CN215699465U - Gripping apparatus device - Google Patents
Gripping apparatus device Download PDFInfo
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- CN215699465U CN215699465U CN202122111291.XU CN202122111291U CN215699465U CN 215699465 U CN215699465 U CN 215699465U CN 202122111291 U CN202122111291 U CN 202122111291U CN 215699465 U CN215699465 U CN 215699465U
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Abstract
The utility model discloses a gripper device, wherein a nut gripper and a workpiece gripper are arranged at the top of a workbench, and the nut gripper comprises: the nut gripper comprises a nut gripper body and a nut gripper base, wherein a quick-change disc is arranged at the top of a first mounting plate, a clamping finger cylinder is arranged at the bottom of the first mounting plate, two clamping fingers of the clamping finger cylinder are respectively connected with a connecting block, and the free ends of the connecting blocks are respectively connected with a nut gripper; the bottom of the mounting shaft is connected with a nut fixing pin. The work piece gripper comprises: the workpiece gripper comprises a workpiece gripper body and a workpiece gripper base, wherein a quick-change disc is arranged at the top of a third mounting plate, a clamping finger cylinder is arranged at the bottom of the third mounting plate, and two clamping fingers of the clamping finger cylinder are respectively connected with a workpiece clamp. The utility model has convenient, rapid and safe use, can be effectively matched with a machine arm for use, and improves the production efficiency.
Description
Technical Field
The utility model relates to a gripping apparatus device, and belongs to the technical field of automatic assembly.
Background
Automated assembly systems can be divided into two types: one is a rigid automatic assembly system based on mass production and assembly, which mainly comprises special assembly equipment and special process equipment; the second is a flexible assembly system fas (flexible assembly system) based on a flexible manufacturing system, which mainly consists of an assembly center (assembly center) and an assembly robot (assembly robot). At present, along with the popularization of robot arms, flexible assembly systems are applied more and more.
The grabbing of the workpiece in the flexible assembly system is an important link of automatic assembly, and how to design a grabbing device matched with a robot arm plays a vital role in providing the workpiece for automatic production procedures such as subsequent assembly, processing, welding and the like.
The existing workpiece feeding device adopts a manual or feeding belt traditional device, so that the automation degree is low, and the full-flow robot production cannot be realized.
SUMMERY OF THE UTILITY MODEL
The purpose is as follows: in order to overcome the defects in the prior art, the utility model provides a gripper device.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the utility model is as follows:
a gripper attachment comprising: the workstation, the workstation top is provided with nut gripping apparatus, work piece gripping apparatus, the nut gripping apparatus includes: the nut gripper comprises a first mounting plate, a quick-change disc is arranged at the top of the first mounting plate, a finger clamping cylinder is arranged at the bottom of the first mounting plate, two clamping fingers of the finger clamping cylinder are respectively connected with a connecting block, and the free end of the connecting block is respectively connected with a nut clamp; the clamp indicates that the cylinder one side is provided with the second mounting panel, and second mounting panel bottom is connected with the setting first mounting block side between the connecting block, is provided with the installation axle in the first mounting block, and installation axle bottom is connected with the nut fixed pin. The nut gripper base comprises a U-shaped base, a second mounting block is arranged on the U-shaped base, one side of the second mounting block is connected with a pin bush fixing seat, and a fixing pin bush is arranged on the pin bush fixing seat; and the top of the U-shaped base is provided with support blocks, positioning pins are arranged between the support blocks, and the positioning pins are matched with positioning through holes on two sides of the quick-change disc. The work piece gripper comprises: the workpiece gripper comprises a third mounting plate, a quick-change disc is arranged at the top of the third mounting plate, a clamping finger cylinder is arranged at the bottom of the third mounting plate, and two clamping fingers of the clamping finger cylinder are respectively connected with a workpiece clamp. The workpiece gripper base comprises a U-shaped base, a third mounting block is arranged on the U-shaped base, one side of the third mounting block is connected with a workpiece clamping and fixing seat, and a workpiece clamping and fixing sleeve is arranged on the workpiece clamping and fixing seat; and the top of the U-shaped base is provided with support blocks, positioning pins are arranged between the support blocks, and the positioning pins are matched with positioning through holes on two sides of the quick-change disc.
Preferably, the second mounting plate is provided with a photoelectric sensor.
Preferably, the free end of the nut fixing pin is provided with a positioning groove.
