CN111251332A - Small-size anchor clamps for robot - Google Patents
Small-size anchor clamps for robot Download PDFInfo
- Publication number
- CN111251332A CN111251332A CN201811465036.1A CN201811465036A CN111251332A CN 111251332 A CN111251332 A CN 111251332A CN 201811465036 A CN201811465036 A CN 201811465036A CN 111251332 A CN111251332 A CN 111251332A
- Authority
- CN
- China
- Prior art keywords
- tensioning
- block
- base
- ball
- hole
- 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
Links
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000005520 cutting process Methods 0.000 abstract description 10
- 238000003466 welding Methods 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- B25J15/0408—Connections means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a small-sized clamp for a robot, comprising: the inner side of the base is provided with a connecting part; the inner side of the tool transfer block is provided with a connecting groove which is matched with the connecting part in advance; the tensioning piece, the tensioning piece passes through connecting portion with the spread groove makes the base with the instrument switching piece is connected. The clamp can help the robot to replace the cutting head and the welding head quickly and conveniently.
Description
Technical Field
The invention relates to a clamp for a robot, in particular to a small clamp for the robot.
Background
With the development of science and technology, robots are widely used in various production fields. When cutting or welding is performed, it is necessary to replace the cutting head or the welding head with a robot according to the situation of the object to be cut or welded. However, when the robot needs to perform complicated installation, debugging and positioning when the cutting head or the welding head is replaced, the robot needs to be fixed by a clamp, so that the robot is assisted to perform quick positioning so as to replace the cutting head or the welding head. The prior art adopts screw locking to realize the location for the direction of perpendicular to faying face, but this technical scheme can appear the contact surface undersize, and installation space is too compact, perhaps the contact surface is too big, increases the problem of robot's load, so need debug repeatedly, and then influences the speed that the robot changed cutting head or soldered connection.
Disclosure of Invention
In view of the above, the present invention provides a small-sized jig for a robot, the jig including: the inner side of the base is provided with a connecting part; the inner side of the tool transfer block is provided with a connecting groove which is matched with the connecting part in advance; the tensioning piece, the tensioning piece passes through connecting portion with the spread groove makes the base with the instrument switching piece is connected.
Furthermore, a positioning hole is formed in the inner side of the tool transfer block, a positioning pin matched with the positioning hole is arranged on the inner side of the base, and when the base is connected with the tool transfer block, the positioning pin enters the positioning hole.
Furthermore, 2 positioning pins are arranged on the inner side of the base, and the 2 positioning pins are positioned on the same diagonal line; and the inner side of the tool transfer block is provided with a positioning hole matched with the positioning pin.
Further, the tensioning piece comprises a tensioning block, a tensioning ball and a screw; wherein, the screw with the tensioning piece links to each other, the tensioning ball is located the tensioning piece with between the connecting portion, and with the tensioning piece contacts.
Furthermore, the connecting part is provided with a through hole matched with the tensioning ball, and when the tensioning ball is extruded by the tensioning block, the tensioning ball can enter the through hole and sink into the connecting groove.
Further, the tensioning ball diameter is greater than the through hole diameter such that the tensioning ball partially enters the through hole but cannot pass through the through hole.
Furthermore, a stress inclined plane is arranged in the connecting groove, and the tensioning ball contacts the stress inclined plane when moving in the direction away from the tensioning block.
Further, when the screw moves away from and close to the base, the tensioning block and the screw move together in the same direction.
Further, when the base contacts the tool transfer block, the connecting portion enters the connecting groove.
According to the technical scheme provided by the invention, the inner side of the base is contacted with the inner side of the working adapter block, and the base and the working adapter block are fixedly connected through the tensioning piece, so that the rapid and accurate positioning is realized, and the aim of rapidly replacing the cutting head and the welding head is further fulfilled.
Drawings
FIG. 1 is a schematic view of an exemplary fixture according to the present invention;
FIG. 2 is a schematic view of a base and tension member according to the present invention;
FIG. 3 is a schematic view of a tool adapter block and tensioning member according to the present invention;
FIG. 4 is a schematic plan view of a base and tension member according to the present invention;
FIG. 5 is a schematic view of a cut-away of the fixture provided by the present invention;
FIG. 6 is a cross-sectional view of a clip according to the present invention.
Detailed Description
Example one
As shown in FIG. 1, the present invention provides a small jig 1 for a robot, which includes a base 11, a tool transfer block 12, and a tension member 13. Referring to fig. 2 and 3, the inner side of the base 11 is provided with a connecting portion 111, the inner side of the tool transfer block 12 is provided with a connecting groove 121 adapted to the connecting portion 111, and the connecting portion 111 and the connecting groove 121 are connected by the tension member 13. This anchor clamps 1 is small, and simple to operate can overcome prior art's shortcoming, realizes quick accurate positioning, and then reaches the purpose of quick replacement cutting head and soldered connection.
