CN113696209A - Grip for clamping cylinder - Google Patents
Grip for clamping cylinder Download PDFInfo
- Publication number
- CN113696209A CN113696209A CN202111003023.4A CN202111003023A CN113696209A CN 113696209 A CN113696209 A CN 113696209A CN 202111003023 A CN202111003023 A CN 202111003023A CN 113696209 A CN113696209 A CN 113696209A
- Authority
- CN
- China
- Prior art keywords
- gripper
- driving device
- push rod
- connecting rod
- arc
- 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
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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a cylindrical gripper, which comprises a bidirectional clamping mechanism and a radial positioning mechanism, wherein the bidirectional clamping mechanism is connected with the radial positioning mechanism; the bidirectional clamping mechanism comprises a first driving device and a clamping claw, and the first driving device drives the clamping claw to clamp or release; the radial positioning mechanism comprises a second driving device and a positioning device, and the second driving device drives the positioning device to do telescopic motion along the radial direction. The invention has the beneficial effects that: 1. the gripper is simple in use method and can be quickly manufactured and put into use; 2. the gripper disclosed by the invention has the advantages that the gripping function of cylindrical equipment is met, and the use scene is enlarged; 3. the gripper disclosed by the invention can reduce the cost investment.
Description
Technical Field
The invention relates to the field of vehicle body manufacturing, in particular to a cylindrical clamping hand grip.
Background
In order to fully exert and utilize the robot equipment, generally, the gun plate replacing equipment or the gripper integrating multiple stations is added, and more than two kinds of equipment are integrated on one robot. Different functions are achieved by switching or rotating actions. Thereby improving the service time of the robot and improving the utilization rate.
However, the current grippers suffer from the following disadvantages:
1. the gun changing tray body has larger size and has higher technical requirements on attached equipment.
2. By means of the flange mounting surface of the robot.
Disclosure of Invention
The invention provides a cylindrical gripper, which comprises a bidirectional clamping mechanism and a radial positioning mechanism, wherein the bidirectional clamping mechanism is connected with the radial positioning mechanism; the bidirectional clamping mechanism comprises a first driving device and a clamping claw, and the first driving device drives the clamping claw to clamp or release; the radial positioning mechanism comprises a second driving device and a positioning device, and the second driving device drives the positioning device to do telescopic motion along the radial direction.
As a further improvement of the invention, the clamp comprises a hinge connecting rod device, the hinge connecting rod device comprises a left connecting rod, a right push rod and a left push rod, the first driving device is respectively connected with the right push rod and one end of the left push rod, the other end of the right push rod is movably connected with the right connecting rod, and the other end of the left push rod is movably connected with the left connecting rod.
As a further improvement of the invention, the clamp claw further comprises a left arc-shaped positioning block and a right arc-shaped positioning block, the right arc-shaped positioning block is installed in the right connecting rod, and the left arc-shaped positioning block is installed in the left connecting rod.
As a further improvement of the invention, the positioning device comprises a piston sleeve and an arc-shaped positioning block, one end of the piston sleeve is connected with the two driving devices, and the other end of the piston sleeve is connected with the arc-shaped positioning block.
As a further improvement of the present invention, the gripper further comprises a mounting seat, and the first driving device and the second driving device are respectively mounted on the mounting seat.
As a further improvement of the invention, the gripper further comprises a mounting adapter plate, and the mounting seat is mounted on the mounting adapter plate.
As a further improvement of the present invention, the first driving device and the second driving device are air cylinders respectively.
As a further improvement of the invention, the gripper further comprises a connecting piece, wherein one end of the connecting piece is mounted on the first driving device, and the other end of the connecting piece is respectively provided with the right side push rod and the left side push rod.
The invention has the beneficial effects that: 1. the gripper is simple in use method and can be quickly manufactured and put into use; 2. the gripper disclosed by the invention has the advantages that the gripping function of cylindrical equipment is met, and the use scene is enlarged; 3. the gripper disclosed by the invention can reduce the cost investment.
Drawings
FIG. 1 is an axial view of the gripper of the present invention;
FIG. 2 is a structural view of a hemming head of the gripper clamping robot of the present invention;
FIG. 3 is a front view of the gripper of the present invention;
FIG. 4 is a left side view of the hand grip of the present invention;
fig. 5 is a top view of the gripper of the present invention.
Detailed Description
As shown in fig. 1-5, the invention discloses a gripper for clamping cylinders, which comprises a bidirectional clamping mechanism and a radial positioning mechanism, wherein the bidirectional clamping mechanism is connected with the radial positioning mechanism, the bidirectional clamping mechanism is used for clamping/loosening an object, and the radial positioning mechanism is used for radially positioning a cylinder 16; the bidirectional clamping mechanism comprises a first driving device 2 and a clamping claw, and the first driving device 2 drives the clamping claw to clamp or unclamp; the radial positioning mechanism comprises a second driving device 4 and a positioning device, and the second driving device 4 drives the positioning device to do telescopic motion along the radial direction.
