CN206088332U - Mechanism is got to multi -functional clamp of six axis robot multistation - Google Patents
Mechanism is got to multi -functional clamp of six axis robot multistation Download PDFInfo
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- CN206088332U CN206088332U CN201621141952.6U CN201621141952U CN206088332U CN 206088332 U CN206088332 U CN 206088332U CN 201621141952 U CN201621141952 U CN 201621141952U CN 206088332 U CN206088332 U CN 206088332U
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- jaw
- transfer panel
- joint robot
- clamp
- multistation
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Abstract
The utility model discloses a mechanism is got to multi -functional clamp of six axis robot multistation, get device and CCD detection sensor including six axis robot, switching dish, clamp, the switching dish is installed on six axis robot's the 6th rotation axis, and the upper end of switching dish is the column, and the lower extreme is the round platform form, and inside is equipped with the cavity, CCD detects sensor fixed mounting in the cavity of switching dish, the clamp is got device fixed mounting and is coiled the lower extreme in the switching, and the clamp is got the device and is equipped with six, and device along the outer circumference array arrangement of switching dish, each are got to six clamps the clamp is got the device lower extreme and is installed the tongs, the tongs is one kind among clamping jaw, vacuum chuck or the magnetic separator. The utility model discloses can realize the multi -functional material that snatchs of multistation, its commonality is good, can realize flexibility production, has saved the human cost, has improved production efficiency.
Description
Technical field
This utility model belongs to automatic producing technology field, especially designs a kind of six-joint robot multistation multifunction clips
Take mechanism.
Background technology
Production and assembling during, need by various materials be transported to same station carry out assembling operation or will
Material of the same race or not of the same race is assigned to different station carries out different operations, typically arranges not on streamline in prior art
Same station, by the staff of streamline side by artificial crawl material or by arranging single-station automatization gripper
Structure captures material, and this work pattern causes to capture single material every time, and must same station, material of the same race, efficiency is low,
Versatility is low, is difficult to realize Flexible Production.
Utility model content
For above-mentioned technical problem, this utility model provides a kind of six-joint robot multistation Multifunction clamping mechanism, solution
Gripping body single function in existing operator scheme of having determined, can only capture same station, the problem of material of the same race, and its versatility is good,
Efficiency high, is capable of achieving Flexible Production.
In order to reach above-mentioned technique effect, the technical solution adopted in the utility model is：
A kind of six-joint robot multistation Multifunction clamping mechanism, including six-joint robot, transfer panel, clamp device and
CCD detection sensors；The six-joint robot is fixedly mounted on streamline side, and the transfer panel is arranged on six-joint robot
In 6th rotary shaft, the upper end of transfer panel is column, and lower end is round table-like, and inside is provided with cavity, and the CCD detection sensors are solid
Dingan County is mounted in the cavity of transfer panel, and the clamp device is fixedly mounted on transfer panel lower end, and clamp device is provided with six, six
Along transfer panel excircle array arrangement, each described clamp device lower end is provided with handgrip to clamp device, and the handgrip is folder
One kind in pawl, vacuum cup or magnetic separator, clamp device are used to drive handgrip to pick and place material.
Further, the clamp device is gripping gas pawl, and the gripping gas pawl includes being provided with two self-contained pistons in left and right
Cylinder and correspondence installed in left and right two self-contained piston lower ends two independent gas pawls.
Further, the handgrip is jaw, and the jaw includes left jaw and right jaw, left jaw and right jaw difference
Correspondence is fixedly mounted on the lower end of two independent gas pawls, and left jaw and right jaw are provided with the occlusal surfaces that mutually can be fitted.
Further, the lower end of one of the left jaw or right jaw is provided with locating slot, and the locating slot is tied for U-shaped
Structure, locating slot are vertical with occlusal surfaces.
Compared with prior art, the beneficial effects of the utility model are：By pacifying in the 6th rotary shaft of six-joint robot
Dress transfer panel, installs CCD detection sensors in transfer panel, six clamp devices are installed in transfer panel lower end, so as to this utility model
Multistation, multi-functional crawl material can be realized, its versatility is good, be capable of achieving Flexible Production, save human cost, improve
Production efficiency.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of description, and in order to allow above and other purpose of the present utility model, feature
Can become apparent with advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, described in detail.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Partial enlarged views of the Fig. 2 for the part A of Fig. 1.
Each label and corresponding entitled in figure：
1. six-joint robot, 2. transfer panel, 3. clamp device, 4. handgrip, 5.CCD detection sensors, 301. cylinders, 302.
Gas pawl, 41. jaws, 411. binding faces, 412. locating slots.