Example two
As shown in fig. 1, the present invention provides a jig 1 including a base 11, a tool transfer block 12, and a tension member 13. In order to better explain the technical solution provided by the present invention, the following detailed description of the components will be made with reference to the accompanying drawings.
Referring to fig. 2 and 3, the base 11 is a generally quadrilateral metal block, one side contacting the tool transfer block 12 is an inner side, and the other side opposite to the inner side is an outer side. The inner side of the base 11 is provided with a protruding part like a Chinese character 'jing', which is a connection part 111, and the connection part 111 is provided with a through hole 113. The base 11 is also provided with a positioning pin 112 on the inside. The tool transfer block 12 is a generally quadrangular metal block corresponding to the base 11, and one side contacting the base 11 is an inner side and the other side corresponding to the inner side is an outer side. The inner side of the tool transfer block 12 is provided with a connecting groove 121 matched with the connecting part 111, and the inner wall of the connecting groove 121 is provided with a stress inclined plane 123. The tool adapter block 12 is also provided with a positioning hole 122 inside. The tensioning member 13 comprises a tensioning block 132, a tensioning ball 133 and a screw 131. The screw 131 is connected to the tension block 132, and the tension ball 133 is in contact with the tension block 132. The tensioning member 3 connects the base 11 and the tool transfer block 12 via the connecting portion 111 and the connecting groove 121.
In a use state, the inner side of the tool transfer block 12 contacts the inner side of the base 11, and the positioning pin 112 on the inner side of the base 11 enters the positioning hole 122 on the inner side of the tool transfer block 12, so as to perform a fixing function, so that the tool transfer block 12 cannot move freely relative to the base 11. Generally, two positioning pins 112 are disposed on the inner side of the base 11, and the two positioning pins 112 are located on the diagonal line, and positioning holes 122 corresponding to the number and positions of the positioning pins 112 are also disposed on the inner side of the tool transfer block 12, so that the tool transfer block 12 and the base 11 can be in close contact. Meanwhile, the connecting portion 111 inside the base 11 enters the connecting groove 121 inside the tool transfer block 12 to further fix the tool transfer block, so that the base 11 and the tool transfer block 12 are connected more firmly.
The positional relationship between the tool transfer block 12 and the base 11 in the use state will be described, and the positional relationship between the tension member 13 and the base will be described below.
The tensioning member 13 comprises a tensioning block 132, a tensioning ball 133 and a screw 131. In the use state, the screw 131 is connected with the tension block 132, the tension ball 133 is contacted with the tension block 132, and the tension block 132 is embedded in the connecting part 111 and can move freely. As can be seen from the foregoing, the connection portion 111 inside the base 11 is provided with the through hole 113. The through holes 113 are positioned and numbered corresponding to the tension balls 133, and since the diameter of the through holes 113 is not larger than the diameter of the tension balls 133, and the tension balls 133 are generally positioned at both sides of the tension block 132 between the tension block 132 and the connecting portion 111, when the tension balls 133 are pressed by the tension block 132, a part of the balls enter the through holes 113, but cannot completely pass through the through holes 113. After being continuously pressed by the tensioning block 132, a part of the sphere entering the through hole 113 passes through the through hole 113, sinks into the connecting groove 121 on the inner side of the tool transfer block 12, and generates a pressure perpendicular to the force-bearing inclined plane 123 on the force-bearing inclined plane 123 arranged on the inner wall of the connecting groove 121, so that the base 11 and the tool transfer block 12 are more tightly connected.
The method of using the clamp is further described below, with reference to fig. 4-6.
When the tool transfer block is used, the positioning hole 122 on the inner side of the tool transfer block 12 is aligned with the positioning pin 112 on the inner side of the base 11 to make the two contact with each other, and the connecting portion 111 on the base 11 enters the connecting groove 131 on the tool transfer block 12, so that the tool transfer block 12 cannot move freely relative to the base 11.
Then, the screw 131 is moved away from the clamp 1, and as shown in fig. 4, since the tension block 132 is connected to the screw 131, the tension block 132 is moved away from the clamp 1 together with the screw 131. Since the tensioning balls 133 are usually located on both sides of the tensioning block 132, to facilitate the force, the tensioning block 132 is provided with inclined surfaces on both sides, so that when the tensioning block 132 moves away from the clamp 1, the tensioning balls 133 are better pushed to move away from the tensioning block 132. Since the tension ball 133 is located between the tension block 132 and the connection portion 111, and the connection portion 111 is provided with the through hole 113 adapted to the tension ball 133, the tension ball 133 enters the through hole 113 by the pressure of the tension block 132. And since the diameter of the through hole 113 is smaller than that of the tension ball 133, the tension ball 133 does not pass through the through hole 113 completely, and only a part of the ball passes through the through hole 113, enters the connection groove 121, and contacts the force-receiving inclined surface 123 in the connection groove 121.