As a preferred scheme, one side of the quick-change disc of the nut gripper is provided with a blowing device.
Preferably, a reinforcing block is arranged on the U-shaped base of the nut gripper base.
As a preferred scheme, one side of the quick-change disc of the workpiece gripper is provided with a blowing device.
Preferably, a reinforcing block is arranged on the U-shaped base of the workpiece gripper base.
Preferably, the nut correcting device further comprises a nut correcting device, and the nut correcting device comprises: the support, support one end is installed on the workstation, and the support free end is provided with fixed cover, is provided with in the fixed cover to the sharp round pin.
As the preferred scheme, still include the apron, be provided with the cylinder mount pad on the workstation, be provided with the apron cylinder on the cylinder mount pad, apron cylinder telescopic link free end is connected with connecting rod one end, and the connecting rod other end is connected with the apron.
Has the advantages that: according to the gripping apparatus device provided by the utility model, the nut gripping apparatus and the workpiece gripping apparatus on the workbench are matched with the robot arm, so that the automatic transmission of the nut and the workpiece is completed. And provides a full-automatic assembly function for the rear-end welding process. In addition, the nut welding precision is ensured by the nut correcting device.
The utility model has convenient, rapid and safe use, can be effectively matched with a machine arm for use, and improves the production efficiency.
Drawings
Fig. 1 is a schematic structural view of a gripper device.
Fig. 2 is a schematic structural view of one side of the nut gripper.
Fig. 3 is a schematic structural view of the other side of the nut gripper.
Fig. 4 is a schematic structural view of a nut gripper base.
Fig. 5 is a schematic diagram of a workpiece gripper.
Figure 6 is a schematic structural view of a work piece gripper base.
Fig. 7 is a schematic structural diagram of the gripper device and the peripheral auxiliary device.
Fig. 8 is a schematic view of the structure of the aligning pin.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1-6, a gripper assembly comprising: workstation 1, 1 top of workstation is provided with nut gripping apparatus 2, work piece gripping apparatus 3, nut gripping apparatus 2 includes: the nut gripper 201 comprises a first mounting plate 2011, a quick-change disc 2012 is arranged at the top of the first mounting plate 2011, a clamping finger cylinder 2013 is arranged at the bottom of the first mounting plate 2011, two clamping fingers of the clamping finger cylinder 2013 are respectively connected with a connecting block 2014, and the free end of the connecting block 2014 is respectively connected with a nut clamp 2015; the clamp indicates that cylinder 2013 one side is provided with second mounting panel 2016, and second mounting panel 2016 bottom is connected with the side of setting first installation piece 2017 between connecting block 2014, is provided with installation axle 2018 in the first installation piece 2017, and installation axle 2018 bottom is connected with nut fixed pin 2019. The nut gripper base 202 comprises a U-shaped base 2021, a second mounting block 2022 is arranged on the U-shaped base 2021, a pin bush fixing base 2023 is connected to one side of the second mounting block 2022, and a fixing pin bush 2024 is arranged on the pin bush fixing base 2023; the top of the U-shaped base 2021 is provided with a supporting block 2025, a positioning pin 2026 is arranged between the supporting blocks 2025, and the positioning pin 2026 is matched with a positioning through hole 2020 on two sides of the quick-change disc 2012. The work gripper 3 comprises: the workpiece gripper 301 comprises a third mounting plate 3011, a quick-change disc 3012 is arranged at the top of the third mounting plate 3011, a finger clamping cylinder 3013 is arranged at the bottom of the third mounting plate 3011, and two clamping fingers of the finger clamping cylinder 3013 are respectively connected with a workpiece clamp 3014. The workpiece gripper base 302 comprises a U-shaped base 3021, a third mounting block 3022 is arranged on the U-shaped base 3021, a workpiece clamp fixing seat 3023 is connected to one side of the third mounting block 3022, and a workpiece clamp fixing sleeve 3024 is arranged on the workpiece clamp fixing seat 3023; the top of the U-shaped base 3021 is provided with support blocks 3025, positioning pins 3026 are arranged between the support blocks 3025, and the positioning pins 3026 are matched with the positioning through holes 3015 on both sides of the quick-change disc 3012.
And a photoelectric sensor 2022 is arranged on the second mounting plate 2016 and used for sensing whether the nut is sleeved on the nut fixing pin or not.
