CN107984488A - A kind of industrial robot quick change type clamp - Google Patents
A kind of industrial robot quick change type clamp Download PDFInfo
- Publication number
- CN107984488A CN107984488A CN201711419538.6A CN201711419538A CN107984488A CN 107984488 A CN107984488 A CN 107984488A CN 201711419538 A CN201711419538 A CN 201711419538A CN 107984488 A CN107984488 A CN 107984488A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- support plate
- annular groove
- clamp
- assemblied
- 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.)
- Pending
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0441—Connections means having vacuum or magnetic means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of industrial robot quick change type clamp,Including annular groove one,Clamp ring,Guide rod,Annular groove two,Connecting cylinder,T-shaped sliding slot,T-shaped sliding block,Support plate and push rod,Annular groove two is opened in connecting cylinder inner annular side,Clamp ring right end is assemblied in inside annular groove two,Clamp ring left end is assemblied in inside annular groove one,Guide rod left end is fixed on clamp ring annular side right end,Guide rod right end passes through connecting cylinder,And extend on the right side of connecting cylinder,The connection of the present apparatus is easy in the design,Support plate trailing flank is symmetrical to be fixed with T-shaped sliding block,T-shaped sliding block is assemblied in inside T-shaped sliding slot,T-shaped sliding slot is opened in clamp body front end face,Putting back-end passes through support plate,And extend on rear side of support plate,The design achieves the detection of clamp body clamping force,The present invention is easy to use,Easy to connect,Realize the function of chucking power detection,Security is good,Reliability is high.
Description
Technical field
The present invention is a kind of industrial robot quick change type clamp, belongs to industrial machinery field.
Background technology
In the prior art, industrial robot quick change type clamp connection structure is complicated, and connection and dismounting speed are slow；Existing skill
In art, industrial robot quick change type clamp is without clamping tension detection mechanism, it is difficult to finds the conversion of chucking power in time, easily goes out
Existing clamp-replacing not in time, causes the situation that chucking power is fallen to occur, thus need a kind of industrial robot quick change type clamp with
Solve the above problems.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of industrial robot quick change type clamp, with solution
Problem certainly proposed in the above background technology, the present invention is easy to use, easy to connect, realizes the function of chucking power detection, peace
Good perfection, reliability are high.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of industrial robot quick change
Formula fixture, including mechanical arm, sunpender, connection component, clamp body and clamping force detection components, the sunpender are fixed on mechanical arm
Downside, the clamp body are connected by connection component with sunpender, and the clamping force detection components are assemblied on front side of clamp body
Face, the connection component include annular groove one, clamp ring, magnet ring, electromagnet, guide rod, spring one, annular groove two and
Connecting cylinder, the annular groove one are opened in sunpender annular side, and the annular groove two is opened in connecting cylinder inner annular side
Face, the clamp ring right end are assemblied in inside annular groove two, and the clamp ring left end is assemblied in inside annular groove one, the guiding
Bar left end is fixed on clamp ring annular side right end, and the guide rod right end passes through connecting cylinder, and extends on the right side of connecting cylinder, described
Spring one is assemblied in the guide rod annular side on the right side of connecting cylinder, and the electromagnet is fixed on two inner annular side of annular groove
Face, the magnet ring are fixed on clamp ring annular side, and the clamping force detection components include electric pushrod one, T-shaped sliding slot, T-shaped
Sliding block, support plate, push rod, spring two, positioning plate, electric pushrod two, sliding slot and electric pushrod three, the electric pushrod one are installed
In clamp body upper surface forward position, the support plate upper end is connected to one upper end of electric pushrod, the support plate trailing flank or so pair
Title is fixed with T-shaped sliding block, and the T-shaped sliding block is assemblied in inside T-shaped sliding slot, and the T-shaped sliding slot is opened in clamp body front end face, institute
State push rod front end and be fixed on positioning plate trailing flank, the putting back-end passes through support plate, and extends on rear side of support plate, the spring two
Push rod annular side is assemblied in, two front end of spring is connected with positioning plate trailing flank, before two rear end of spring and support plate
Side is connected, and the sliding slot is opened in the support plate leading flank on the upside of push rod, and the sliding slot mounted inside has sliding block, described electronic
Push rod two is installed on sliding block leading flank, and the electric pushrod three is assemblied in sliding slot upper inside face, three lower end of electric pushrod
It is connected with upper end of slide block face.
Further, graduated scale is fixed with the connecting cylinder of the upside of spring one, the graduated scale passes through screw and company
Connect cylinder is connected.
Further, the support plate lower end offers through hole, and the push rod is assemblied in inside through hole.
Further, the through hole inner annular side upper end and lower end offer limiting slot, and the push rod passes through
Positive stop lug boss is connected with limiting slot.
