CN206883660U - A kind of case clamp and the robot device using the fixture - Google Patents
A kind of case clamp and the robot device using the fixture Download PDFInfo
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- CN206883660U CN206883660U CN201720527620.XU CN201720527620U CN206883660U CN 206883660 U CN206883660 U CN 206883660U CN 201720527620 U CN201720527620 U CN 201720527620U CN 206883660 U CN206883660 U CN 206883660U
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Abstract
It the utility model is related to a kind of case clamp and the robot device using the fixture.Case clamp therein includes jig main body, jig main body is provided with the positioning seat for being used for that positioning to be bonded with the tank wall lateral surface of casing, positioning seat, which is provided with, to be used to position the positioning body being plugged in the positioning hole on casing, and the positioning body, which has, to be used to guide the guide structure that positioning body inserts into positioning hole；Also it is hinged with the jig main body for stretching into the clamping jaw in positioning hole, the clamping jaw has the clamping position for the tank wall medial surface being used for around clamping and positioning hole, also has and is swung backwards to tank wall medial surface so that the release position that clamping jaw can pass through along the axial direction of positioning hole out of positioning hole.Above-mentioned case clamp can realize positioning and the clamping of casing simultaneously, good using bar linkage structure stability, and be provided with drive link overall length governor motion, can adjust, strong adaptability.
Description
Technical field
A kind of perforate by casing is the utility model is related to position casing and the robot device of clamping, it is special
It is not related to the robot device used on gas-filling cabinet production line.
Background technology
Gas-filling cabinet is related to many processes in production, at present each operation need respectively in different workshops, different set
Standby upper completion, this traditional mode of production intermediate demand is manually or fork truck carry the workpiece of semi-finished product, input be present
Greatly, the problems such as efficiency is low, dangerous and worker's amount of labour is big.
Application publication number is that the A of CN 106334904 Chinese utility model patent application discloses a kind of gas-filling cabinet production
Method and the gas-filling cabinet production line for implementing this method, the production line expect storehouse, in material storehouse including what length extended along the longitudinal direction
The pipeline of right side setting and the punching for being punched out and cutting to metal blank being sequentially arranged along before and after pipeline are set
It is standby, to after punching metal blank carry out bending bender, for after metal blank bending carry out loose mail welding loose mail
Welding equipment, the man-made assembly platform of assembled spot welding is carried out to the metal blank for being welded with loose mail, depth is carried out to the workpiece after assembling
The weldering room of welding, to depth weld after workpiece carry out beat screw beat screw equipment and air exercise screw after workpiece clean
Cleaning equipment etc., the automated production of gas-filling cabinet can be realized, the labor intensity of worker is substantially reduced and improve operating efficiency.
, it is necessary to carry out good positioning to gas-filling cabinet in the processes such as screw, cleaning are beaten, and in order to realize gas-filling cabinet
Transfer, it is also necessary to which reliable clamping is carried out to gas-filling cabinet.The flange mounting hole for mounting flange, method are generally provided with gas-filling cabinet
Blue mounting hole can realize preferably positioning as positioning hole to gas-filling cabinet, still, due to also needing to carry out clamping to gas-filling cabinet,
This just needs to design a kind of can be positioned by positioning hole to gas-filling cabinet and the robot device of clamping.
Utility model content
The purpose of this utility model is to provide a kind of case clamp, can realize positioning and dress to casing by positioning hole
Folder；Meanwhile the utility model additionally provides a kind of robot device using the fixture.
To achieve the above object, the technical scheme of the utility model middle case fixture use is：
Scheme 1：A kind of case clamp, including jig main body, jig main body are provided with the tank wall lateral surface being used for casing
The positioning seat of positioning is bonded, positioning seat, which is provided with, to be used to position the positioning body being plugged in the positioning hole on casing, the positioning
Body, which has, to be used to guide the guide structure that positioning body inserts into positioning hole；It is fixed for stretching into also to be hinged with the jig main body
Clamping jaw in the hole of position, the clamping jaw have the clamping position for the tank wall medial surface being used for around clamping and positioning hole, also have backwards to case
Wall medial surface is swung so that the release position that clamping jaw can pass through along the axial direction of positioning hole out of positioning hole.
