CN111571630B - Robot clamp without damaging workpiece - Google Patents
Robot clamp without damaging workpiece Download PDFInfo
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- CN111571630B CN111571630B CN202010456963.8A CN202010456963A CN111571630B CN 111571630 B CN111571630 B CN 111571630B CN 202010456963 A CN202010456963 A CN 202010456963A CN 111571630 B CN111571630 B CN 111571630B
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention discloses a robot clamp without damaging a workpiece, and relates to the technical field of mechanical arms; the automatic clamping device comprises a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and a picking mechanism, wherein the clamping plate is positioned below the bracket and used for clamping a workpiece, the opening and closing mechanism is used for driving the clamping plate to operate, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the picking mechanism is positioned below the bracket and used for lifting the workpiece upwards away from a workbench and enabling the supporting mechanism to support the workpiece; the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is positioned on the supporting block, and the workbench is provided with a notch for accommodating the supporting block; the opening and closing mechanism comprises an upper arm, a lower arm, a locking mechanism and a locking mechanism, wherein the upper end of the upper arm is inserted into the support and is in sliding connection with the support, the upper end of the lower arm is inserted into the lower end of the upper arm and is in sliding connection with the upper arm, the locking mechanism is positioned between the upper arm and the support and used for locking the upper arm, the locking mechanism is positioned between the upper arm and the lower arm and used for locking the lower arm, and the clamping plate is positioned at the lower end of the lower arm; the workpiece is not easy to be extruded and deformed. The stability is good.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a robot clamp without damaging a workpiece.
Background
In the machining industry, a mechanical arm is often used for carrying a machined workpiece to another place, an existing mechanical arm clamp usually adopts two clamping plates to clamp the side face of the workpiece, in order to guarantee a sufficient fixing effect, the clamping force is often large, and the workpiece is easily extruded and deformed.
Disclosure of Invention
The invention aims to overcome the defect that a workpiece is easy to extrude and deform in the prior art, and provides a robot clamp which does not damage the workpiece, so that the workpiece is difficult to extrude and deform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot clamp without damaging a workpiece comprises a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and an extracting mechanism, wherein the clamping plate is positioned below the bracket and used for clamping the workpiece, the opening and closing mechanism is used for driving the clamping plate to run, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the extracting mechanism is positioned below the bracket and used for upwards lifting the workpiece away from a workbench and enabling the supporting mechanism to support the workpiece; the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is positioned on the supporting block, and the workbench is provided with a notch for accommodating the supporting block; the opening and closing mechanism comprises an upper arm, the upper end of which is inserted into the bracket and is in sliding connection with the bracket, a lower arm, the upper end of which is inserted into the lower end of the upper arm and is in sliding connection with the upper arm, a locking mechanism which is positioned between the upper arm and the bracket and used for locking the upper arm, and a locking mechanism which is positioned between the upper arm and the lower arm and used for locking the lower arm, wherein the clamping plate is positioned at the lower end of the lower arm; the locking mechanism comprises a plurality of guide rings, guide grooves arranged in the guide rings, clamping rods connected in the guide grooves in a sliding mode, a friction layer arranged at the end portions of the clamping rods, guide slopes arranged at the ends, far away from the friction layer, of the clamping rods, a drive ring sleeved outside the guide rings, second guide slopes arranged in the drive ring and used for driving the clamping rods to move into the guide rings after rotation, a drive gear meshed with the drive ring, and a motor used for rotating the drive gear. At first the support descends, then draw mechanism and work piece upside and connect, the supporting shoe is inserted in the notch, mechanism drive splint open and shut, splint draw close back and work piece clearance fit, support upward movement one section distance triggers the supporting mechanism operation, the supporting mechanism extension, along with the support continues upward movement, the supporting mechanism holds the work piece downside, then move the work piece to other places, at this in-process, work piece side and splint clearance fit, in support upward movement, there is not frictional force between splint and the work piece, the work piece has been protected, in addition, when the work piece is held by supporting mechanism, the work piece has fine stability. The locking mechanism has simple structure.
