CN111660287A - Industrial robot composite clamp - Google Patents
Industrial robot composite clamp Download PDFInfo
- Publication number
- CN111660287A CN111660287A CN202010432736.1A CN202010432736A CN111660287A CN 111660287 A CN111660287 A CN 111660287A CN 202010432736 A CN202010432736 A CN 202010432736A CN 111660287 A CN111660287 A CN 111660287A
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- Prior art keywords
- rotating
- right unit
- arm
- clamp
- motor
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- 239000002131 composite material Substances 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 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
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of clamps, in particular to an industrial robot composite clamp which comprises a base, a first rotating arm, a second rotating arm, an extension arm, a connecting column and a clamp body, wherein a rotating disc is arranged at the upper end of the base, the first rotating arm is arranged on one side of the upper end of the rotating disc, the second rotating arm is connected to the upper end of the first rotating arm, a gear box is connected to the upper end of the second rotating arm, an extension arm motor is connected to one side of the gear box, a second rotating motor is connected to a base surface at the joint of the second rotating arm and the gear box, the extension arm is connected to one side of the gear box, which is far away from the extension arm motor, the connecting column is connected to. The right unit fixture is of a four-point positioning clamping fixture structure, the left unit fixture is of a three-point positioning clamping fixture structure, a double clamping fixture is formed, and the double clamping fixture is matched with a rotating arm to form an industrial robot composite fixture.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a composite clamp for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
In the industrial robot, the operating end can be provided with a clamp for matching use, wherein the stability of the clamp of the operating end is particularly important, and the clamp is inconvenient to disassemble and assemble during loading and maintenance.
Disclosure of Invention
The invention aims to provide a composite clamp for an industrial robot, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a composite fixture for an industrial robot comprises a base, a first rotating arm, a second rotating arm, an extending arm, a connecting column and a fixture main body, wherein a connecting groove seat is arranged at four corners of the upper end of the base, a mounting hole is formed in the middle of the connecting groove seat, a rotating disc is arranged at the upper end of the base, a rotating disc motor is connected to the middle of the upper end of the rotating disc, the first rotating arm is arranged on one side of the upper end of the rotating disc, the second rotating arm is connected to the upper end of the first rotating arm, a first rotating motor is connected to a base surface at the joint of the first rotating arm and the second rotating arm, a gear box is connected to the upper end of the second rotating arm, an extending arm motor is connected to one side of the gear box, a second rotating motor is connected to a base surface at the joint of the second rotating arm and the gear box, the base face of extension arm and spliced pole junction is connected with spliced pole rotating electrical machines, the spliced pole lower extreme is connected with the anchor clamps main part, the anchor clamps main part comprises left unit anchor clamps, left unit mounting panel, limiting plate, right unit mounting panel, right unit anchor clamps, right unit telescopic cylinder, mount pad and left unit mounting cylinder, just department is connected with the limiting plate in the middle of the mount pad upper end, the mount pad both ends are equipped with right unit mounting panel, left side unit mounting panel lower extreme is connected with left unit mounting cylinder, the both ends of left side unit mounting cylinder are connected with left unit anchor clamps, the lower extreme is connected with right unit telescopic cylinder, the both ends of right unit telescopic cylinder are connected with right unit anchor clamps, department all is equipped with the multiunit reference column in the middle of left side unit anchor clamps and right unit anchor clamps, department is equipped.
Preferably, the model of the rotary disk motor is CV type G2.
Preferably, the first rotating motor, the second rotating motor and the connecting column rotating motor are all CV type G1.
Preferably, the extension arm motor model is PLX 130.
Preferably, the right unit telescopic cylinder and the left unit installation cylinder are MHL2 in model, and are connected through bolts between the upper end of the right unit telescopic cylinder and the upper end of the right unit installation plate and the upper end of the left unit installation cylinder and the left unit installation plate.
Preferably, the left unit mounting plate, the right unit mounting plate and the mounting seat are of an integrated structure.
Preferably, the lower end of the connecting column is connected with the mounting seat through a bolt, and the lower part of the connecting column is sleeved with the limiting plate through a limiting hole.
Preferably, the right unit clamp is of a four-point positioning clamping clamp structure, and the left unit clamp is of a three-point positioning clamping clamp structure.