Further, the electric pushrod two is fixedly arranged at the front end with blend stop, and the blend stop passes through connecting hole and electric pushrod two
It is connected, the connecting hole is opened in blend stop trailing flank.
Further, the electromagnet, electric pushrod one, electric pushrod two and electric pushrod three by electric wire with it is outer
Power supply is connect to be connected.
Beneficial effects of the present invention：A kind of industrial robot quick change type clamp of the present invention, because the present invention with the addition of annular
The present apparatus is easy in groove one, clamp ring, magnet ring, electromagnet, guide rod, spring one, annular groove two and connecting cylinder, the design
Connection, joint efficiency is high, solves in the prior art that industrial robot quick change type clamp connection structure is complicated, connects and tears open
Unload slow-footed problem.
Because the present invention with the addition of electric pushrod one, T-shaped sliding slot, T-shaped sliding block, support plate, push rod, spring two, positioning plate, electronic
Push rod two, sliding slot and electric pushrod three, the design achieves the detection of clamp body clamping force, improve security, solve
In the prior art, easily there is clamp-replacing not in time, leads without tension detection mechanism is clamped in industrial robot quick change type clamp
The problem of causing the situation that chucking power is fallen to occur.
Because with the addition of graduated scale, which is easy to determine the situation of clamp ring assembling, because with the addition of guide groove and be oriented to convex
Platform, which improves the stability of push rod assembling, and because with the addition of blend stop, which promotes positioning plate easy to electric pushrod two,
The present invention is easy to use, easy to connect, realizes the function of chucking power detection, and security is good, and reliability is high.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structure diagram of industrial robot quick change type clamp of the present invention；
Fig. 2 is the structure diagram of connection component in a kind of industrial robot quick change type clamp of the present invention；
Fig. 3 is the structure diagram of clamping force detection components in a kind of industrial robot quick change type clamp of the present invention；
In figure：1- mechanical arms, 2- sunpenders, 3- connection components, 4- clamp bodies, 5- clamping forces detection components, 31- annular grooves one,
32- clamp rings, 33- magnet rings, 34- electromagnet, 35- guide rods, 36- springs one, 37- annular grooves two, 38- connecting cylinders, 501-
Electric pushrod one, 502-T types sliding slot, 503-T types sliding block, 504- support plates, 505- push rods, 506- springs two, 507- positioning plates,
508- electric pushrods two, 509- sliding slots, 510- electric pushrods three.
Embodiment
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, with reference to
Embodiment, the present invention is further explained.
- Fig. 3 is please referred to Fig.1, the present invention provides a kind of technical solution：A kind of industrial robot quick change type clamp, including machine
Tool arm 1, sunpender 2, connection component 3, clamp body 4 and clamping force detection components 5, sunpender 2 are fixed on 1 downside of mechanical arm, folder
Specific 4 are connected by connection component 3 with sunpender 2, and clamping force detection components 5 are assemblied in 4 leading flank of clamp body.
Connection component 3 include annular groove 1, clamp ring 32, magnet ring 33, electromagnet 34, guide rod 35, spring 1,
Annular groove 2 37 and connecting cylinder 38, annular groove 1 are opened in 2 annular side of sunpender, 2 37 company of being opened in of annular groove
38 inner annular side of connect cylinder, 32 right end of clamp ring are assemblied in inside annular groove 2 37, and 32 left end of clamp ring is assemblied in annular groove
Inside one 31,35 left end of guide rod is fixed on 32 annular side right end of clamp ring, and 35 right end of guide rod passes through connecting cylinder 38, and extends
To the right side of connecting cylinder 38, spring 1 is assemblied in 35 annular side of guide rod on the right side of connecting cylinder 38, and electromagnet 34 is fixed on ring
2 37 inner annular side of connected in star, magnet ring 33 are fixed on 32 annular side of clamp ring, which solves work in the prior art
Industry robot quick change type clamp connection structure is complicated, connects and dismantle slow-footed problem.
Clamping force detection components 5 include electric pushrod 1, T-shaped sliding slot 502, T-shaped sliding block 503, support plate 504, push rod
505th, spring 2 506, positioning plate 507, electric pushrod 2 508, sliding slot 509 and electric pushrod 3 510, electric pushrod 1
Installed in 4 upper surface forward position of clamp body, 504 upper end of support plate is connected to one 501 upper end of electric pushrod, 504 trailing flank of support plate
Symmetrical to be fixed with T-shaped sliding block 503, T-shaped sliding block 503 is assemblied in inside T-shaped sliding slot 502, and T-shaped sliding slot 502 is opened in fixture
4 front end face of body, 505 front end of push rod are fixed on 507 trailing flank of positioning plate, and 505 rear end of push rod passes through support plate 504, and extends to load
The rear side of plate 504, spring 2 506 are assemblied in 505 annular side of push rod, and 2 506 front end of spring is connected with 507 trailing flank of positioning plate
Connect, 2 506 rear end of spring is connected with 504 leading flank of support plate, and sliding slot 509 is opened in the front side of support plate 504 of the upside of push rod 505
Face, 509 mounted inside of sliding slot have sliding block, and electric pushrod 2 508 is installed on sliding block leading flank, and electric pushrod 3 510 is assemblied in cunning
509 upper inside face of groove, 3 510 lower end of electric pushrod are connected with upper end of slide block face, which solves in the prior art, work
Easily there is clamp-replacing not in time, causes chucking power to be fallen without tension detection mechanism is clamped in industry robot quick change type clamp
Situation occur the problem of.
