CN207309978U - A kind of robot end executing agency - Google Patents
A kind of robot end executing agency Download PDFInfo
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- CN207309978U CN207309978U CN201721245917.3U CN201721245917U CN207309978U CN 207309978 U CN207309978 U CN 207309978U CN 201721245917 U CN201721245917 U CN 201721245917U CN 207309978 U CN207309978 U CN 207309978U
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- connecting plate
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- finger
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Abstract
The utility model provide it is a kind of can clamping circular work pieces, the robot end executing agency that easy to operate, easy-to-use, work efficiency is high, it includes：Connecting plate, the one side of the connecting plate are connected in robot；Three-jaw clamping device, the periphery of workpiece described in the three-jaw gripper mechanism grips, including the three-jaw cylinder, connection finger and claw of connecting plate one end are fixed on, pneumatic-finger and claw on connection finger connection three-jaw cylinder；Sensor is further included, the sensor is fixed on contiguous block, and contiguous block is fixed in the middle part of connecting plate, and on the opposite face of connecting plate and robot joint face.On the one hand the utility model eliminates the process of manually-operated alignment and clamping when installing workpiece, installation accuracy higher, reduces the set-up time, and execution efficiency is high；On the other hand since the end effector mechanism is light compact, the workpiece of very little can be clamped, inner circle and cylindrical can be clamped, had a wide range of application.
Description
Technical field
It the utility model is related to a kind of mechanical grip technical field, and in particular to a kind of robot end executing agency.
Background technology
In actual production, particular/special requirement has been picked and placeed to workpiece, existing technology is manually to identify and pick and place workpiece, by
Narrow and small in working space, personnel are inconvenient for operation, put that precision is low, and low production efficiency, human input is big, and cost input is high, no
Production and profit beneficial to medium-sized and small enterprises.
And the use of robot greatly overcomes the defects of manually installed low production efficiency in production, but it is general
Clamping robot can not but be clamped for the workpiece of the given shape with disc, at present production in, round piece still needs
Want manual operation.
The content of the invention
The purpose of the utility model is to overcome existing robot can not clamping circular work pieces the defects of, there is provided one kind can
Clamping circular work pieces, the robot end executing agency that easy to operate, easy-to-use, work efficiency is high（Hereinafter referred to as " perform machine
Structure "）.
Technical solution is a kind of robot end executing agency used by the utility model, it includes：Connecting plate, it is described
The one side of connecting plate is connected in robot, it is characterized by：Further include three-jaw clamping device and sensor, the three-jaw clamping
Mechanism clamps the periphery of the workpiece, including is fixed on the three-jaw cylinder, connection finger and claw of connecting plate one end, connects hand
Refer to the pneumatic-finger and claw on connection three-jaw cylinder；The sensor is fixed on contiguous block, and contiguous block is fixed on connecting plate
Middle part, and on the opposite face of connecting plate and robot joint face.
The executing agency further includes two pawl clamping devices, the inner headed face of workpiece described in the two pawls gripper mechanism grips,
Two pawl cylinders, connection finger and claw including being fixed on the connecting plate other end, connection finger connects pneumatic on two pawl cylinders
Finger and claw.
The claw is divided into head and afterbody, and head is fixed on connection finger, and afterbody is used for the folder for clamping the workpiece
Tight face.
The cylinder driving claw of the three-jaw clamping device is after the clamping near sites of workpiece are moved to the head of claw
Portion direction is moved, and workpiece is clamped from the periphery of workpiece.
The cylinder driving claw of the two pawls clamping device is after the clamping near sites of workpiece are moved to the tail of claw
Portion direction is moved, and workpiece is clamped from the inner headed face of workpiece.
The executing agency of the utility model is equipped with two kinds of clamping devices of three-jaw and two pawls, can be installed on lathe according to workpiece
On position and installation direction select different clamping device, avoiding the limitation of shape and installation site because of workpiece, cause cannot
The situation of clamping.
The three-jaw clamping device periphery is additionally provided with pre-tightening apparatus.
