CN200988218Y - Industrial robot hand claw - Google Patents
Industrial robot hand claw Download PDFInfo
- Publication number
- CN200988218Y CN200988218Y CN 200620067510 CN200620067510U CN200988218Y CN 200988218 Y CN200988218 Y CN 200988218Y CN 200620067510 CN200620067510 CN 200620067510 CN 200620067510 U CN200620067510 U CN 200620067510U CN 200988218 Y CN200988218 Y CN 200988218Y
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- CN
- China
- Prior art keywords
- paw
- finger
- robot
- industrial robot
- plate
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- Expired - Lifetime
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Abstract
The present utility model of robot grippers a first and a second grippers of which are installed on the gripper connecting panel respectively. The gripper connecting panel is fixed on the dynamic connecting joint where a dividing scale encoder is disposed. The utility model overcomes the technology shortcomings of the present industrial robot single gripper to improve automatization and production efficiency. Based on not increasing the investment to robot, the robot sigle gripper is rebuilded. The sigle gripper is rebuilded into two grippers that can be installed on robot simultaneously through quick connector, which can realize flexible production with high efficiency.
Description
Technical field
The utility model relates to a kind of paw of industrial robot.
Background technology
At present, most of engine production in enormous quantities all is that the automatic streamline production line is finished in the domestic automobile manufacturing.Roll off the production line on its medium quantity batch processing cylinder block, the cylinder cover part and adopt half mechanical work mostly, even handicraft, efficient is lower.In recent years, domestic some enterprise raises the efficiency from the external robot that has introduced the carrying part type, because automation is an optimal path of enhancing productivity, the replacement people of robot carries out heavy operation and obviously improved automation.Domestic more automobile enterprise generally uses the material grasping mode of singlehanded pawl for the robot that rolls off the production line on the heavier part or clamping adopted in the machining production line, each material grasping and blowing are finished separately, form the waste of two-way time of empty pawl, make that the potential of robot is fair to divide performance.The job step of the singlehanded pawl of robot is: paw moves on the process equipment anchor clamps and shifts out behind the clamping getting blank on the blank raceway; Paw moves on the equipment anchor clamps and gets the product of finishing after equipment machines; The product of will finishing are placed on the finished product raceway; Return and get the blank position.Workpiece of singlehanded pawl clamping must be earlier unloads and reaches blank again processing finished product, like this equipment will sky etc. discharging and time of getting material, owing to paw dischargings such as equipment stop with get and expect to cause satisfying the production demand.So the performance of monodactyle robot has not satisfied modern production requirement aspect speed of production, need improve the raising of ability implementation efficiency to paw.
Summary of the invention
The purpose of this utility model is in order to overcome the technical deficiency of existing singlehanded pawl, improve automation and production efficiency, under the prerequisite that does not increase the robot input, the singlehanded pawl of robot is transformed, transform singlehanded pawl as the both hands pawl, can be installed in simultaneously by quick connector and realize high efficiency flexible production in the robot.
Main technical schemes of the present utility model is: first paw of this industrial robot paw, second paw are installed in respectively on the paw connecting plate, and paw connecting plate and power connector are affixed, and the calibration encoder is housed on the power connector.
Wherein first paw is vertical mutually with second paw.
First paw is identical with the second paw structure, the drive unit of the parallel conductive rail chair that include fixed finger, is connected with fixed finger, the slip finger that can slide on the parallel conductive rail chair, driving slip finger.
Wherein fixed finger is parallel to each other with the finger that slides.
Servo-actuated upset location-plate is installed on the slip finger, the location-plate that initiatively overturns is installed on the fixed finger, overturning drive device connects the turning gear axle, and drives the location-plate rotation of initiatively overturning by the turning gear axle.
Because what generally use in the present machine-building is numerical control device, these equipment have stronger electronic signal data exchange capability, add that the most equipment anchor clamps are that automatic hydraulic clamps, the automation of processing kind equipment is higher, so need not carry out big transformation to original equipment.
Industrial robot paw of the present utility model is connected with the snap joint of robot by the power connector of band calibration encoder, and by driven by servomotor, the calibration encoder can be controlled the angle of paw rotation;
When paw carried out parts fixation, first paw clamped the clamping position that the blank part moves to process equipment by finger on the supplied materials raceway; Second paw changes transposition by the calibration encoder with first, second paw and puts behind the part that machines with the finger clamping on the equipment anchor clamps; First paw is contained in (if the upset of equipment processing request part) on the equipment anchor clamps with the blank part after by turning device upset part then; Adorned behind the blank part second paw and moved to finish on the product raceway and unload, finished whole clamping process by behind the turning device upset part dress being machined part.Adopt two pawl structures to solve monodactyle effectively and get the product of finishing and get waste two-way time that blank carries out separately after equipment machines, paw has turn over function and has solved different installation way needs, has improved production efficiency greatly, has reduced the investment of robot.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the structural representation of an embodiment of the utility model.