Compared with the prior art, the invention has the beneficial effects that:
1. the models of the first rotating motor, the second rotating motor and the connecting column rotating motor are CV type G1, the model of the extension arm motor is PLX130, the linear motion part is completed by adopting a direct current servo motor, the torque is large, and the response is fast.
2. According to the fixture, the lower end of the connecting column is connected with the mounting seat through the bolt, a detachable structure is formed, the disassembly and the maintenance are convenient, the lower portion of the connecting column is sleeved with the limiting plate through the limiting hole, and the stability of the mounting of the fixture main body is improved due to the arrangement of the limiting structure.
3. The left unit mounting plate, the right unit mounting plate and the mounting seat are of an integrated structure, the models of the right unit telescopic cylinder and the left unit mounting cylinder are MHL2, the upper end of the right unit telescopic cylinder and the right unit mounting plate are connected with each other through bolts, the left unit mounting plate and the upper end of the left unit mounting cylinder are connected through bolts, disassembly and replacement are convenient, the right unit clamp is of a four-point positioning clamping clamp structure, the left unit clamp is of a three-point positioning clamping clamp structure, a double clamping clamp is formed, the double clamping clamp is matched with a rotating arm for use, an industrial robot composite clamp is formed, stable clamping of workpieces is achieved, and operation is more convenient.
Drawings
Fig. 1 is an overall structural view of a composite jig of an industrial robot according to the present invention;
FIG. 2 is a view of the main body of the composite jig of an industrial robot according to the present invention;
fig. 3 is a top view structural diagram of a base of the composite fixture of the industrial robot.
In the figure: the clamp comprises a base 1, a first rotating arm 2, a first rotating motor 3, a rotating disc 4, a rotating disc motor 5, a second rotating arm 6, a second rotating motor 7, an extension arm 8, a gear box 9, an extension arm 10, a connection column 11, a connection column 12, a clamp main body 13, a left unit clamp 14, a left unit mounting plate 15, a limiting hole 16, a limiting plate 17, a right unit mounting plate 18, a right unit clamp 19, a positioning column 20, a right unit telescopic cylinder 21, a mounting seat 22, a left unit mounting cylinder 23, a connecting groove seat 24 and a mounting hole 25.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution:
a composite fixture for an industrial robot comprises a base 1, a first rotating arm 2, a second rotating arm 6, an extension arm 10, a connecting column 11 and a fixture main body 13, wherein four corners of the upper end of the base 1 are provided with connecting groove seats 24, the middle of each connecting groove seat 24 is provided with a mounting hole 25, the upper end of the base 1 is provided with a rotating disc 4, the middle of the upper end of the rotating disc 4 is connected with a rotating disc motor 5, the model of the rotating disc motor 5 is CV-type G2, one side of the upper end of the rotating disc 4 is provided with the first rotating arm 2, the upper end of the first rotating arm 2 is connected with the second rotating arm 6, the base surface at the connecting part of the first rotating arm 2 and the second rotating arm 6 is connected with a first rotating motor 3, the upper end of the second rotating arm 6 is connected with a gear box 9, one side of the gear box 9 is connected with an extension arm motor 8, the model of the extension arm motor, one side of the gear box 9, which is far away from the extension arm motor 8, is connected with an extension arm 10, the lower end of one side of the extension arm 10, which is far away from the gear box 9, is connected with a connecting column 11, the base surface of the joint of the extension arm 10 and the connecting column 11 is connected with a connecting column rotating motor 12, the models of the first rotating motor 3, the second rotating motor 7 and the connecting column rotating motor 12 are all CV type G1, the lower end of the connecting column 11 is connected with a clamp main body 13, the clamp main body 13 is composed of a left unit clamp 14, a left unit mounting plate 15, a limiting plate 17, a right unit mounting plate 18, a right unit clamp 19, a right unit telescopic cylinder 21, a mounting seat 22 and a left unit mounting cylinder 23, the middle of the upper end of the mounting seat 22 is connected with the limiting plate 17, the lower end of the connecting column 11 is, the left unit mounting plate 15, the right unit mounting plate 18 and the mounting seat 22 are all of an integrated structure, the lower end of the left unit mounting plate 15 is connected with a left unit mounting air cylinder 23, two ends of the left unit mounting air cylinder 23 are connected with a left unit clamp 14, the lower end is connected with a right unit telescopic air cylinder 21, the models of the right unit telescopic air cylinder 21 and the left unit mounting air cylinder 23 are MHL2, and the upper end of the right unit telescopic cylinder 21 is connected with the right unit mounting plate 18, the upper end of the left unit mounting cylinder 23 is connected with the left unit mounting plate 15 through bolts, two ends of the right unit telescopic cylinder 21 are connected with right unit clamps 19, the right unit clamps 19 are of a four-point positioning clamping clamp structure, the left unit clamps 14 are of a three-point positioning clamping clamp structure, a plurality of groups of positioning columns 20 are arranged between the left unit clamps 14 and the right unit clamps 19, and limiting holes 16 are arranged in the middle of the upper ends of the limiting plates 17.