The clamp is grabbed including hinge connecting rod device, hinge connecting rod device includes left side connecting rod 8, right side connecting rod 11, right side push rod 13, left side push rod 14, first drive arrangement 2 respectively with right side push rod 13 left side push rod 14 one end is connected, the right side push rod 13 other end with right side connecting rod 11 swing joint, the left side push rod 14 other end with 8 swing joint of left side connecting rod.
The clamp claw further comprises a left arc-shaped positioning block 9 and a right arc-shaped positioning block 10, the right connecting rod 11 is internally provided with the right arc-shaped positioning block 10, and the left connecting rod 8 is internally provided with the left arc-shaped positioning block 9.
The positioning device comprises a piston sleeve 6 and an arc-shaped positioning block 7, one end of the piston sleeve 6 is connected with the two driving devices 4, and the other end of the piston sleeve 6 is connected with the arc-shaped positioning block 7.
The gripper further comprises a mounting base 5, and the first driving device 2 and the second driving device 4 are mounted on the mounting base 5 respectively.
The gripper further comprises an installation adapter plate 1, and the installation adapter plate 1 is provided with the installation base 5.
The first driving device 2 and the second driving device are cylinders respectively.
The gripper further comprises a connecting piece 15, one end of the connecting piece 15 is installed on the first driving device 2, and the right side push rod 13 and the left side push rod 14 are installed at the other end of the connecting piece 15 respectively.
The gripper for clamping the cylinder disclosed by the invention adopts a three-point positioning principle, one group of cylinders adopts a hinge mechanism to clamp the cylinder 16 inwards in two directions, and one group of cylinders positions the cylinder 16 in the radial direction. The clamping and opening action of the cylinder 16 is achieved. The gripper, after gripping the cylinder 16, can move with the cylinder 16 in the robot path.
The invention discloses a working principle of a gripper for clamping a cylinder, which comprises the following steps:
the robot binding head (namely the cylinder 16) reaches a designated position, the cylinder 4 extends out of the positioning binding head, the cylinder 2 extends out of the bidirectional clamping and clamping binding head, the robot binding head returns to the designated position after finishing the work, the cylinder 2 is opened to perform bidirectional clamping and clamping, the cylinder 1 is positioned and retracted, and the robot binding head leaves.
By using the gripper disclosed by the invention, the unilateral welding tongs are integrated on the robot binding head, so that two combined operations of the robot binding head and the lead-out welding are realized. Compared with the traditional gun plate replacing equipment, the gripper disclosed by the invention has the advantages of low cost and high value. The function of changing the gun plate can be realized, and the use of the edge rolling is not influenced.
The gripper of the invention realizes the attachment of equipment to the robot by clamping the robot joint arm without the aid of a flange mounting surface of the robot, and moves along with the robot.
The invention has the innovation points that:
1. the gripper can realize positioning and clamping of a cylindrical object.
2. The hand grip can automatically open and retract through the telescopic motion of the air cylinder.
3. The hand grip adopts a hinge connecting rod mechanism, and the action is stable.
4. The gripper positioning block can be flexibly switched according to the aperture size, and objects with different diameters, such as a rolling head, a welding tong arm and a fifth shaft of the robot, can be positioned at the minimum.
5. The device is longitudinally provided with two clamping and positioning mechanisms, and the positioning is accurate in the moving process without deviation.
The invention has the beneficial effects that: 1. the gripper is simple in use method and can be quickly manufactured and put into use; 2. the gripper disclosed by the invention has the advantages that the gripping function of cylindrical equipment is met, and the use scene is enlarged; 3. the gripper disclosed by the invention can reduce the cost investment.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. The utility model provides a press from both sides tongs of cylinder which characterized in that: the bidirectional clamping mechanism is connected with the radial positioning mechanism; the bidirectional clamping mechanism comprises a first driving device (2) and a clamping claw, wherein the first driving device (2) drives the clamping claw to clamp or release; the radial positioning mechanism comprises a second driving device (4) and a positioning device, and the second driving device (4) drives the positioning device to do telescopic motion along the radial direction.
2. The gripper of claim 1, wherein: the clamp is grabbed including hinge connecting rod device, hinge connecting rod device includes left side connecting rod (8), right side connecting rod (11), right side push rod (13), left side push rod (14), first drive arrangement (2) respectively with right side push rod (13) left side push rod (14) one end is connected, the right side push rod (13) other end with right side connecting rod (11) swing joint, left side push rod (14) other end with left side connecting rod (8) swing joint.
3. The gripper of claim 2, wherein: the clamp is grabbed and further comprises a left side arc-shaped positioning block (9) and a right side arc-shaped positioning block (10), the right side connecting rod (11) is internally provided with the right side arc-shaped positioning block (10), and the left side connecting rod (8) is internally provided with the left side arc-shaped positioning block (9).
4. The gripper of claim 1, wherein: the positioning device comprises a piston sleeve (6) and an arc-shaped positioning block (7), one end of the piston sleeve (6) is connected with the two driving devices (4), and the other end of the piston sleeve (6) is connected with the arc-shaped positioning block (7).