Referring to fig. 5 and 6 (fig. 5 is a schematic sectional view, and fig. 6 is a sectional view taken along the sectional view of fig. 5), as the screw 131 continues to move, the tensioning block 132 continues to push the tensioning ball 133 away from the tensioning block 132, so that the tensioning ball 133 presses against the force-bearing slope 123 in the connecting groove 121, as shown in fig. 6, resulting in a total force F that can be resolved into force components F1 and F2. As can be seen from the foregoing, in general, two tensioning balls 133 are respectively disposed on two sides of one tensioning block 132, so that the force components F1 generated by the two tensioning balls 133 have opposite directions and the same magnitude, and cancel each other out. The other component F2 has the same direction and magnitude, so it will push the tool transfer block 12 to the base 11, and strengthen the fastening between the tool transfer block 12 and the base 11.
In general, as shown in fig. 2 and 3, the clamp 1 is provided with the tensioning members 13 in four directions, each of which comprises two tensioning balls 133, so that eight stress points are generated to tension the tool transfer block 12 and the base 11, and the fixation is completed. After the fixing is completed, the cutting head or the welding head can be replaced.
Because base 11 and instrument switching piece 12 hug closely each other, do not have relative slip, can quick accurate positioning, and the two is the direction of perpendicular to contact surface fixed in addition, and anchor clamps 1 volume is less, so can overcome among the prior art perpendicular to the direction of faying face fixed and the installation controlling part that produces is narrow and small to and the problem that can't quick replacement cutting head or soldered connection that leads to the load overweight.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A small-sized jig for a robot, characterized in that the jig comprises:
the inner side of the base is provided with a connecting part;
the inner side of the tool transfer block is provided with a connecting groove which is matched with the connecting part in advance;
the tensioning piece, the tensioning piece passes through connecting portion with the spread groove makes the base with the instrument switching piece is connected.
2. The tool transfer block of claim 1, wherein the tool transfer block is provided at an inner side thereof with a positioning hole, and the base is provided at an inner side thereof with a positioning pin fitted into the positioning hole, the positioning pin being inserted into the positioning hole when the base is coupled to the tool transfer block.
3. The apparatus of claim 2, wherein the inner side of the base is provided with 2 positioning pins, and the 2 positioning pins are located on the same diagonal; and the inner side of the tool transfer block is provided with a positioning hole matched with the positioning pin.
4. The tensioner of claim 1, wherein the tensioner comprises a tensioner block, a tensioner ball, a screw; the screw is connected with the tensioning block, and the tensioning ball is positioned between the tensioning block and the connecting part and is in contact with the tensioning block; the tensioning block is movably embedded in the connecting part.
5. The connecting device as claimed in claim 4, wherein the connecting portion is provided with a through hole adapted to the tensioning ball, and when the tensioning ball is pressed by the tensioning block, the tensioning ball can enter the through hole and sink into the connecting groove.
6. The apparatus of claim 5, wherein the tensioning ball diameter is greater than the through hole diameter such that the tensioning ball partially enters the through hole but cannot pass through the through hole.
7. The apparatus as claimed in claim 4, wherein said connecting groove is provided with a force-receiving slope, and said tension ball contacts said force-receiving slope when moving away from said tension block.
8. The clamp of claim 4, wherein the tensioning block and the screw move together in the same direction as the screw moves away from and toward the clamp.