The pre-tightening apparatus includes three sleeve spring mechanisms being evenly arranged, and includes spring, spring respectively per sleeve spring mechanism
Bar and latch plate, described spring lever one end are fixed on connecting plate, can be axially moved with respect to connecting plate, the other end is fixed with
One latch plate, spring lever are cased with spring outside.
The three sleeve springs mechanism is arranged on the angular bisector of two neighboring claw.
When the central shaft of workpiece is horizontal placement, pre-tightening apparatus can apply precompression to workpiece, prevent work
Workpiece caused by part falls because of gravity leaves the gripping range of scroll chuck, makes workpiece be more easy to clamp, and shortens Workpiece clamping
Time, improve work efficiency.
On the one hand the utility model eliminates the process of manually-operated alignment and clamping, installation accuracy when installing workpiece
Higher, reduces the set-up time, and execution efficiency is high；On the other hand since executing agency is light compact, the workpiece of very little can be clamped,
Inner circle and cylindrical can be clamped, is had a wide range of application.
Brief description of the drawings
Fig. 1 is the Standard figure of the utility model
Fig. 2 is the workpiece configuration schematic diagram clamped by the utility model
Fig. 3 is the usage state diagram of the utility model clamping workpiece
Fig. 4 is two pawl clamping device clamping workpiece usage state diagram of the utility model
Wherein：1- connecting plates, two pawl clamping devices of 2-, two pawl cylinders of 21-, two pawl clamping devices of 22- connection finger, 23-
Two pawl clamping device claws, 3- three-jaws clamping device, 31- three-jaws cylinder, 32- three-jaws clamping device connection finger, tri- claw clips of 33-
Hold mechanism claw, 4- inductors, 40- contiguous blocks, 5- pre-tightening apparatus, 50- spring mechanisms, 51- springs, 52- spring levers, 53- bullets
Spring plank.
Embodiment
The utility model is described in detail with reference to view, cited embodiment can make this professional skill
Art personnel more understand the utility model, but do not limit the utility model in any form.
The overall assembling structure of the utility model as shown in Figure 1, including connecting plate 1, three-jaw clamping device 3, two claw clips are held
Mechanism 2, sensor 4.
Wherein, the three-jaw clamping device 3 includes being fixed on the three-jaw cylinder 31 of 1 one end of connecting plate, 32 and of connection finger
Claw 33, the connection finger 32 connect pneumatic-finger and claw 33 on three-jaw cylinder 31.Three-jaw clamping device 1 is clamped in work
On the periphery of part.
The two pawls clamping device 2 includes being fixed on two pawl cylinders 21 of 1 other end of connecting plate, connection finger 22 and claw
23, the connection finger 22 connects pneumatic-finger and claw 23 on two pawl cylinders 21.Two pawl clamping devices 2 are clamped in workpiece
On inner headed face.
The sensor 4 is fixed on contiguous block 40, and contiguous block 40 is fixed on the middle part of connecting plate 1.Its role is to hold
Row mechanism detects the claw 33 of three-jaw clamping device 3 and the distance of workpiece when performing clamping task, avoids workpiece and claw 33
Bump against.
3 periphery of three-jaw clamping device is additionally provided with pre-tightening apparatus 5.Pre-tightening apparatus 5 includes three sleeve springs being evenly arranged
Mechanism 50, on the angular bisector of two adjacent claws 33, includes spring 51, spring lever 52 and bullet respectively per sleeve spring mechanism 50
Spring plank 53, described 52 one end of spring lever are fixed on connecting plate 1, can be axially moved with respect to connecting plate 1, the other end is fixed with
One latch plate 53, spring lever 52 are cased with spring 51 outside.Pre-tightening apparatus 5 can be clamped after work piece is on lathe by three-jaw
Mechanism 3 clamp before precompression is applied to workpiece, prevent the workpiece caused workpiece that falls because of gravity from leaving three-jaw clip
The gripping range of mechanism 3 is held, makes workpiece be more easy to clamp.
One of which structure available for workpiece clamped by the executing agency of the utility model as shown in Figure 2, it is annulus
Shape, has a groove on the end face between great circle and roundlet, forms two discs of roundlet outside diameter and great circle internal diameter.