Scheme 2：According to the case clamp described in scheme 1, the clamping jaw generally zigzag configuration, include the transmission arm of L-shaped,
The articulated position of clamping jaw and jig main body is located at the turning point of L-shaped and above positioning seat, and the positioning seat is provided with for passing
The central through hole that swing arm passes through；Clamping jaw also includes the clamping limb for the tank wall medial surface being used for around clamping and positioning hole, the clamping
Arm and the L-shaped arrangement of the transmission arm.
Scheme 3：According to the case clamp described in scheme 2, the jig main body is provided with ring flange, and the ring flange includes
It is described fixed for positioning the sleeve body portion in the positioning hole being plugged on casing and being arranged on the flange section of sleeve body portion end
Position body is formed by the sleeve body portion, and the guide structure is formed by the conical surface set on sleeve body portion, on the sleeve body portion
Provided with the gap for avoiding clamping jaw.
Scheme 4：According to the case clamp described in scheme 2, it is vertical with the L-shaped arrangement of positioning seat that the jig main body includes
Support, vertically guiding movement is equipped with drive link on the vertical rack, the axis runout clamping jaw of the drive link
Pin joint, the one end of the transmission arm away from clamping limb are connected with the drive link to be driven when drive link moves up and down
The clamping jaw is swung.
Scheme 5：According to the case clamp described in scheme 4, the one end of the transmission arm away from clamping limb passes through with drive link
Be hinged clamping jaw link transmission connection therebetween.
Scheme 6：According to the case clamp described in scheme 4, in one end of the remotely located seat of drive link on the jig main body
Swing rod hinged seat is fixed with, push-and-pull swing rod, the hinge axes of swing rod hinged seat and the axle of drive link are hinged with swing rod hinged seat
Line is intersected vertically, and push-and-pull connecting rod, the push-and-pull are hinged between one end of the end of push-and-pull swing rod and the remotely located seat of drive link
Connecting rod or push-and-pull swing rod, which are provided with, is used for the driving pin joint be hinged with the telescopic end of retractable driving device.
Scheme 7：According to the case clamp described in scheme 6, the hinged place of the push-and-pull swing rod and push-and-pull connecting rod is provided with pushing away
The folding arm of the L-shaped arrangement of connecting rod is drawn, the driving pin joint is arranged on folding arm.
Scheme 8：According to the case clamp described in scheme 6, one end of the remotely located seat of jig main body is provided with and positioning
The cylinder saddle of seat parallel arrangement, the cylinder body front end of cylinder are hinged on cylinder saddle, and the front end of the expansion link of cylinder is hinged on
On the driving pin joint.
Scheme 9：According to the case clamp described in scheme 4, the drive link include the upper drive link that separates up and down and under pass
Lever, drive link overall length governor motion is provided between the upper drive link and underdrive bar.
The technical scheme of robot device use is in the utility model：
Scheme 1：Robot device, including mechanical arm and the case clamp being arranged on mechanical arm, the casing folder
Tool includes jig main body, and jig main body, which is provided with, to be used to be bonded the positioning seat positioned with the tank wall lateral surface of casing, on positioning seat
Provided with for positioning the positioning body in the positioning hole being plugged on casing, the positioning body, which has, to be used to guide positioning body to positioning
The guide structure inserted in hole；Also it is hinged with the jig main body for stretching into the clamping jaw in positioning hole, the clamping jaw has
For the clamping position of the tank wall medial surface around clamping and positioning hole, also have and swung backwards to tank wall medial surface so that clamping jaw being capable of edge
The release position that the axial direction of positioning hole passes through out of positioning hole.
Scheme 2：According to the robot device described in scheme 1, the clamping jaw generally zigzag configuration, include the transmission of L-shaped
The articulated position of arm, clamping jaw and jig main body is located at the turning point of L-shaped and above positioning seat, and the positioning seat, which is provided with, to be supplied
The central through hole that transmission arm passes through；Clamping jaw also includes the clamping limb for the tank wall medial surface being used for around clamping and positioning hole, the folder
Gripping arm and the L-shaped arrangement of the transmission arm.
Scheme 3：According to the robot device described in scheme 2, the jig main body is provided with ring flange, the ring flange bag
Include for positioning the sleeve body portion in the positioning hole being plugged on casing and being arranged on the flange section of sleeve body portion end, it is described
Positioning body is formed by the sleeve body portion, and the guide structure is formed by the conical surface set on sleeve body portion, the sleeve body portion
It is provided with the gap for being used for avoiding clamping jaw.