Preferably, the extraction mechanism comprises a piston cavity in the bracket, a piston slidably connected in the piston cavity, an ascending spring positioned in the piston cavity and used for driving the piston to reset, a piston rod with the upper end connected to the piston, an air suction cavity positioned in the piston rod, an air suction sleeve sleeved at the lower end of the piston rod, a rubber sucker positioned at the lower end of the air suction sleeve and used for adsorbing a workpiece, a first spring used for driving the air suction sleeve to move towards the piston rod, an air suction hole positioned on the piston rod, a back pressure hole positioned on the piston rod, an electromagnetic valve positioned on the back pressure hole, and an air pipe connected with the air suction hole and the support mechanism; a locking mechanism for locking the piston rod is arranged between the support and the piston rod; the supporting mechanism comprises a second piston cavity positioned at the lower end of the clamping plate, a second piston connected in the second piston cavity in a sliding manner, a second piston rod connected with the second piston and used for supporting the workpiece, a second air suction hole positioned on the second piston cavity, and a second spring used for driving the second piston to move towards one side far away from the second piston rod, and the air pipe is connected to the second air suction hole. The work piece is lifted upwards by utilizing the far side of the rubber sucker, and meanwhile, the supporting mechanism automatically runs.
Preferably, the opening and closing mechanism further comprises an upper cavity in the bracket, an upper piston slidably connected in the upper cavity, an air guide groove in the inner wall of the upper cavity, a first air passage on one side of the air guide groove, a second air passage on the other side of the air guide groove, an air blocking block slidably connected in the air guide groove and used for blocking the first air passage and the second air passage, an air guide block for connecting the first air passage and the second air passage after extruding the air blocking block, a return spring for returning the air blocking block, a communicating air passage in the bracket and used for communicating the piston cavity and the upper cavity, a third air passage in the upper arm, a lower cavity at the lower end of the upper arm, and a lower piston slidably connected in the lower cavity; the air guide block comprises a main body and a through hole positioned on the main body; the air guide groove is positioned on one side of the upper piston, which is far away from the upper arm, and the upper arm is connected to the upper piston; the lower end of the third air passage is communicated with the lower cavity; one end of the first air passage, which is far away from the air blocking block, is communicated with the piston cavity, and when the first air passage and the second air passage are communicated, the upper end of the third air passage and one end of the second air passage, which is far away from the air blocking block, are communicated. The design of the upper arm and the lower arm is adopted, the size range of a workpiece capable of being clamped is enlarged, the upper arm is firstly folded when the clamping plates are folded, then the lower arm is folded, and the operation is more orderly.
Preferably, a support rod penetrates through the clamping plate, a damping wheel used for buffering a falling workpiece is rotatably connected to the support rod, an extrusion spring used for driving the support rod to move towards the workpiece is arranged on the support rod, a support plate is fixedly connected to one side, far away from the workpiece, of the clamping plate, a transmitting end capable of emitting light waves is arranged on the support plate, and a receiving end used for receiving the light waves is arranged on the support rod; the receiving end is connected with the locking mechanism; when the transmitting end corresponds to the receiving end in position, the clamping plate is in clearance fit with the workpiece, and the locking mechanism respectively fixes the corresponding upper arm, lower arm and piston rod.
Preferably, the distance between the clamping plate and the workpiece is 2-5mm when the transmitting end and the receiving end correspond in position.
Preferably, the number of the clamping plates is two, and the number of the supporting blocks at the lower end of each clamping plate is two. The supporting mechanism supports four points at the lower side of the workpiece, and the supporting effect is good.
Preferably, the notches are in an elongated structure, and the number of the notches is two. The device is suitable for workpieces with different sizes.
Preferably, the notches are parallel to each other. The supporting block at the lower end of each clamping plate is just inserted into the corresponding groove.