The specific embodiment
As shown in Figure 1, the first paw A, the second paw B are installed in respectively on the paw connecting plate 3 in the industrial robot paw of present embodiment, and paw connecting plate 3 is affixed with power connector 1, and calibration encoder 2 is housed on the power connector 1.Wherein the first paw A is vertical mutually with the second paw B.The first paw A is identical with the second paw B structure, and the parallel conductive rail chair 4 that include fixed finger 9, is connected with fixed finger, slip finger 5, the driving that can slide on parallel conductive rail chair 4 are slided and pointed 5 drive unit 7.Wherein fixed finger 9 is parallel to each other with the finger 5 that slides.Servo-actuated upset location-plate 6 is installed on the slip finger 5, the location-plate 8 that initiatively overturns is installed on the fixed finger 9, overturning drive device 11 connects turning gear axles 10, and drives location-plate 8 rotations of initiatively overturning by turning gear axle 10.
The industrial robot paw of present embodiment is connected with robot by power connector 1 and obtains power, carries out the rotation calibration control of paw by calibration encoder 2.Clamp and when unclamping work, slide servo-actuated upset location-plate 6 on the finger 5 and the 8 pairs of workpiece of location-plate that initiatively overturns on the fixed finger 9 position, and drive finger 5 slip on parallel conductive rail chair 4 of sliding by drive unit 7 and carry out the clamping of workpiece and unclamp and finish the work.The rotary movement of part drives the turning gear axle 10 that is connected with the location-plate 8 that initiatively overturns by overturning drive device 11 and carries out the upset of limited angle.
Each parts action of the industrial robot paw of present embodiment and signal all carry out information interchange by the input of control cabinet is integrated with output integrated interface and robot main frame, by main frame paw are respectively moved and control.
Claims (5)
1, a kind of industrial robot paw is characterized in that: first paw (A), second paw (B) are installed in respectively on the paw connecting plate (3), and paw connecting plate (3) is affixed with power connector (1), and calibration encoder (2) is housed on the power connector (1).
2, a kind of industrial robot paw according to claim 1 is characterized in that: first paw (A) is vertical mutually with second paw (B).
3, a kind of industrial robot paw according to claim 1 and 2, it is characterized in that: first paw (A) is identical with second paw (B) structure, the parallel conductive rail chair (4) that include fixed finger (9), is connected with fixed finger, the slip finger (5) that can go up slide at parallel conductive rail chair (4), the drive unit (7) that drives the finger (5) that slides.
4, a kind of industrial robot paw according to claim 3 is characterized in that: fixed finger (9) is parallel to each other with the finger (5) that slides.
5, a kind of industrial robot paw according to claim 4, it is characterized in that: servo-actuated upset location-plate (6) is installed on the finger (5) that slides, the location-plate that initiatively overturns (8) is installed on the fixed finger (9), overturning drive device (11) connects turning gear axle (10), and drives location-plate (8) rotation of initiatively overturning by turning gear axle (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620067510 CN200988218Y (en) | 2006-11-10 | 2006-11-10 | Industrial robot hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620067510 CN200988218Y (en) | 2006-11-10 | 2006-11-10 | Industrial robot hand claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200988218Y true CN200988218Y (en) | 2007-12-12 |
Family
ID=38939260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620067510 Expired - Lifetime CN200988218Y (en) | 2006-11-10 | 2006-11-10 | Industrial robot hand claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200988218Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
| CN103925882A (en) * | 2014-03-27 | 2014-07-16 | 昆山艾博机器人***工程有限公司 | Visual detection device for inserts |
| CN103921394A (en) * | 2014-03-27 | 2014-07-16 | 昆山艾博机器人***工程有限公司 | Automatic production and detection equipment of insert injection molding product |
| CN105690417A (en) * | 2016-04-15 | 2016-06-22 | 广州嘉能自动化设备有限公司 | Multifunctional intelligent clamping jaw and joint robot |
| CN105965036A (en) * | 2016-06-29 | 2016-09-28 | 宁夏共享机床辅机有限公司 | Stock bin with overturning function and angle phase correction function |
| CN109702227A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
-
2006
- 2006-11-10 CN CN 200620067510 patent/CN200988218Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
| CN103925882A (en) * | 2014-03-27 | 2014-07-16 | 昆山艾博机器人***工程有限公司 | Visual detection device for inserts |
| CN103921394A (en) * | 2014-03-27 | 2014-07-16 | 昆山艾博机器人***工程有限公司 | Automatic production and detection equipment of insert injection molding product |
| CN103925882B (en) * | 2014-03-27 | 2016-08-24 | 昆山艾博机器人***工程有限公司 | A kind of inserts vision inspection apparatus |
| CN105690417A (en) * | 2016-04-15 | 2016-06-22 | 广州嘉能自动化设备有限公司 | Multifunctional intelligent clamping jaw and joint robot |
| CN105965036A (en) * | 2016-06-29 | 2016-09-28 | 宁夏共享机床辅机有限公司 | Stock bin with overturning function and angle phase correction function |
| CN105965036B (en) * | 2016-06-29 | 2018-08-24 | 宁夏共享机床辅机有限公司 | It is a kind of having both overturning, the feed bin that angle is mutually corrected |
| CN109702227A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN109702227B (en) * | 2017-10-25 | 2020-08-28 | 深圳市炫硕智造技术有限公司 | Paw device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20071212 |
|
| EXPY | Termination of patent right or utility model |