
[0025] Embodiment 2 [0026] Refer to Figures 1-6. Improvement is made on the basis of Embodiment 1: first fixing plate 12 and second fixing plate 18 are opposite each other in the left and right directions, and both are made with symmetrical installation holes in the front and back. First fixing plate 12 and second fixing plate 18 can be fixed in the processing position, and the distance from first travel switch 14 and second travel switch 9 to driven roller 11 is equal to the length of touch rod 10. Touch rod 10 is situated above the horizontal surface of a first travel switch 14 and a second travel switch 9, thus facilitating the control of first travel switch 14 and second travel switch 9. Adjusting screw 16 is in rotatable spigot and socket connection through the threaded hole in the center of front end surface of adjusting beam 8, rear end of adjusting screw 16 is extended to the front end surface of rectangular steel frame 15, and is rotatably connected with the center of the front end surface of rectangular steel frame 15 through rotating disc. Adjusting screw 16 may be adjusted according to the turning, loading and unloading distance, thus driving the io
DESCRIPTION
2019101620 16 Dec 2019 movement of rectangular steel frame 15 in the front and back positions of rectangular adjusting hole 27 of adjusting beam 8. Two buffer clamping plates 4 are of arc shape and in left-right symmetrical distribution. Buffer spring 1 is set between slide bar 3 of two said buffer clamping plates 4 and inner cavity of said T-shaped buffer groove 2. Buffer spring 1 plays the buffering role. Signal output ports of first travel switch 14 and second travel switch 9 are connected with signal input port of PLC controller 28, facilitating PLC controller 28 to receive the operation signals of first travel switch 14 and second travel switch 9. First servo motor 20 and second servo motor 21 are connected with signal output port of PLC controller 28, and PLC controller 28 can control first servo motor 20 and second servo motor 21.
[0027] Embodiment 3 [0028] Refer to Figure 6. Improvement is made on the basis of Embodiment 1: signal output port of PLC controller 28 is connected with an A/D converter 30. Signal output port of A/D converter 30 is connected with a LED display 29. During the loading and unloading operation, the starting and closing times that PLC controller 28 analyzes and processes first travel switch 14 and second travel switch 9 every time constitute one loading and unloading process, that is, one workpiece, which is then subject to analog to digital conversion by A/D converter 30, and specific value is indicated on LED display 29, facilitating the workpiece counting n
DESCRIPTION
2019101620 16 Dec 2019 and mastering the use of raw materials.
[0029] In the description of the present invention, it should be explained that, the direction or position relations indicated by the terms “vertical”, “up”, “down” and “horizontal” are based on the direction or position relations shown in the accompanying drawings, only for description of the present invention and for simplifying the description, instead of indicating or implying that said equipment or component must have specific direction for structuring and operation. Therefore, they cannot be understood as the limit of the present invention. In addition, “first” and “second” are only used for purpose of description, and cannot be understood to indicate or imply relative significance.
[0030] In the description of the present invention, it should also be explained that, unless otherwise explicitly specified and restricted, the terms “Setting”, “Installation”, “Link”, and “Connection” shall be understood in a broad sense. For example, it may be fixed connection, or dismountable connection, or integrated connection, or mechanical connection, or electric connection, or direct connection, or connection through intermediate medium, or connection between two components. For general technicians in this field, the meanings of the foregoing terms in the present invention may be understood according to actual conditions.
DESCRIPTION
2019101620 16 Dec 2019 [0031] Though the embodiments of the present invention have been indicated and described, it may be understood for general technicians in this field that various changes, modifications and replacements may be made to the embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is to be limited only by the appended claims and equivalent.