Scheme 4：According to the robot device described in scheme 2, the jig main body includes perpendicular with the L-shaped arrangement of positioning seat
Straight bracket, vertically guiding movement is equipped with drive link, the axis runout clamping jaw of the drive link on the vertical rack
Pin joint, the one end of the transmission arm away from clamping limb and the drive link are connected to be driven when drive link moves up and down
The dynamic clamping jaw is swung.
Scheme 5：According to the robot device described in scheme 4, the one end of the transmission arm away from clamping limb leads to drive link
Cross be hinged clamping jaw link transmission connection therebetween.
Scheme 6：According to the robot device described in scheme 4, in the one of the remotely located seat of drive link on the jig main body
End is fixed with swing rod hinged seat, is hinged with push-and-pull swing rod on swing rod hinged seat, the hinge axes of swing rod hinged seat and drive link
Axis is intersected vertically, and push-and-pull connecting rod is hinged between one end of the end of push-and-pull swing rod and the remotely located seat of drive link, described to push away
Connecting rod or push-and-pull swing rod is drawn to be provided with and be used for the driving pin joint be hinged with the telescopic end of retractable driving device.
Scheme 7：According to the robot device described in scheme 6, the hinged place of the push-and-pull swing rod and push-and-pull connecting rod be provided with
The folding arm of the L-shaped arrangement of push-and-pull connecting rod, the driving pin joint are arranged on folding arm.
Scheme 8：According to the robot device described in scheme 6, one end of the remotely located seat of jig main body is provided with determining
The cylinder saddle of position seat parallel arrangement, the cylinder body front end of cylinder are hinged on cylinder saddle, and the front end of the expansion link of cylinder is hinged
On the driving pin joint.
Scheme 9：According to the robot device described in scheme 4, the upper drive link that the drive link includes separating up and down is with
Drive link, drive link overall length governor motion is provided between the upper drive link and underdrive bar.
Beneficial effect：The utility model uses above-mentioned technical proposal, and the positioning body on positioning seat, which can position, is plugged in case
The positioning to casing is realized on body, and clamping jaw can be along positioning hole axially out of positioning hole by passing through when unclamping position
Tank wall medial surface that afterwards i.e. can be around clamping and positioning hole realizes the clamping to casing, meanwhile, it can be played by guide structure
Guiding function, avoid the collision of the edge of positioning seat or positioning hole impaired, ensure good location, the positioning of casing can be realized simultaneously
And clamping.
Further, the clamping jaw generally zigzag configuration, the hinge position of the transmission arm of L-shaped, clamping jaw and jig main body is included
It is set in the turning point of L-shaped and above positioning seat, the positioning seat is provided with the central through hole passed through for transmission arm；Clamping jaw
Also include the clamping limb of tank wall medial surface being used for around clamping and positioning hole, the clamping limb and the L-shaped arrangement of the transmission arm,
It is z-shape by the way that clamping jaw is set, opposition when casing is lifted can be reduced, improve clamping reliability.
Further, the jig main body is provided with ring flange, and the ring flange includes being plugged in casing for positioning
Positioning hole in sleeve body portion and be arranged on the flange section of sleeve body portion end, the positioning body is by the sleeve body portion shape
Into the guide structure is formed by the conical surface set on sleeve body portion, and the sleeve body portion, which is provided with, to be used to avoid slitting for clamping jaw
Mouthful.The sleeve body portion of ring flange can ensure the accuracy of positioning, and flange section can cooperatively form with the side wall of casing
Reliable clamping.
Further, the drive link includes the upper drive link and underdrive bar separated up and down, and the upper drive link is with
Drive link overall length governor motion is provided between drive link, clamping force can be adjusted, improves adaptability.
Brief description of the drawings
Fig. 1 is that the clamping jaw of one embodiment of the utility model middle case fixture is in structural representation when unclamping position；
Fig. 2 is the three-dimensional cutaway view of gripping portions in Fig. 1；
Fig. 3 is the stereogram of ring flange in Fig. 1；
Fig. 4 is the structural representation when clamping jaw of one embodiment of the utility model middle case fixture is in clamping position；
Fig. 5 is the three-dimensional cutaway view of gripping portions in Fig. 4；
Fig. 6 is the explosive view of one embodiment of the utility model middle case fixture；
Fig. 7 is the use state diagram of one embodiment of the utility model middle case fixture；
Fig. 8 is the three-dimensional cutaway view of gripping portions in Fig. 7.