Graduated scale is fixed with the connecting cylinder 38 of the upside of spring 1, graduated scale is connected by screw with connecting cylinder 38,
504 lower end of support plate offers through hole, and push rod 505 is assemblied in inside through hole, and through hole inner annular side upper end and lower end are opened
Equipped with limiting slot, push rod 505 is connected by positive stop lug boss with limiting slot, and electric pushrod 2 508 is fixedly arranged at the front end with blend stop, blend stop
It is connected by connecting hole with electric pushrod 2 508, connecting hole is opened in blend stop trailing flank, electromagnet 34, electric pushrod one
501st, electric pushrod 2 508 and electric pushrod 3 510 are connected by electric wire with external power supply.
Embodiment：When staff installs the present apparatus, the circuit between electromagnet 34 and external power supply is connected,
34 energizing magnetic of electromagnet, so that electromagnet 34 produces magnetic attraction to magnet ring 33, so that magnet ring 33 is to electromagnet
34 directions are moved, and the movement of magnet ring 33 drives clamp ring 32 to move, and the movement of clamp ring 32 drives guide rod 35 to move, and guide rod 35 moves
Drawing force is produced to spring 1, stretches spring 1, when clamp ring 32 is moved to 2 37 inside of annular groove, staff will
Connecting cylinder 38 is assembled to 2 lower end of sunpender, and connecting cylinder 38 is moved along sunpender 2, inside 2 lower face of sunpender and connecting cylinder 38
When downside fits closely, disconnect the circuit between electromagnet 34 and external power supply, so that electromagnet 34 loses magnetism, in bullet
Spring 1 recovers under the elastic force effect of deformation, and guide rod 35 drives clamp ring 32 to one 31 square movement of annular groove, so that folder
32 left end of ring is assembled to inside annular groove 1, realizes the connection of the present apparatus, easy to operate.
During the use of the present apparatus, staff runs electric pushrod 1, the work band of electric pushrod 1
Dynamic load plate 504 moves down, and the movement of support plate 504 drives T-shaped sliding block 503 to be moved in T-shaped sliding slot 502, so that support plate 504 drives
Push rod 505 moves, and when push rod 505 is moved to suitable position, makes electric pushrod 1 out of service, makes electric pushrod 3 510
Operation, the work band movable slider of electric pushrod 3 510 move inside sliding slot 509, and sliding block movement drives electric pushrod 2 508 to move
Dynamic, the movement of electric pushrod 2 508 drives blend stop movement, so that blend stop is separated with positioning plate 507, under the action of spring 2 506,
Positioning plate 507 drives push rod 505 to move right, so that the object that push rod 505 clamps clamp body 4 produces impact, if object
Clamp and stablize under impact effect, be then continuing with clamp body 4, then staff runs electric pushrod 2 508, electronic
The work of push rod 2 508 drives blend stop movement, and when blend stop is moved to 507 right side of positioning plate, staff makes electric pushrod 3 510
Operation, so as to drive electric pushrod 1 and blend stop to be moved to the right side of positioning plate 507 by sliding block, then staff makes
Electric pushrod 2 508 is run, and the work of electric pushrod 2 508 drives positioning plate 507 to move, and the movement of positioning plate 507 drives push rod 505
It is mobile, while spring 2 506 is stretched, when push rod 505 is moved to 504 inside of support plate, electric pushrod 1 is run again,
Push rod 505 is moved to by 4 upper position of clamp body by support plate 504, the design achieves the inspection of 4 clamping force of clamp body
Survey.