Specific embodiment
A kind of such as six-joint robot multistation Multifunction clamping mechanisms of Fig. 1, including six-joint robot 1, transfer panel 2, gripping
Device 3 and CCD detection sensors 5.The six-joint robot 1 is fixedly mounted on the side of automatic assembly line, the transfer panel 2
In the 6th rotary shaft of six-joint robot 1, the upper end of transfer panel 2 is column, and lower end is round table-like, and inside is provided with sky
Chamber.CCD detection sensors 5 are fixedly mounted in the cavity of 2 lower end of transfer panel.Clamp device 3 is fixedly mounted under transfer panel 2
End, clamp device 3 are provided with six, excircle array arrangement of six clamp devices 3 along transfer panel lower end, each clamp device
3 lower ends are mounted on handgrip 4, and handgrip 4 is the one kind in jaw, vacuum cup or magnetic separator, and clamp device 3 is used to drive
Handgrip 4 picks and places material.
As shown in Fig. 2 the clamp device 3 is gripping gas pawl, gripping gas pawl includes being provided with two self-contained pistons in left and right
Cylinder 301 and correspondence are arranged on two independent gas pawls 302 of two self-contained piston lower ends of left and right.Handgrip 4 is jaw 41, and jaw 41 wraps
Left jaw and right jaw are included, left jaw and right jaw correspond to the lower end for being fixedly mounted on two independent gas pawls 302, left jaw respectively
The occlusal surfaces 411 that mutually can be fitted are provided with right jaw.The lower end of one of left jaw or right jaw is provided with locating slot 412,
The locating slot 412 is U-shaped structure, and locating slot 412 is vertical with occlusal surfaces 411.
During utility model works, the six-joint robot 1 positioned at automatic production line side adjusts its six mechanical arm positions,
Transfer panel 2, clamp device 3, handgrip 4, CCD detection sensors 5 is driven to be displaced to above first gripping station, cylinder 301 drives
Pawl 302 of taking offence drives jaw 41 to open, and grips the first material, and six-joint robot 1 adjusts its six mechanical arm positions again, will
Jaw 41 is sent to next gripping station, and jaw 4 grips second material, is completed positioned at same station or different station by that analogy
6 kinds of material grippings, six-joint robot 1 move to 6 kinds of materials that gripping is completed above material to be assembled, and CCD detection sensors 5 are adopted
Collect material image data to be assembled, and be uploaded to control system, control system instructs six-joint robot 1 to load 6 kinds of materials and treats
In assembly material.
This utility model is not limited to above-mentioned specific embodiment, for the person of ordinary skill of the art from upper
State design to set out, without performing creative labour, done a variety of conversion, all fall within protection domain of the present utility model it
It is interior.
Claims (4)
1. a kind of six-joint robot multistation Multifunction clamping mechanism, it is characterised in that including six-joint robot, transfer panel, folder
Take device and CCD detection sensors；The six-joint robot is fixedly mounted on streamline side, and the transfer panel is arranged on six axles
In 6th rotary shaft of robot, the upper end of transfer panel is column, and lower end is round table-like, and inside is provided with cavity, the CCD detections
Sensor is fixedly mounted in the cavity of transfer panel, and the clamp device is fixedly mounted on transfer panel lower end, and clamp device is provided with
Six, along transfer panel excircle array arrangement, each described clamp device lower end is provided with handgrip to six clamp devices, described
Handgrip is the one kind in jaw, vacuum cup or magnetic separator, and clamp device is used to drive handgrip to pick and place material.
2. a kind of six-joint robot multistation Multifunction clamping mechanism according to claim 1, it is characterised in that the folder
Device is taken for gripping gas pawl, the gripping gas pawl includes being provided with the cylinder and correspondence of two self-contained pistons in left and right installed in left and right two
Two independent gas pawls of self-contained piston lower end.
3. a kind of six-joint robot multistation Multifunction clamping mechanism according to claim 2, it is characterised in that described to grab
Handss are jaw, and the jaw includes that left jaw and right jaw, left jaw and right jaw are corresponded to respectively and is fixedly mounted on two independences
The lower end of gas pawl, left jaw and right jaw are provided with the occlusal surfaces that mutually can be fitted.