The working process of the invention is as follows: firstly, the model of a rotating disc motor 5 is CV type G2, the whole equipment is driven to do annular motion, the rotating disc motor is matched with a rotating arm for use, the first rotating motor 3, the second rotating motor 7 and the model of a connecting column rotating motor 12 are CV type G1, the model of an extension arm motor 8 is PLX130, a direct current servo motor is adopted to complete a linear motion part, the torque is large, the response is fast, the lower end of a connecting column 11 is connected with a mounting seat 22 through bolts to form a detachable structure, the disassembly, the assembly and the maintenance are convenient, the lower part of the connecting column 11 is sleeved with a limiting plate 17 through a limiting hole 16, the arrangement of the limiting structure improves the mounting stability of a clamp main body 13, the left unit mounting plate 15, the right unit mounting plate 18 and the mounting seat 22 are of an integrated structure, the models of the right unit telescopic cylinder 21 and the left unit mounting cylinder 23 are MHL2, all through bolted connection between the upper end of left unit installation cylinder 23 and the left unit mounting panel 15, make things convenient for dismouting and change, right unit anchor clamps 19 are four point location centre gripping anchor clamps structure, and left unit anchor clamps 14 are three point location centre gripping anchor clamps structure, form dual centre gripping anchor clamps, and the cooperation rotor arm uses, forms industrial robot composite jig, realizes that the stability of work piece presss from both sides tightly, and it is more convenient to operate.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an industrial robot composite clamp, includes base (1), first rotor arm (2), second rotor arm (6), extension arm (10), spliced pole (11) and anchor clamps main part (13), its characterized in that: the improved structure of the gearbox is characterized in that connecting groove seats (24) are arranged at four corners of the upper end of the base (1), mounting holes (25) are formed in the middle of the connecting groove seats (24), a rotating disc (4) is arranged at the upper end of the base (1), a rotating disc motor (5) is connected to the middle of the upper end of the rotating disc (4), a first rotating arm (2) is arranged on one side of the upper end of the rotating disc (4), a second rotating arm (6) is connected to the upper end of the first rotating arm (2), a first rotating motor (3) is connected to the base surface of the joint of the first rotating arm (2) and the second rotating arm (6), a gearbox (9) is connected to the upper end of the second rotating arm (6), an extension arm motor (8) is connected to one side of the gearbox (9), a second rotating motor (7) is connected to the base surface of the joint of the second rotating arm (6) and the gearbox (9), and an, the gear box is characterized in that the lower end of one side, far away from the gear box (9), of the extension arm (10) is connected with a connecting column (11), the base surface of the junction of the extension arm (10) and the connecting column (11) is connected with a connecting column rotating motor (12), the lower end of the connecting column (11) is connected with a clamp body (13), the clamp body (13) is composed of a left unit clamp (14), a left unit mounting plate (15), a limiting plate (17), a right unit mounting plate (18), a right unit clamp (19), a right unit telescopic cylinder (21), a mounting seat (22) and a left unit mounting cylinder (23), the limiting plate (17) is connected to the middle of the upper end of the mounting seat (22), the two ends of the mounting seat (22) are provided with the right unit mounting plate (18), the lower end of the left unit mounting plate (15) is connected with the left unit mounting cylinder (23), the lower extreme is connected with right unit telescopic cylinder (21), the both ends of right unit telescopic cylinder (21) are connected with right unit anchor clamps (19), department all is equipped with multiunit reference column (20) in the middle of left side unit anchor clamps (14) and right unit anchor clamps (19), department is equipped with spacing hole (16) in the middle of limiting plate (17) upper end.