Preferably, the number of clamping bars is at least three. The fixing effect is good.
Preferably, the number of clamping bars is four.
The beneficial effects of the invention are: the invention provides a robot clamp which does not damage a workpiece, and the workpiece is not easy to extrude and deform. The stability is good.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is an enlarged view of FIG. 2 at A;
FIG. 4 is a top view of the table;
FIG. 5 is a schematic view of the bracket moving downward to cause the rubber suction cup and the workpiece to be sucked together;
FIG. 6 is an enlarged view of FIG. 5 at B;
FIG. 7 is a schematic view of the carriage moving upward to trigger the support mechanism;
FIG. 8 is an enlarged view at C of FIG. 7;
FIG. 9 is a schematic view of the solenoid valve opened and the workpiece lowered;
fig. 10 is a schematic view of the deadlocking mechanism.
In the figure: the device comprises a workpiece 1, a clamping plate 2, a bracket 3, a workbench 4, an upper arm 6, a lower arm 8, a piston cavity 9, a piston 10, an ascending spring 11, a piston rod 12, an air suction sleeve 13, a first spring 14, an air suction hole 15, a back pressure hole 16, an electromagnetic valve 17, a rubber suction cup 18, an air pipe 19, a second piston cavity 20, a second piston 21, a second piston rod 22, a second air suction hole 23, a second spring 24, a supporting block 25, a notch 26, an upper cavity 27, an upper piston 28, an air guide block 29, an air guide groove 30, a first air passage 31, a second air passage 32, an air blocking block 33, a return spring 34, a third air passage 35, a lower cavity 36, a lower piston 37, a communication air passage 38, a main body 39, a through hole 40, a supporting rod 41, a damping wheel 42, an extrusion spring 43, a supporting plate 44, a transmitting end 45, a receiving end 46, a clamping rod 47, a guide ring 48, a guide groove 49, a friction layer 50, a driving ring 51, a guide slope 52, a second guide slope 53, a 54, a second return spring 55, a driving gear 56, a first dead lock mechanism and a second dead lock mechanism 59.
Detailed Description
The invention is explained in further detail below with reference to the figures and the detailed description:
the embodiment is as follows:
referring to fig. 1 to 10, a robot clamp without damaging a workpiece comprises a bracket 3, a clamping plate 2 positioned below the bracket 3 and used for clamping the workpiece 1, an opening and closing mechanism used for driving the clamping plate 2 to operate, a supporting mechanism positioned at the lower end of the clamping plate 2 and used for supporting the bottom of the workpiece 1, and an extracting mechanism positioned below the bracket 3 and used for lifting the workpiece 1 upwards from a workbench 4 and enabling the supporting mechanism to support the workpiece 1; the lower end of the clamping plate 2 is provided with a supporting block 25, the supporting mechanism is positioned on the supporting block 25, and the workbench 4 is provided with a notch 26 for accommodating the supporting block 25; the number of the chucking plates 2 is two, and the number of the supporting blocks 25 at the lower end of each chucking plate 2 is two. The notches 26 are in a strip-shaped structure, and the number of the notches 26 is two.
The opening and closing mechanism comprises an upper arm 6, an upper end of which is inserted into the support 3 and is in sliding connection with the support 3, a lower arm 8, an upper end of which is inserted into the lower end of the upper arm 6 and is in sliding connection with the upper arm 6, a locking mechanism, located between the upper arm 6 and the support 3, for locking the upper arm 6, and a locking mechanism, located between the upper arm 6 and the lower arm 8, for locking the lower arm 8, wherein the clamping plate 2 is located at the lower end of the lower arm 8.