4. a kind of six-joint robot multistation Multifunction clamping mechanism according to claim 3, it is characterised in that the left side
The lower end of one of jaw or right jaw is provided with locating slot, and the locating slot is U-shaped structure, and locating slot is vertical with occlusal surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141952.6U CN206088332U (en) | 2016-10-20 | 2016-10-20 | Mechanism is got to multi -functional clamp of six axis robot multistation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141952.6U CN206088332U (en) | 2016-10-20 | 2016-10-20 | Mechanism is got to multi -functional clamp of six axis robot multistation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206088332U true CN206088332U (en) | 2017-04-12 |
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ID=59976465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621141952.6U Active CN206088332U (en) | 2016-10-20 | 2016-10-20 | Mechanism is got to multi -functional clamp of six axis robot multistation |
Country Status (1)
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| CN (1) | CN206088332U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010255A (en) * | 2017-06-14 | 2017-08-04 | 湃思科技（苏州）有限公司 | Multiaxis feeding device |
| CN107283164A (en) * | 2017-08-04 | 2017-10-24 | 广东利元亨智能装备有限公司 | A kind of power battery assembling equipment |
| CN107381023A (en) * | 2017-07-26 | 2017-11-24 | 深圳市嘉熠精密自动化科技有限公司 | A kind of multidirectional material transfer device |
| CN108748078A (en) * | 2018-06-25 | 2018-11-06 | 丰汉电子(上海)有限公司 | Robot transportation system |
| CN108908383A (en) * | 2018-08-17 | 2018-11-30 | 珠海格力智能装备有限公司 | Press from both sides and get mechanism and have its robot |
| CN109079830A (en) * | 2018-09-28 | 2018-12-25 | 桂林梵玛科机械有限公司 | The Full-automatic tire wire loop grabbing device cooperated with robot |
| CN110155709A (en) * | 2019-06-19 | 2019-08-23 | 格力电器（石家庄）有限公司 | Material conveying device |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN110654601A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Assembly equipment and electric rice cooker packaging production line |
| CN111439238A (en) * | 2020-05-08 | 2020-07-24 | 济南睿达物联网有限公司 | Automatic car washing device based on internet of things information |
| WO2020186831A1 (en) * | 2019-03-18 | 2020-09-24 | 惠州中科先进制造研究中心有限公司 | Complex multi-functional gripping device for assembly line |
| CN114474120A (en) * | 2022-02-28 | 2022-05-13 | 宝钢湛江钢铁有限公司 | Supporting robot anchor clamps of multi-functional machining center |
| CN114593765A (en) * | 2022-05-09 | 2022-06-07 | 天津航天机电设备研究所 | Automatic pneumatic separation test bed for aerospace separation nut assembly |
-
2016
- 2016-10-20 CN CN201621141952.6U patent/CN206088332U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010255A (en) * | 2017-06-14 | 2017-08-04 | 湃思科技（苏州）有限公司 | Multiaxis feeding device |
| CN107381023A (en) * | 2017-07-26 | 2017-11-24 | 深圳市嘉熠精密自动化科技有限公司 | A kind of multidirectional material transfer device |
| CN107381023B (en) * | 2017-07-26 | 2023-08-18 | 深圳市嘉熠精密自动化科技有限公司 | Multidirectional material transfer device |
| CN107283164A (en) * | 2017-08-04 | 2017-10-24 | 广东利元亨智能装备有限公司 | A kind of power battery assembling equipment |
| CN108748078A (en) * | 2018-06-25 | 2018-11-06 | 丰汉电子(上海)有限公司 | Robot transportation system |
| CN108908383A (en) * | 2018-08-17 | 2018-11-30 | 珠海格力智能装备有限公司 | Press from both sides and get mechanism and have its robot |
| CN109079830A (en) * | 2018-09-28 | 2018-12-25 | 桂林梵玛科机械有限公司 | The Full-automatic tire wire loop grabbing device cooperated with robot |
| WO2020186831A1 (en) * | 2019-03-18 | 2020-09-24 | 惠州中科先进制造研究中心有限公司 | Complex multi-functional gripping device for assembly line |
| CN110155709A (en) * | 2019-06-19 | 2019-08-23 | 格力电器（石家庄）有限公司 | Material conveying device |
| CN110654601A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Assembly equipment and electric rice cooker packaging production line |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN111439238A (en) * | 2020-05-08 | 2020-07-24 | 济南睿达物联网有限公司 | Automatic car washing device based on internet of things information |
| CN111439238B (en) * | 2020-05-08 | 2021-11-02 | 济南睿达物联网有限公司 | Automatic car washing device based on internet of things information |
| CN114474120A (en) * | 2022-02-28 | 2022-05-13 | 宝钢湛江钢铁有限公司 | Supporting robot anchor clamps of multi-functional machining center |
| CN114593765A (en) * | 2022-05-09 | 2022-06-07 | 天津航天机电设备研究所 | Automatic pneumatic separation test bed for aerospace separation nut assembly |
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