Specific implementation process one：The state of this executing agency clamping workpiece is illustrated in figure 3, workpiece is installed on lathe
On, the inner face of workpiece controls end effector mechanism to work towards executing agency, clamping class robot according to the signal of sensor 4
Part direction is moved, and pre-tightening apparatus 5 pre-fixes workpiece under the spring-force driven dual of spring 51, under preventing workpiece due to gravity
Fall, executing agency constantly travels forward, until the claw 33 of three-jaw clamping device 3 is close to the periphery of workpiece, three-jaw cylinder 31
Apply clamping force for claw 33, clamp workpiece.If selecting two pawl clamping devices, 2 clamping workpiece, claw 23 is clamped in the interior of workpiece
On disc, at this time, workpiece is preferably that axis vertical direction is placed.
Specific implementation process two：When the outer end face of workpiece is towards executing agency, three-jaw clamping device 3 can not clamp at this time
Workpiece, it is necessary to by two pawl clamping devices, 2 clamping workpiece.As shown in figure 4, the outer end face of workpiece is towards executing agency, robot control
End effector mechanism processed is moved to workpiece direction, until the claw 23 of two pawl clamping devices 2 is close to the inner headed face of workpiece, two pawl gas
Cylinder 21 applies clamping force for claw 23, clamps workpiece.
Remaining not described part is same as the prior art.
Claims (5)
1. a kind of robot end executing agency, including：Connecting plate（1）, the connecting plate（1）One side be connected to robot
On, it is characterised in that：Further include three-jaw clamping device（3）, sensor（4）, the three-jaw clamping device（3）Including the company of being fixed on
Fishplate bar（1）The three-jaw cylinder of one end（31）, connection finger（32）And claw（33）, connect finger（32）Connect three-jaw cylinder（31）
On pneumatic-finger and claw（33）；The sensor（4）It is fixed on contiguous block（40）On, contiguous block（40）It is fixed on the company
Fishplate bar（1）Middle part.
A kind of 2. robot end executing agency according to claim 1, it is characterised in that：Further include two pawl clamping devices
（2）, the two pawls clamping device（2）Including being fixed on connecting plate（1）Two pawl cylinders of the other end（21）, connection finger（22）With
Claw（23）, connect finger（22）Connect two pawl cylinders（21）On pneumatic-finger and claw（23）.
A kind of 3. robot end executing agency according to claim 1, it is characterised in that：The three-jaw clamping device
（3）Periphery is additionally provided with pre-tightening apparatus（5）.
A kind of 4. robot end executing agency according to claim 3, it is characterised in that：The pre-tightening apparatus（5）For
Three sleeve spring mechanisms being evenly arranged（50）, per sleeve spring mechanism（50）Include spring respectively（51）, spring lever（52）And spring
Plate（53）, the spring lever（52）One end is fixed on connecting plate（1）On, can be with respect to connecting plate（1）It is axially moved, the other end
It is fixed with a latch plate（53）, spring lever（52）It is cased with spring outside（51）.
A kind of 5. robot end executing agency according to claim 4, it is characterised in that：The spring mechanism（50）
It is arranged in two neighboring claw（33）Angular bisector on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721245917.3U CN207309978U (en) | 2017-09-27 | 2017-09-27 | A kind of robot end executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721245917.3U CN207309978U (en) | 2017-09-27 | 2017-09-27 | A kind of robot end executing agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207309978U true CN207309978U (en) | 2018-05-04 |
Family
ID=62384305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721245917.3U Active CN207309978U (en) | 2017-09-27 | 2017-09-27 | A kind of robot end executing agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207309978U (en) |
-
2017
- 2017-09-27 CN CN201721245917.3U patent/CN207309978U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210602 Address after: 350000 Room 203, 2nd floor, building 10, Jinshan Science and technology business incubator, 7 Jinzhou North Road, Jinshan Industrial Zone, Jianxin Town, Cangshan District, Fuzhou City, Fujian Province Patentee after: Fuzhou jitiecheng Precision Machinery Co.,Ltd. Address before: 350001 501, 10th floor, Xiannan commercial building, 89 bay17 North Road, Gulou District, Fuzhou City, Fujian Province Patentee before: FUZHOU MINKE ROBOT INTELLIGENT TECHNOLOGY Co.,Ltd. |