5. The gripper of claim 1, wherein: the gripper further comprises a mounting seat (5), and the first driving device (2) and the second driving device (4) are mounted on the mounting seat (5) respectively.
6. The gripper of claim 1, wherein: the gripper further comprises an installation adapter plate (1), and the installation adapter plate (1) is provided with the installation base (5).
7. The gripper of claim 1, wherein: the first driving device (2) and the second driving device are cylinders respectively.
8. The gripper of claim 2, wherein: the gripper further comprises a connecting piece (15), one end of the connecting piece (15) is installed on the first driving device (2), and the right side push rod (13) and the left side push rod (14) are installed at the other end of the connecting piece (15) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111003023.4A CN113696209A (en) | 2021-08-30 | 2021-08-30 | Grip for clamping cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111003023.4A CN113696209A (en) | 2021-08-30 | 2021-08-30 | Grip for clamping cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113696209A true CN113696209A (en) | 2021-11-26 |
Family
ID=78656667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111003023.4A Pending CN113696209A (en) | 2021-08-30 | 2021-08-30 | Grip for clamping cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113696209A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102641A (en) * | 2021-12-02 | 2022-03-01 | 白亮 | Friction type gripping device for steel pipe transportation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004000508A1 (en) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN207724329U (en) * | 2017-09-11 | 2018-08-14 | 东莞理工学院 | A kind of Pneumatic manipulator for thin-wall circular tube clamping |
| CN110587641A (en) * | 2019-09-30 | 2019-12-20 | 华中科技大学 | Flexible mechanical claw for grabbing workpieces with different diameters |
| CN209954681U (en) * | 2019-03-19 | 2020-01-17 | 商丘工学院 | Mechanical arm clamping device |
| CN110774304A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Industrial robot with moving platform |
| CN212795015U (en) * | 2020-09-01 | 2021-03-26 | 无锡宝莱机械设备科技有限公司 | Novel clamping jaw of pneumatic manipulator |
| CN112659159A (en) * | 2020-12-12 | 2021-04-16 | 宁波职业技术学院 | Industrial robot composite clamp |
-
2021
- 2021-08-30 CN CN202111003023.4A patent/CN113696209A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004000508A1 (en) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN207724329U (en) * | 2017-09-11 | 2018-08-14 | 东莞理工学院 | A kind of Pneumatic manipulator for thin-wall circular tube clamping |
| CN209954681U (en) * | 2019-03-19 | 2020-01-17 | 商丘工学院 | Mechanical arm clamping device |
| CN110587641A (en) * | 2019-09-30 | 2019-12-20 | 华中科技大学 | Flexible mechanical claw for grabbing workpieces with different diameters |
| CN110774304A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Industrial robot with moving platform |
| CN212795015U (en) * | 2020-09-01 | 2021-03-26 | 无锡宝莱机械设备科技有限公司 | Novel clamping jaw of pneumatic manipulator |
| CN112659159A (en) * | 2020-12-12 | 2021-04-16 | 宁波职业技术学院 | Industrial robot composite clamp |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102641A (en) * | 2021-12-02 | 2022-03-01 | 白亮 | Friction type gripping device for steel pipe transportation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2017101829A4 (en) | Omnidirectional multi-finger asynchronous gripper for casting robot | |
| CN109605405B (en) | Self-adaptive cylinder grabbing paw | |
| CN205928657U (en) | Magnetic shoe grabbing device | |
| CN110328685A (en) | A kind of dyestripping end effector of robot | |
| CN104259913A (en) | Automatic tool changing device of simple numerical control machine center | |
| CN113696209A (en) | Grip for clamping cylinder | |
| CN111216095A (en) | Novel manipulator capable of rotating circumferentially | |
| CN207669326U (en) | A kind of Pneumatic clamping jaw repaired for auto parts and components | |
| CN109968403B (en) | Device and method for automatically replacing end effector by mechanical arm | |
| CN106141785B (en) | Couple type telescopic clamping device of manipulator | |
| CN214081491U (en) | Mechanical gripper for industrial robot | |
| CN218462219U (en) | Double-connecting-rod type mechanical arm for grabbing square materials | |
| CN109132514B (en) | High-load self-centering pneumatic gripper | |
| CN216859768U (en) | Clamping mechanism for robot execution end | |
| CN210335991U (en) | Clamp for tire carrying manipulator | |
| CN209970225U (en) | Auxiliary tool for machining cylinder valve body | |
| CN210256173U (en) | Quick-change type workpiece grabbing manipulator of transfer robot | |
| CN219078433U (en) | Servo gripper for carrying | |
| CN219599555U (en) | Wheel cover gripper and wheel cover loading robot | |
| CN218891867U (en) | A manipulator for autoloading | |
| CN221248858U (en) | Snatch mechanism with anti-drop structure | |
| CN220659779U (en) | Side wall assembly pre-spliced flexible handle | |
| CN213795414U (en) | Truss for machine tool | |
| CN110480432A (en) | Loading and unloading manipulator is used in a kind of processing of drill bit | |
| CN212706820U (en) | Novel clamping manipulator |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211126 |
|
| RJ01 | Rejection of invention patent application after publication |