It is entitled corresponding to each reference in figure：10- jig main bodies, 11- chassis, 12- vertical racks, 13- tops
Framework, 20- ring flanges, 21- sleeve body portions, 22- flange sections, 23- gap, 24- flange fixed plates, 25- pads, 30- clamping jaws,
31- transmission arms, 32- clamping limbs, 33- clamping jaw hinged seats, 34- clamping jaw connecting rods, 40- cylinders, 50- guide holders, 51- guide sleeves, 52-
Guide pin bushing cover plate, the upper drive links of 53-, 54- underdrive bars, 60- studs, 70- swing rod hinged seats, 71- push-and-pull swing rods, 72- foldings
Arm, 73- push-and-pull connecting rods, 80- gas-filling cabinets, 81- positioning holes.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
A kind of one embodiment of case clamp is that a kind of gas-filling cabinet that is used for is given birth to as shown in Fig. 1 ~ Fig. 8 in the utility model
The gas-filling cabinet fixture of producing line, including jig main body 10, ring flange 20, clamping jaw 30, cylinder 40 and it is arranged on cylinder 40 and clamping jaw 30
Between drive mechanism.Jig main body 10 is frame structure, including chassis 11, vertical rack 12 and top frame 13, bottom plate
Framework 11, vertical rack 12 and top frame 13 form the U-shaped structure bottom of for vertical rack 12.Be advantageous to subtract using frame structure
Light clamp weight, and structural strength is high.
Ring flange 20 forms positioning seat, including for positioning the sleeve body portion 21 in the positioning hole being plugged on casing and setting
The flange section 22 in the end of sleeve body portion 21 is put, the downside end face of flange section 22 is formed for the tank wall lateral surface with casing
The positioning supporting surface of positioning is bonded, sleeve body portion 21 is formed for positioning the positioning body in the positioning hole being plugged on casing.Set
The outer peripheral face of body portion 21 is divided into epimere and hypomere, and the epimere close to flange section 22 is cylinder, away under flange section 22
Hold and form the guide structure for guiding positioning body to be inserted into positioning hole for the conical surface, the conical surface.In the present embodiment, ring flange 20 is logical
Cross pad 25 and screw is fixed in flange fixed plate 24, then chassis 11 is fixed on by flange fixed plate 24 and screw
On, removable fixation is realized, can adapt to that positioning hole size is different to fill by changing various sizes of ring flange 20 and pad 25
Gas holder.
The generally zigzag configuration of clamping jaw 30, includes the transmission arm 31 of L-shaped, and the turning point of L-shaped is provided with hinge hole, chassis
11 are provided with clamping jaw hinged seat 33, and the articulated position of clamping jaw 30 and clamping jaw hinged seat 33 is located at the top of ring flange 20, ring flange
20 are provided with the central through hole passed through for transmission arm 31；Clamping jaw 30 also includes the tank wall medial surface being used for around clamping and positioning hole
Clamping limb 32, the clamping limb 32 and the 31 L-shaped arrangement of transmission arm.The sleeve body portion 21 of ring flange 20 is provided with two use
In the gap 23 for avoiding clamping jaw 30, two gap 23 are collinearly arranged.
It is fixed with two guide holders 50 on vertical rack 12, two guide holders arranged for interval about 50, sets in guide holder 50
There is guide sleeve 51, guide sleeve 51 is fixed on guide holder 50 by guide pin bushing cover plate 52.It is oriented to up and down respectively in two guide sleeves 51
Movement is equipped with drive link 53 and underdrive bar 54, and studs 60 is provided between upper drive link 53 and underdrive bar 54, double
The thread rotary orientation at hook bolt both ends is opposite and is connected respectively with upper drive link 53 and the screw-driven of underdrive bar 54, forms drive link
Overall length governor motion, the overall length of drive link can be adjusted, and then the adjustment of the clamping force of clamping jaw 30 can be realized, and can
Adapt to different clamping demands.The pin joint of clamping jaw 30 deviates the axis of drive link, the one end of transmission arm 31 away from clamping limb 32
It is connected with the lower end of underdrive bar 54 by be hinged clamping jaw connecting rod 34 therebetween, for when drive link moves up and down
The clamping jaw 30 is driven to swing.On the oscillating stroke of clamping jaw 30, clamping jaw 30, which has, to be used in the tank wall around clamping and positioning hole
The clamping position of side, also have towards swung away from the direction of tank wall medial surface so that clamping jaw 30 along positioning hole axially from positioning
The release position passed through in hole, disengaging and the clamping to gas-filling cabinet out of positioning hole on gas-filling cabinet can be realized.Clamping jaw 30 uses
Clamping jaw connecting rod 34 realizes transmission, it is possible to increase the firmness of clamping, improves reliability.