The extraction mechanism comprises a piston cavity 9 positioned in the bracket 3, a piston 10 connected in the piston cavity 9 in a sliding manner, an ascending spring 11 positioned in the piston cavity 9 and used for driving the piston 10 to reset, a piston rod 12 with the upper end connected to the piston 10, an air suction cavity 56 positioned in the piston rod 12, an air suction sleeve 13 sleeved at the lower end of the piston rod 12, a rubber suction cup 18 positioned at the lower end of the air suction sleeve 13 and used for adsorbing the workpiece 1, a first spring 14 used for driving the air suction sleeve 13 to move towards the piston rod 12, an air suction hole 15 positioned on the piston rod 12, a back pressure hole 16 positioned on the piston rod 12, an electromagnetic valve 17 positioned on the back pressure hole 16, and an air pipe 19 connected with the air suction hole 15 and the support mechanism; a locking mechanism for locking the piston rod 12 is arranged between the bracket 3 and the piston rod 12.
The supporting mechanism comprises a second piston cavity 20 positioned at the lower end of the clamping plate 2, a second piston 21 connected in the second piston cavity 20 in a sliding mode, a second piston rod 22 connected with the second piston 21 and used for supporting the workpiece 1, a second suction hole 23 positioned on the second piston cavity 20, and a second spring 24 used for driving the second piston 21 to move towards the side far away from the second piston rod 22, wherein the air pipe 19 is connected to the second suction hole 23.
The opening and closing mechanism further comprises an upper cavity 27 located in the support 3, an upper piston 28 slidably connected in the upper cavity 27, an air guide groove 30 located on the inner wall of the upper cavity 27, a first air passage 31 located on one side of the air guide groove 30, a second air passage 32 located on the other side of the air guide groove 30, an air blocking block 33 slidably connected in the air guide groove 30 and used for blocking the first air passage 31 and the second air passage 32, an air guide block 29 for connecting the first air passage 31 and the second air passage 32 after the air blocking block 33 is pressed, a return spring 34 for returning the air blocking block 33, a communication air passage 38 located in the support 3 and used for communicating the piston cavity 9 and the upper cavity 27, a third air passage 35 located in the upper arm 6, a lower cavity 36 located at the lower end of the upper arm 6, and a lower piston 37 slidably connected in the lower cavity 36.
The air guide block 29 includes a main body 39, and a through hole 40 formed in the main body 39. The air guide groove 30 is located on the side of the upper piston 28 remote from the upper arm 6, said upper arm 6 being connected to the upper piston 28. The lower end of the third air passage 35 is communicated with the lower cavity 36.
And when the first air passage 31 and the second air passage 32 are communicated, the upper end of the third air passage 35 is communicated with one end of the second air passage 32, which is far away from the air blocking block 33.
A supporting rod 41 penetrates through the clamping plate 2, a damping wheel 42 for buffering the falling workpiece 1 is rotatably connected to the supporting rod 41, an extrusion spring 43 for driving the supporting rod 41 to move towards the workpiece 1 is arranged on the supporting rod 41, a supporting plate 44 is fixedly connected to one side, away from the workpiece 1, of the clamping plate 2, a transmitting end 45 capable of emitting light waves is arranged on the supporting plate 44, and a receiving end 46 for receiving the light waves is arranged on the supporting rod 41; the receiving end 46 is connected to a locking mechanism.
When the transmitting end 45 and the receiving end 46 correspond in position, the clamping plate 2 and the workpiece 1 are in clearance fit, and the locking mechanisms fix the corresponding upper arm 6 and the corresponding lower arm 8 respectively. When the transmitting end 45 and the receiving end 46 correspond in position, the distance between the clamping plate 2 and the workpiece 1 is 2-5mm.
The locking mechanism comprises a plurality of guide rings 48, a guide groove 49 positioned in the guide rings 48, a clamping rod 47 connected in the guide groove 49 in a sliding manner, a friction layer 50 positioned at the end part of the clamping rod 47, a guide slope 52 positioned at one end of the clamping rod 47 far away from the friction layer 50, a drive ring 51 sleeved outside the guide rings 48, a second guide slope 53 positioned in the drive ring 51 and used for driving the clamping rod 47 to move into the guide rings 48 after rotation, a drive gear 54 meshed with the drive ring 51, and a motor used for rotating the drive gear 54. The clamping rods are arranged in an annular array with the axis of the guide ring as the center. The number of the clamping rods is at least three. The number of the clamping rods is four.