2. The industrial robot composite gripper according to claim 1, characterized in that: the type of the rotating disc motor (5) is CV type G2.
3. The industrial robot composite gripper according to claim 1, characterized in that: the models of the first rotating motor (3), the second rotating motor (7) and the connecting column rotating motor (12) are CV type G1.
4. The industrial robot composite gripper according to claim 1, characterized in that: the extension arm motor (8) is PLX130 in type.
5. The industrial robot composite gripper according to claim 1, characterized in that: the right unit telescopic cylinder (21) and the left unit installation cylinder (23) are MHL2 in type, and the upper end of the right unit telescopic cylinder (21) is connected with the upper end of the right unit installation plate (18) and the upper end of the left unit installation cylinder (23) and the left unit installation plate (15) through bolts.
6. The industrial robot composite gripper according to claim 1, characterized in that: the left unit mounting plate (15), the right unit mounting plate (18) and the mounting seat (22) are all of an integrated structure.
7. The industrial robot composite gripper according to claim 1, characterized in that: the lower end of the connecting column (11) is connected with the mounting seat (22) through a bolt, and the lower portion of the connecting column (11) is sleeved with the limiting plate (17) through the limiting hole (16).
8. The industrial robot composite gripper according to claim 1, characterized in that: the right unit clamp (19) is of a four-point positioning clamping clamp structure, and the left unit clamp (14) is of a three-point positioning clamping clamp structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010432736.1A CN111660287A (en) | 2020-05-20 | 2020-05-20 | Industrial robot composite clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010432736.1A CN111660287A (en) | 2020-05-20 | 2020-05-20 | Industrial robot composite clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111660287A true CN111660287A (en) | 2020-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010432736.1A Pending CN111660287A (en) | 2020-05-20 | 2020-05-20 | Industrial robot composite clamp |
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| Country | Link |
|---|---|
| CN (1) | CN111660287A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493820A (en) * | 2014-12-23 | 2015-04-08 | 南京熊猫电子股份有限公司 | Robot front-end arm based on rear-mounted wrist point motor |
| CN205835338U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of Six-DOF industrial robot |
| CN107363818A (en) * | 2017-09-21 | 2017-11-21 | 安徽海拓志永智能装备股份有限公司 | It is a kind of can 180 ° rotation symmetrical jaw clamps |
| CN207771412U (en) * | 2018-01-30 | 2018-08-28 | 长江师范学院 | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | A kind of six-joint robot |
| CN209097719U (en) * | 2018-11-08 | 2019-07-12 | 山东科技大学 | A kind of logistics industrial robot crawl fixture |
| CN209466255U (en) * | 2019-01-21 | 2019-10-08 | 山东省智能机器人应用技术研究院 | A kind of vanning robot |
-
2020
- 2020-05-20 CN CN202010432736.1A patent/CN111660287A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493820A (en) * | 2014-12-23 | 2015-04-08 | 南京熊猫电子股份有限公司 | Robot front-end arm based on rear-mounted wrist point motor |
| CN205835338U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of Six-DOF industrial robot |
| CN107363818A (en) * | 2017-09-21 | 2017-11-21 | 安徽海拓志永智能装备股份有限公司 | It is a kind of can 180 ° rotation symmetrical jaw clamps |
| CN207771412U (en) * | 2018-01-30 | 2018-08-28 | 长江师范学院 | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | A kind of six-joint robot |
| CN209097719U (en) * | 2018-11-08 | 2019-07-12 | 山东科技大学 | A kind of logistics industrial robot crawl fixture |
| CN209466255U (en) * | 2019-01-21 | 2019-10-08 | 山东省智能机器人应用技术研究院 | A kind of vanning robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
| CN113635335B (en) * | 2021-10-13 | 2022-04-12 | 江苏莱克智能电器有限公司 | Automatic system for processing and flatness detection |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200915 |
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| RJ01 | Rejection of invention patent application after publication |