Swing rod hinged seat 70 is fixed with one end of the remotely located seat of drive link on top frame 13, is cut with scissors on swing rod hinged seat 70
Push-and-pull swing rod 71 is connected to, the hinge axes of swing rod hinged seat 70 and the axis of drive link intersect vertically, the end of push-and-pull swing rod 71
Push-and-pull connecting rod 73 is hinged between one end of the remotely located seat of drive link, the push-and-pull swing rod 71 is be hinged with push-and-pull connecting rod 73
Place is provided with the folding arm 72 with 73 L-shaped arrangement of push-and-pull connecting rod, and folding arm 72, which is provided with, is used for the drive be hinged with the telescopic end of cylinder 40
Dynamic pin joint.Realize that driving can optimize stress by folding arm 72, improve reliability.Above-mentioned cylinder 40 forms telescopic drive dress
Put, top frame 13 forms the bearing of cylinder 40, and the cylinder body front end of cylinder 40 is hinged on the bearing of cylinder 40, the expansion link of cylinder 40
Front end is hinged on driving pin joint.
In order to ensure transmission accuracy and improve reliability, each hinged place of the above is coordinated using hinged sleeve and jointed shaft.
In use, case clamp is arranged on mechanical arm, mechanical arm drives case clamp motion, ordinary circumstance
Under, two or three one group of case clamp is used cooperatively, it is necessary to during clamping gas-filling cabinet, and case clamp is under the drive of mechanical arm
Move to above the positioning hole of gas-filling cabinet, then mechanical arm declines, and makes guide structure of the case clamp on ring flange 20
Effect is lower to be entered in positioning hole, and realization is accurately positioned, and avoids manipulator, inflation caused by the trickle variation mechanical arm precision in position
Cabinet is damaged, and after the completion of positioning, the downside end face fitting of flange section 22 is positioned on the top surface of gas-filling cabinet, the body of ring flange 20
Part 21 and positioning hole location fit.Then, control cylinder 40 to stretch out by control device, make 30 turns of clamping jaw by drive mechanism
Move clamping position, you can realize the reliable location and clamping to gas-filling cabinet, mechanical arm action, you can accurately move gas-filling cabinet
To setting position.After gas-filling cabinet moves into place, cylinder 40 is retracted, and clamping jaw 30 is rocked to backwards to the medial surface of gas-filling cabinet unclamps position,
Mechanical arm drives case clamp to rise, and now clamping jaw 30 being capable of axially passing through along positioning hole out of positioning hole.
One embodiment of robot device includes mechanical arm and the case being arranged on mechanical arm in the utility model
Body fixture, wherein case clamp are the case clamp described in the embodiment of above-mentioned case clamp, and mechanical arm can use existing
There is any one mechanical arm in technology, here is omitted for its concrete structure.
In the above-described embodiments, positioning seat is using the form of ring flange 20, and clamping jaw 30 is zigzag configuration, and clamping jaw
Drive mechanism between 30 and cylinder 40 employs connecting rod.In other embodiment of the present utility model, positioning seat can also replace
Other forms are changed to, such as the rounded locating piece being spaced apart or locating dowel are set on chassis 11, and are being positioned
Incline structure is set as being used to guide the guide structure that positioning body inserts into positioning hole, now clamping jaw 30 on block or locating dowel
It can pass through out of circumferentially-spaced between locating piece or locating dowel；Also, according to the shape of casing upper Positioning holes, positioning seat
Other shapes are could be arranged to, for example, it is square.In addition, in other embodiments, clamping jaw 30 can also replace with other forms, example
Such as in-line clamping jaw, L-shaped clamping jaw, can also set elongated hole on clamping jaw 30, and drive link is oriented to merging by bearing pin and elongated hole
It is rotatably assorted, can equally realizes clamping jaw 30 in clamping position and unclamp the swing between position；In addition, cylinder in other embodiments
40 can also be coaxially arranged with drive link, and direct drive drive link moves up and down.Furthermore case clamp is used in the above-described embodiments
Positioning and clamping in gas-filling cabinet, in other embodiments, case clamp can also be applied to the occasion outside gas-filling cabinet.