Principle of embodiment:
referring to fig. 2 to 3, the workpiece 1 is placed on the table 4.
Referring to fig. 5-6, firstly, the support 3 moves downwards under the action of an external force (such as an air cylinder, a mechanical arm, etc.), the rubber suction cup 18 abuts against the upper side of the workpiece, the piston 10 moves upwards, the upward spring 11 shortens, air in the rubber suction cup 18 is squeezed out, air pressure in the piston cavity 9 is reduced after the piston 10 moves, air pressure in the upper cavity 27 is reduced under the action of the communicating air channel 38, the upper piston 28 moves towards the piston cavity 9, the upper arm 6 and the lower arm 8 are both two in number, the upper arm 6 is closed, after the air guide block 29 is embedded into the air guide groove 30, the upper piston 28 moves to the end of the upper cavity 27, the air blocking block 33 compresses the return spring 34, the through hole 40 communicates the first air channel 31 with the second air channel 32, and at the same time, air in the lower cavity 36 enters the piston cavity 9 through the third air channel 35, the second air channel 32, the through hole 40 and the first air channel 31 under the action of the negative pressure in the piston cavity 9, and therefore, the two lower arms 8 are closed. At this point, the support block 25 is located within the slot 26 and the second piston rod 22 is located below the workpiece.
Along with the closing of the clamping plate, the damping wheel 42 on the clamping plate abuts against the side face of the workpiece, then the side length of the spring 43 is extruded (initially, referring to fig. 2, the transmitting end 45 and the receiving end 46 are staggered, and the transmitting end 45 and the receiving end 46 are prior art-correlation sensors), when the transmitting end 45 corresponds to the receiving end 46, at this time, the receiving end 46 sends a signal to the locking mechanism, the locking mechanism operates to lock and fix the lower arm 8, the lower arm 8 cannot move relative to the upper arm 6, the upper arm 6 cannot move relative to the support 3, the piston rod 12 is locked, the piston rod 12 cannot move relative to the support 3, and at this time, the distance between the clamping plate and the workpiece is 3mm.
Referring to fig. 7 and 8, the support 3 moves upwards for a certain distance under the action of the robot arm, as the rubber suction cup 18 is adsorbed on the upper surface of the workpiece 1, the workpiece 1 initially abuts against the workbench 4, as the clamping plate and the workpiece are in clearance fit, the clamping plate moves upwards along with the support 3, then the first spring 14 extends, the piston rod 12 moves upwards along with the support 3, as the air suction sleeve 13 and the piston rod 12 move relatively, the air pressure in the air suction cavity 56 in the piston rod 12 decreases, the air pressure in the rubber suction cup 18 also decreases, the adsorption effect of the rubber suction cup 18 is better, the rubber suction cup 18 and the workpiece cannot be separated, the air in the second piston cavity 20 passes through the air pipe 19 to the air suction cavity 56, the air pressure in the second piston cavity 20 decreases, the second spring 24 extends, the second piston rod 22 moves towards the side away from the second spring 24, the end of the second piston rod 22 is located below the workpiece 1, as the support 3 continues to move upwards, the end of the second piston rod 22 abuts against the lower side of the workpiece 1 to provide upward supporting force for the workpiece 1, and then the workpiece 1 is prevented from falling off, and the workpiece 3 is conveyed to the lower part under the action of the robot arm.