Claims (6)
- 2019101620 16 Dec 20191. An industrial robot loading and unloading clamping mechanism, including a first fixing plate (12), a second fixing plate (18) and a clamping mounting base (22), characterized in that: a driven roller (11) is rotatably inserted into the center of the right end surface of said first fixing plate (12), a first travel switch (14) and a second travel switch (9) are symmetrically embedded through a mounting block (13) by taking the driven roller (11) as the center on the right end surface of said first fixing plate (12), a touch rod (10) is set radially on the left end of said driven roller (11), a first servo motor (20) is fixed on the left end surface of said second fixing plate (18) through a support (19), and said first servo motor (20) is connected with a driving roller (17) through a dynamic axis. A rectangular steel frame (15) is welded between said driving roller (17) and said driven roller (11), an adjusting beam (8) is welded on the front end surface of said clamping mounting base (22), said adjusting beam (8) is U-shaped and rectangular adjusting holes (27) are made in left and right, back and front. Said rectangular steel frame (15) slides through two rectangular adjusting holes (27) in said adjusting beam (8). Said clamping mounting base (22) is a U-shaped hollow frame, a second servo motor (21) is fixed on the right side of its top surface, and said second servo motor (21) slides through the top end surface of said clamping mounting base (22) by dynamic axis, and is in spigot and socket connection with a driving gear (26) and a second clamping bar (23) by the driving axis. A2019101620 16 Dec 2019 driven gear (7) and a first clamping bar (6) are in spigot and socket connection through the driving axis in the left side of inner cavity of said clamping mounting base (22), said first clamping bar (6) is under said driven gear (7), and said driving gear (26) is engaged with said driven gear (7). A first fixture (5) and a second fixture (25) are fixed on top of said first clamping bar (6) and said second clamping bar (23) respectively. T-shaped buffer grooves (2) are embedded symmetrically in the right end surface of said first fixture (5) and left end surface of said second fixture (25), buffer clamping plates (4) slide in spigot and socket connection with inner cavity of said T-shaped buffer grooves (2) in said first fixture (5) and said second fixture (25) through a slide bar (3). Pressure sensors (24) are embedded in the medium position of two said buffer clamping plates (4), and signal output ports of two said pressure sensors (24) are connected with PLC controllers (28).
- 2. An industrial robot loading and unloading clamping mechanism according to Claim 1, characterized in that: said first fixing plate (12) and second fixing plate (18) are opposite each other in the left and right sides, and both are made with symmetrical installation holes in the front and back.
- 3. An industrial robot loading and unloading clamping mechanism according to Claim 1, characterized in that: the distance from said first travel switch (14) and second travel switch (9) to said driven roller (11) is2019101620 16 Dec 2019 equal to the length of said touch rod (10), and said touch rod (10) is situated above the horizontal surface of said first travel switch (14) and said second travel switch (9).
- 4. An industrial robot loading and unloading clamping mechanism according to Claim 1, characterized in that: an adjusting screw (16) is in rotatable spigot and socket connection through the threaded hole in the center of the front end surface of said adjusting beam (8), the rear end of said adjusting screw (16) is extended to the front end surface of a rectangular steel frame (15), and connected rotatably with the center of the front end surface of said rectangular steel frame (15) through a rotating disc.
- 5. An industrial robot loading and unloading clamping mechanism according to Claim 1, characterized in that: two said buffer clamping plates (4) are of arc shape and in left-right symmetric distribution, and a buffer spring (1) is set between said slide bar (3) of two said buffer clamping plates (4) and inner cavity of said T-shaped buffer groove (2).
- 6. An industrial robot loading and unloading clamping mechanism according to Claim 1, characterized in that: signal output ports of said first travel switch (14) and second travel switch (9) are connected with signal input port of a PLC controller (28), signal output port of said PLC controller (28) is connected with an A/D converter (30), signal output port of said A/D converter (30) is connected with a LED display (29), both2019101620 16 Dec 2019 said first servo motor (20) and said second servo motor (21) are connected with signal output port of said PLC controller (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2019101620A AU2019101620A4 (en) | 2019-12-16 | 2019-12-16 | An industrial robot loading and unloading clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2019101620A AU2019101620A4 (en) | 2019-12-16 | 2019-12-16 | An industrial robot loading and unloading clamping mechanism |
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| Publication Number | Publication Date |
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| AU2019101620A4 true AU2019101620A4 (en) | 2020-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| AU2019101620A Ceased AU2019101620A4 (en) | 2019-12-16 | 2019-12-16 | An industrial robot loading and unloading clamping mechanism |
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| CN111571539A (en) * | 2020-05-26 | 2020-08-25 | 安徽省阜南志峰工艺品有限公司 | Adjustable fixture for machining iron artware and using method of adjustable fixture |
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