Claims (18)
- A kind of 1. case clamp, it is characterised in that：Including jig main body, jig main body, which is provided with, to be used on the outside of the tank wall with casing The positioning seat of face fitting positioning, positioning seat, which is provided with, to be used to position the positioning body being plugged in the positioning hole on casing, described fixed Position body, which has, to be used to guide the guide structure that positioning body inserts into positioning hole；Also it is hinged with the jig main body for stretching into Clamping jaw in positioning hole, the clamping jaw have the clamping position for the tank wall medial surface being used for around clamping and positioning hole, also have backwards Tank wall medial surface is swung so that the release position that clamping jaw can pass through along the axial direction of positioning hole out of positioning hole.
- 2. case clamp according to claim 1, it is characterised in that：The clamping jaw generally zigzag configuration, including L-shaped The articulated position of transmission arm, clamping jaw and jig main body is located at the turning point of L-shaped and above positioning seat, is set on the positioning seat There is the central through hole passed through for transmission arm；Clamping jaw also includes the clamping limb for the tank wall medial surface being used for around clamping and positioning hole, institute State clamping limb and the L-shaped arrangement of the transmission arm.
- 3. case clamp according to claim 2, it is characterised in that：The jig main body is provided with ring flange, the method Blue disk includes the sleeve body portion being used in the positioning hole that positioning is plugged on casing and the flange portion for being arranged on sleeve body portion end Point, the positioning body is formed by the sleeve body portion, and the guide structure is formed by the conical surface set on sleeve body portion, the set Body portion is provided with the gap for being used for avoiding clamping jaw.
- 4. case clamp according to claim 2, it is characterised in that：The jig main body includes and the L-shaped cloth of positioning seat The vertical rack put, vertically guiding movement is equipped with drive link on the vertical rack, and the axis of the drive link is inclined From the pin joint of clamping jaw, the one end of the transmission arm away from clamping limb is connected with the drive link to be transported above and below drive link The clamping jaw is driven to swing when dynamic.
- 5. case clamp according to claim 4, it is characterised in that：The transmission arm one end and transmission away from clamping limb Bar is connected by be hinged clamping jaw link transmission therebetween.
- 6. case clamp according to claim 4, it is characterised in that：In the remotely located seat of drive link on the jig main body One end be fixed with swing rod hinged seat, push-and-pull swing rod, the hinge axes of swing rod hinged seat and transmission are hinged with swing rod hinged seat The axis of bar is intersected vertically, and push-and-pull connecting rod, institute are hinged between one end of the end of push-and-pull swing rod and the remotely located seat of drive link State push-and-pull connecting rod or push-and-pull swing rod is provided with and is used for the driving pin joint be hinged with the telescopic end of retractable driving device.
- 7. case clamp according to claim 6, it is characterised in that：The hinged place of the push-and-pull swing rod and push-and-pull connecting rod is set There is the folding arm with the L-shaped arrangement of push-and-pull connecting rod, the driving pin joint is arranged on folding arm.
- 8. case clamp according to claim 6, it is characterised in that：One end of the remotely located seat of jig main body is provided with With the cylinder saddle of positioning seat parallel arrangement, the cylinder body front end of cylinder is hinged on cylinder saddle, the front end of the expansion link of cylinder It is hinged on the driving pin joint.
- 9. case clamp according to claim 4, it is characterised in that：The drive link includes the upper drive link separated up and down With underdrive bar, drive link overall length governor motion is provided between the upper drive link and underdrive bar.
- 10. robot device, including mechanical arm and the case clamp that is arranged on mechanical arm, it is characterised in that：The case Body fixture includes jig main body, and jig main body is provided with the positioning seat for being used for that positioning to be bonded with the tank wall lateral surface of casing, positioning Seat, which is provided with to be used to position, is plugged in positioning body in the positioning hole on casing, the positioning body have be used to guiding positioning body to The guide structure of insertion in positioning hole；Also it is hinged with the jig main body for stretching into the clamping jaw in positioning hole, the clamping jaw With the clamping position for the tank wall medial surface around clamping and positioning hole, also have and swung backwards to tank wall medial surface so that clamping jaw energy Enough release positions passed through along the axial direction of positioning hole out of positioning hole.