9. The tool adaptor of claim 1 wherein said coupling portion enters said coupling slot when said base is in contact with said tool adaptor block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811465036.1A CN111251332A (en) | 2018-12-03 | 2018-12-03 | Small-size anchor clamps for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811465036.1A CN111251332A (en) | 2018-12-03 | 2018-12-03 | Small-size anchor clamps for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111251332A true CN111251332A (en) | 2020-06-09 |
Family
ID=70942853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811465036.1A Pending CN111251332A (en) | 2018-12-03 | 2018-12-03 | Small-size anchor clamps for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111251332A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617642A1 (en) * | 1996-05-02 | 1997-11-13 | Ttk Kunststoff Tech Gmbh | CNC machine tool holder |
| CN101264605A (en) * | 2007-03-13 | 2008-09-17 | 星精密机械有限公司 | Robot arm coupling device |
| CN104908050A (en) * | 2014-03-11 | 2015-09-16 | 厄罗瓦公司 | Coupling device for manipulator |
| CN204772596U (en) * | 2015-07-17 | 2015-11-18 | 佛山市利迅达机器人***有限公司 | Machining tool quick replacement device |
| EP3135443A1 (en) * | 2015-08-24 | 2017-03-01 | Rethink Robotics Inc. | Robot with hot-swapped end effectors |
| CN106695857A (en) * | 2017-02-11 | 2017-05-24 | 刘海涛 | Universal interface device for robot fixtures |
| CN207139830U (en) * | 2017-07-26 | 2018-03-27 | 马斯特科技(武汉)有限公司 | Magic chuck and magic chuck device |
| KR20180082161A (en) * | 2017-01-10 | 2018-07-18 | (주)주강로보테크 | The connection module for installation of gripper |
| US10047908B1 (en) * | 2017-06-20 | 2018-08-14 | Ati Industrial Automation, Inc. | Deformable pin locking mechanism for robotic tool changer |
| CN209579597U (en) * | 2018-12-03 | 2019-11-05 | 武汉唯拓光纤激光工程有限公司 | A kind of robot small fixture |
-
2018
- 2018-12-03 CN CN201811465036.1A patent/CN111251332A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617642A1 (en) * | 1996-05-02 | 1997-11-13 | Ttk Kunststoff Tech Gmbh | CNC machine tool holder |
| CN101264605A (en) * | 2007-03-13 | 2008-09-17 | 星精密机械有限公司 | Robot arm coupling device |
| KR20080084534A (en) * | 2007-03-13 | 2008-09-19 | 가부시기가이샤스타아세이끼 | Robot arm coupling device |
| CN104908050A (en) * | 2014-03-11 | 2015-09-16 | 厄罗瓦公司 | Coupling device for manipulator |
| CN204772596U (en) * | 2015-07-17 | 2015-11-18 | 佛山市利迅达机器人***有限公司 | Machining tool quick replacement device |
| EP3135443A1 (en) * | 2015-08-24 | 2017-03-01 | Rethink Robotics Inc. | Robot with hot-swapped end effectors |
| KR20180082161A (en) * | 2017-01-10 | 2018-07-18 | (주)주강로보테크 | The connection module for installation of gripper |
| CN106695857A (en) * | 2017-02-11 | 2017-05-24 | 刘海涛 | Universal interface device for robot fixtures |
| US10047908B1 (en) * | 2017-06-20 | 2018-08-14 | Ati Industrial Automation, Inc. | Deformable pin locking mechanism for robotic tool changer |
| CN207139830U (en) * | 2017-07-26 | 2018-03-27 | 马斯特科技(武汉)有限公司 | Magic chuck and magic chuck device |
| CN209579597U (en) * | 2018-12-03 | 2019-11-05 | 武汉唯拓光纤激光工程有限公司 | A kind of robot small fixture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8292279B2 (en) | Clamp | |
| US8904662B2 (en) | Test device for coaxial accuracy | |
| CN202192296U (en) | Clamp for drilling inclined hole on hexagonal component | |
| US5893551A (en) | Vise with fully machinable jaws | |
| KR101769355B1 (en) | Vertical probe pin and probe pin assembly with the same | |
| ATE389510T1 (en) | TOOL WITH QUICK CLAMPING DEVICE | |
| JP5551375B2 (en) | Dovetail connection for material testing | |
| CN111251332A (en) | Small-size anchor clamps for robot | |
| US20240003373A1 (en) | Lateral locating device | |
| CN209579597U (en) | A kind of robot small fixture | |
| CN219945278U (en) | Positioning jig | |
| CN109211660B (en) | A kind of adjustable automatic centering wide plate fixture | |
| CN217413002U (en) | Vehicle welding fixture | |
| JPH08336734A (en) | Clamp device | |
| CN216608075U (en) | Flexible corner seat clamp and corner seat machining equipment | |
| CN212601441U (en) | Clamping mechanism | |
| CN1932430B (en) | Arrangement for fastening a support of a scale and method for fastening the support, as well as a linear measuring device | |
| CN212075099U (en) | Error absorption module, carrying device and detection equipment | |
| CN109249174B (en) | Welding fixture | |
| CN108372475B (en) | Multifunctional clamp | |
| CN216542846U (en) | One-way movement chuck | |
| CN218015423U (en) | Fixing jig for processing pins of electronic elements | |
| KR20160106989A (en) | Byte holder device for machine tools | |
| CN211784776U (en) | Strength testing device | |
| CN211877606U (en) | Tool inspection clamp for preventing surface abrasion based on fastener manufacturing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: Jinyun Laser Industrial Park, No. 100 Tianxing Road, Hengdian Street, Huangpi District, Wuhan City, Hubei Province, 430015 Applicant after: Wuhan Jinyun Weituo Fiber Laser Engineering Co.,Ltd. Address before: 430000 air conditioning electrical products of Yongfeng team in Jinghu farm, Dongxihu District, Wuhan, Hubei, 1-6 floors (10) Applicant before: WUHAN VTOP FIBER LASER ENGINEERING Co.,Ltd. Country or region before: China |