Referring to fig. 9, when the workpiece needs to be lowered, the electromagnetic valve 17 is opened, gas enters the suction cavity 56, the normal pressure in the suction cavity 56 is recovered, the normal pressure in the rubber suction cup 18 is recovered, the rubber suction cup 18 is separated from the workpiece 1, then the second piston rod 22 moves towards the second spring 24, the second piston rod 22 and the lower side surface of the workpiece slide relatively, the second spring 24 shortens, and lubricating oil can be coated on the second piston rod 22 in order to reduce the friction force between the second piston rod 22 and the lower side surface of the workpiece. When the second piston rod 22 is disengaged from the workpiece, the workpiece moves downwards under the action of gravity, at the moment, the damping wheel 42 always abuts against the side face of the workpiece under the action of the extrusion spring 43, so that the damping wheel 42 can rotate in a damping mode when the workpiece moves downwards, and the downward movement speed of the workpiece is controlled within a certain range due to the existence of the damping wheel 42, so that the workpiece cannot be broken.
Finally, the electromagnetic valve 17 is closed, the locking mechanism is unlocked, then the ascending spring 11 is reset, gas enters the upper cavity 27, the upper piston 28 moves, the gas guide block 29 is separated from the guide groove 49, the first gas channel 31 is disconnected from the second gas channel 32, the gas blocking block 33 is reset under the action of the reset spring 34, one end, far away from the lower cavity 36, of the third gas channel 35 is separated from the second gas channel 32, outside gas enters the lower cavity 36 through the third gas channel 35, a second reset spring 55 for resetting the lower piston 37 is arranged in the lower cavity 36, the lower piston 37 is reset under the action of the second reset spring 55, the transmitting end 45 is staggered with the receiving end 46, and the piston rod 12 and the air suction sleeve 13 are also reset under the action of the first spring 14.
The invention does not need to clamp the side surface of the workpiece by force when the workpiece is conveyed, and the second piston rod 22 is adopted to support the workpiece 1, thereby playing a good role in protecting the workpiece.
The operation principle of the locking mechanism is explained below, and in this embodiment, the locking mechanism is divided into a first locking mechanism 57, a second locking mechanism 58, and a third locking mechanism 59, where the first locking mechanism is used to lock the upper arm 6, the second locking mechanism is used to lock the lower arm 8, and the third locking mechanism is used to lock the piston rod 12.
The guide ring 48 of the first locking mechanism is fixedly connected to the bracket 3, the drive ring 51 is rotatably connected to the bracket 3, the corresponding drive gear 54 runs, the clamping rod 47 is arranged around the upper arm 6, the drive gear 54 drives the drive ring 51 to rotate, the clamping rod 47 moves in the guide groove 49 under the action of the second guide slope 53 and the guide slope 52, and the friction layer 50 at the end of the clamping rod 47 is pressed against the upper arm 6 so as to lock the upper arm 6.
The second and third deadlocking mechanisms operate in the same manner as the first deadlocking mechanism.
The guide ring 48 of the second locking mechanism is fixed to the lower end of the upper arm 6, and the corresponding drive ring 51 is rotatably connected to the lower end of the upper arm 6.
The guide ring 48 of the third locking mechanism is fixed to the underside of the bracket 3, and the corresponding drive ring 51 is rotatably connected to the underside of the bracket 3.