The basic principles, main features and the advantages of the invention have been shown and described above, for this area skill
For art personnel, it is clear that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes fallen in the implication and scope of the equivalency of claim in the present invention
It is interior.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of industrial robot quick change type clamp, including mechanical arm, sunpender, connection component, clamp body and clamping force detection
Component, it is characterised in that：The sunpender is fixed on mechanical arm downside, and the clamp body is connected by connection component with sunpender
Connect, the clamping force detection components are assemblied in clamp body leading flank；
The connection component include annular groove one, clamp ring, magnet ring, electromagnet, guide rod, spring one, annular groove two with
And connecting cylinder, the annular groove one are opened in sunpender annular side, the annular groove two is opened in connecting cylinder inner annular
Side, the clamp ring right end are assemblied in inside annular groove two, and the clamp ring left end is assemblied in inside annular groove one, described to lead
Clamp ring annular side right end is fixed on to bar left end, the guide rod right end passes through connecting cylinder, and extends on the right side of connecting cylinder, institute
The guide rod annular side that spring one is assemblied on the right side of connecting cylinder is stated, the electromagnet is fixed on two inner annular side of annular groove
Face, the magnet ring are fixed on clamp ring annular side；
The clamping force detection components include electric pushrod one, T-shaped sliding slot, T-shaped sliding block, support plate, push rod, spring two, positioning plate,
Electric pushrod two, sliding slot and electric pushrod three, the electric pushrod one are installed on clamp body upper surface forward position, the load
Plate upper end is connected to one upper end of electric pushrod, and the support plate trailing flank is symmetrical to be fixed with T-shaped sliding block, the T-shaped sliding block dress
Fitting over inside T-shaped sliding slot, the T-shaped sliding slot is opened in clamp body front end face, and the push rod front end is fixed on positioning plate trailing flank,
The putting back-end passes through support plate, and extends on rear side of support plate, and the spring two is assemblied in push rod annular side, the spring two
Front end is connected with positioning plate trailing flank, and two rear end of spring is connected with support plate leading flank, and the sliding slot is opened in push rod
The support plate leading flank of upside, the sliding slot mounted inside have sliding block, and the electric pushrod two is installed on sliding block leading flank, the electricity
Dynamic push rod three is assemblied in sliding slot upper inside face, and three lower end of electric pushrod is connected with upper end of slide block face.
A kind of 2. industrial robot quick change type clamp according to claim 1, it is characterised in that：The upside of spring one
Graduated scale is fixed with connecting cylinder, the graduated scale is connected by screw with connecting cylinder.
A kind of 3. industrial robot quick change type clamp according to claim 1, it is characterised in that：The support plate lower end opens up
There is through hole, the push rod is assemblied in inside through hole.
A kind of 4. industrial robot quick change type clamp according to claim 1, it is characterised in that：The through hole inner annular
Side upper end and lower end offer limiting slot, and the push rod is connected by positive stop lug boss with limiting slot.
A kind of 5. industrial robot quick change type clamp according to claim 1, it is characterised in that：Before the electric pushrod two
End is fixed with blend stop, and the blend stop is connected by connecting hole with electric pushrod two, and the connecting hole is opened in blend stop trailing flank.
A kind of 6. industrial robot quick change type clamp according to claim 1, it is characterised in that：It is the electromagnet, electronic
Push rod one, electric pushrod two and electric pushrod three are connected by electric wire with external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419538.6A CN107984488A (en) | 2017-12-25 | 2017-12-25 | A kind of industrial robot quick change type clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711419538.6A CN107984488A (en) | 2017-12-25 | 2017-12-25 | A kind of industrial robot quick change type clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107984488A true CN107984488A (en) | 2018-05-04 |
Family
ID=62042404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711419538.6A Pending CN107984488A (en) | 2017-12-25 | 2017-12-25 | A kind of industrial robot quick change type clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107984488A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029296A (en) * | 2018-08-29 | 2018-12-18 | 杭州厚谋创意设计有限公司 | A kind of industry tracks parallelism detection robot |
| CN110091350A (en) * | 2019-06-05 | 2019-08-06 | 河南轩明实业有限公司 | A kind of robot comprehensive practical traning platform manipulator electromagnetism fast replacing device |
| CN115892971A (en) * | 2022-10-28 | 2023-04-04 | 中钢集团郑州金属制品研究院股份有限公司 | Cement mortar examination mould and transport anchor clamps |
-
2017
- 2017-12-25 CN CN201711419538.6A patent/CN107984488A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029296A (en) * | 2018-08-29 | 2018-12-18 | 杭州厚谋创意设计有限公司 | A kind of industry tracks parallelism detection robot |
| CN109029296B (en) * | 2018-08-29 | 2020-10-30 | 泰州帕沃能源科技有限公司 | Industrial track parallelism detection robot |
| CN110091350A (en) * | 2019-06-05 | 2019-08-06 | 河南轩明实业有限公司 | A kind of robot comprehensive practical traning platform manipulator electromagnetism fast replacing device |
| CN115892971A (en) * | 2022-10-28 | 2023-04-04 | 中钢集团郑州金属制品研究院股份有限公司 | Cement mortar examination mould and transport anchor clamps |
| CN115892971B (en) * | 2022-10-28 | 2023-12-15 | 中钢集团郑州金属制品研究院股份有限公司 | Cement mortar test die and transfer clamp |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180504 |
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| WD01 | Invention patent application deemed withdrawn after publication |