- 11. robot device according to claim 10, it is characterised in that：The clamping jaw generally zigzag configuration, including L The articulated position of the transmission arm of shape, clamping jaw and jig main body is located at the turning point of L-shaped and above positioning seat, the positioning seat It is provided with the central through hole passed through for transmission arm；Clamping jaw also includes the clamping for the tank wall medial surface being used for around clamping and positioning hole Arm, the clamping limb and the L-shaped arrangement of the transmission arm.
- 12. robot device according to claim 11, it is characterised in that：The jig main body is provided with ring flange, institute Stating ring flange includes the sleeve body portion being used in the positioning hole that positioning is plugged on casing and the method for being arranged on sleeve body portion end Blue part, the positioning body are formed by the sleeve body portion, and the guide structure is formed by the conical surface set on sleeve body portion, institute State sleeve body portion and be provided with the gap for being used for avoiding clamping jaw.
- 13. robot device according to claim 11, it is characterised in that：It is in L that the jig main body, which is included with positioning seat, The vertical rack of shape arrangement, vertically guiding movement is equipped with drive link, the axle of the drive link on the vertical rack Line deviates the pin joint of clamping jaw, and the one end of the transmission arm away from clamping limb is connected with drive link with the drive link The clamping jaw is driven to swing during lower motion.
- 14. robot device according to claim 13, it is characterised in that：The one end of the transmission arm away from clamping limb with Drive link is connected by be hinged clamping jaw link transmission therebetween.
- 15. robot device according to claim 13, it is characterised in that：In drive link away from fixed on the jig main body One end of position seat is fixed with swing rod hinged seat, is hinged with push-and-pull swing rod on swing rod hinged seat, the hinge axes of swing rod hinged seat with The axis of drive link is intersected vertically, and push-and-pull company is hinged between one end of the end of push-and-pull swing rod and the remotely located seat of drive link Bar, the push-and-pull connecting rod or push-and-pull swing rod, which are provided with, is used for the driving pin joint be hinged with the telescopic end of retractable driving device.
- 16. robot device according to claim 15, it is characterised in that：The push-and-pull swing rod is be hinged with push-and-pull connecting rod Place is provided with the folding arm with the L-shaped arrangement of push-and-pull connecting rod, and the driving pin joint is arranged on folding arm.
- 17. robot device according to claim 15, it is characterised in that：One end of the remotely located seat of jig main body Provided with the cylinder saddle being arranged in parallel with positioning seat, the cylinder body front end of cylinder is hinged on cylinder saddle, the expansion link of cylinder Front end is hinged on the driving pin joint.
- 18. robot device according to claim 13, it is characterised in that：The drive link includes the upload separated up and down Lever and underdrive bar, drive link overall length governor motion is provided between the upper drive link and underdrive bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527620.XU CN206883660U (en) | 2017-05-12 | 2017-05-12 | A kind of case clamp and the robot device using the fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527620.XU CN206883660U (en) | 2017-05-12 | 2017-05-12 | A kind of case clamp and the robot device using the fixture |
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| Publication Number | Publication Date |
|---|---|
| CN206883660U true CN206883660U (en) | 2018-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720527620.XU Active CN206883660U (en) | 2017-05-12 | 2017-05-12 | A kind of case clamp and the robot device using the fixture |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414872A (en) * | 2017-05-12 | 2017-12-01 | 河南森源电气股份有限公司 | Case clamp and the robot device using the fixture |
| CN111266899A (en) * | 2020-03-24 | 2020-06-12 | 广东长盈精密技术有限公司 | Electronic cigarette casing is with processing anchor clamps |
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2017
- 2017-05-12 CN CN201720527620.XU patent/CN206883660U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414872A (en) * | 2017-05-12 | 2017-12-01 | 河南森源电气股份有限公司 | Case clamp and the robot device using the fixture |
| CN107414872B (en) * | 2017-05-12 | 2024-03-26 | 河南森源电气股份有限公司 | Box clamp and manipulator device using same |
| CN111266899A (en) * | 2020-03-24 | 2020-06-12 | 广东长盈精密技术有限公司 | Electronic cigarette casing is with processing anchor clamps |
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