Claims (7)
1. A robot clamp without damaging a workpiece is characterized by comprising a bracket, a clamping plate, an opening and closing mechanism, a supporting mechanism and an extracting mechanism, wherein the clamping plate is positioned below the bracket and used for clamping the workpiece, the opening and closing mechanism is used for driving the clamping plate to operate, the supporting mechanism is positioned at the lower end of the clamping plate and used for supporting the bottom of the workpiece, and the extracting mechanism is positioned below the bracket and used for upwards lifting the workpiece away from a workbench and enabling the supporting mechanism to support the workpiece;
the lower end of the clamping plate is provided with a supporting block, the supporting mechanism is positioned on the supporting block, and the workbench is provided with a notch for accommodating the supporting block;
the opening and closing mechanism comprises an upper arm, a lower arm, a locking mechanism and a second air passage, wherein the upper end of the upper arm is inserted into the support and is in sliding connection with the support, the lower arm is inserted into the lower end of the upper arm and is in sliding connection with the upper arm, the locking mechanism is positioned between the upper arm and the support and is used for locking the lower arm, the clamping plate is positioned at the lower end of the lower arm, the opening and closing mechanism further comprises an upper cavity positioned in the support, an upper piston in sliding connection with the upper cavity, an air guide groove positioned on the inner wall of the upper cavity, a first air passage positioned on one side of the air guide groove, a second air passage positioned on the other side of the air guide groove, an air blocking block in sliding connection with the first air passage and the second air passage, an air guide block for communicating the first air passage and the second air passage after the air blocking block is extruded, a return spring for returning the air block, a communicating air passage for communicating the piston cavity with the upper cavity and the upper cavity, a third air passage positioned in the support, a lower cavity positioned at the lower end of the upper arm, and a lower piston in sliding connection with the lower cavity;
the locking mechanism comprises a guide ring, a plurality of guide grooves positioned in the guide ring, a clamping rod connected in the guide grooves in a sliding manner, a friction layer positioned at the end part of the clamping rod, a guide slope positioned at one end of the clamping rod far away from the friction layer, a drive ring sleeved outside the guide ring, a second guide slope positioned in the drive ring and used for driving the clamping rod to move into the guide ring after rotating, a drive gear meshed with the drive ring and a motor used for rotating the drive gear; the locking mechanism is divided into a first locking mechanism, a second locking mechanism and a third locking mechanism, the first locking mechanism is used for locking the upper arm, the second locking mechanism is used for locking the lower arm, and the third locking mechanism is used for locking the piston rod.
2. A workpiece friendly robotic gripper as claimed in claim 1, wherein the number of jaws is two and the number of support blocks at the lower end of each jaw is two.
3. A robot clamp for preventing damage to a workpiece as recited in claim 2, wherein said notches are elongated and the number of said notches is two.
4. A non-workpiece-damaging robotic gripper according to claim 3, wherein the notches are parallel to each other.
5. A workpiece friendly robotic gripper as claimed in claim 1, wherein the gripper bars are arranged in an annular array centred on the axis of the guide ring.
6. A workpiece friendly robotic gripper as claimed in claim 1 wherein the number of gripper bars is at least three.
7. A robot clamp that is non-damaging to a workpiece according to claim 6, wherein said clamping bars are four in number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456963.8A CN111571630B (en) | 2020-05-26 | 2020-05-26 | Robot clamp without damaging workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456963.8A CN111571630B (en) | 2020-05-26 | 2020-05-26 | Robot clamp without damaging workpiece |
Publications (2)
| Publication Number | Publication Date |
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| CN111571630A CN111571630A (en) | 2020-08-25 |
| CN111571630B true CN111571630B (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010456963.8A Active CN111571630B (en) | 2020-05-26 | 2020-05-26 | Robot clamp without damaging workpiece |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117563952B (en) * | 2024-01-16 | 2024-03-26 | 北京科技大学 | Express sorting manipulator |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5266727B2 (en) * | 2007-01-31 | 2013-08-21 | 澁谷工業株式会社 | Gripper |
| CN205290992U (en) * | 2015-12-03 | 2016-06-08 | 无锡普天铁心股份有限公司 | Complete sequence core lamination robot tongs |
| CN105856495B (en) * | 2016-06-03 | 2018-11-30 | 广东伊雪松机器人设备有限公司 | High-precision injection molding mechanical arm and its operating method |
| CN208714019U (en) * | 2018-08-20 | 2019-04-09 | 深圳市森盈生物科技有限公司 | A kind of biological detection reagent kit grabbing device of good clamping effect |
| CN209063115U (en) * | 2018-11-02 | 2019-07-05 | 杭州德创能源设备有限公司 | Mechanical arm with permanent magnetic suck jig |
| CN109849031B (en) * | 2019-02-28 | 2022-04-01 | 武汉理工大学 | Modular lockable joint robot |
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| CN111571630A (en) | 2020-08-25 |
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