The free end of the nut fixing pin 2019 is provided with a positioning groove 2023 which is used for being matched with a sharp pin on the nut correcting device to ensure that the nut on the nut fixing pin is clamped in place.
An air blowing device 2021 is arranged on one side of the quick-change disc 2012 of the nut gripper 201 and is used for providing air required by welding when the nut is welded.
A reinforcing block 2027 is arranged on the U-shaped base 2021 of the nut gripper base 202 to enhance the supporting strength of the U-shaped base.
And an air blowing device 3016 is arranged on one side of the quick-change disc 3012 of the workpiece gripper 301 and used for providing gas required by welding when the workpiece is welded.
A reinforcing block 3027 is arranged on the U-shaped base 3021 of the workpiece gripper base 302 to enhance the supporting strength of the U-shaped base.
As shown in fig. 7-8, the nut correcting device 4 is further included, and the nut correcting device 4 includes: the support 401, support 401 one end is installed on workstation 1, and the support 401 free end is provided with fixed cover 402, is provided with in the fixed cover 402 to sharp round pin 403.
Still include apron 5, be provided with cylinder mount pad 501 on the workstation 1, be provided with apron cylinder 502 on the cylinder mount pad 501, apron cylinder 502 telescopic link free end is connected with connecting rod 503 one end, and the connecting rod 503 other end is connected with apron 5.
Example (b):
when the gripping apparatus of the present invention is used, one side of the workbench is provided with a robot arm, and different numbers of nut gripping apparatuses and workpiece gripping apparatuses can be arranged on the workbench according to the types of nuts and workpieces required by the next assembling, welding and processing procedures, as shown in fig. 1, the gripping apparatus in this embodiment comprises: m8, M10, M12 nut gripper, five different workpiece grippers.
During the use, the telescopic link through control apron cylinder stretches out, drives the apron upset on the connecting rod and opens. The robot arm is connected with a quick-change disc on the nut gripper or the workpiece gripper according to a nut or a workpiece required by a machining procedure, a nut gripper or a workpiece gripper is lifted and brought to a station where the nut and the workpiece are placed, a nut fixing pin of the nut gripper is inserted into the nut, and a clamping finger cylinder works a nut clamp to clamp the nut; the clamping finger cylinder of the workpiece gripper works, and the workpiece clamp on the clamping finger clamps the workpiece. And take nut or work piece to next process, the welding process in this embodiment, when nut or work piece come to the welding station, the photoelectric sensor on the nut tongs sends the signal that has the nut, and welding robot welds the nut on the product. Similarly, the welding robot welds the workpiece to the product. When the use is finished, the robot arm carries the nut gripper or the workpiece gripper to be respectively put back on the nut gripper base, the fixed pin sleeve on the workpiece gripper base and the workpiece clamp fixed sleeve. The telescopic rod of the cover plate cylinder retracts, and the cover plate is closed to protect the gripping apparatus.
Because during the nut centre gripping, the horizontal centre gripping of nut will be guaranteed, consequently, every time the nut tongs is cliied the nut after, all will take the nut tongs to hold the nut fixed pin and insert in the fixed cover of nut correcting unit to sharp round pin by the robot arm, the positioning groove card on the nut fixed pin is gone into to sharp round pin, guarantees that the nut fixed pin targets in place, and fixed cover top supports the nut base, ensures the nut appearance form level to go into next process.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the utility model and these are intended to be within the scope of the utility model.
Claims (9)
1. A gripper apparatus, characterized in that: the method comprises the following steps: the workstation, the workstation top is provided with nut gripping apparatus, work piece gripping apparatus, the nut gripping apparatus includes: the nut gripper comprises a first mounting plate, a quick-change disc is arranged at the top of the first mounting plate, a finger clamping cylinder is arranged at the bottom of the first mounting plate, two clamping fingers of the finger clamping cylinder are respectively connected with a connecting block, and the free end of the connecting block is respectively connected with a nut clamp; a second mounting plate is arranged on one side of the clamping finger cylinder, the bottom of the second mounting plate is connected with the side face of a first mounting block arranged between the connecting blocks, a mounting shaft is arranged in the first mounting block, and the bottom of the mounting shaft is connected with a nut fixing pin;
the nut gripper base comprises a U-shaped base, a second mounting block is arranged on the U-shaped base, one side of the second mounting block is connected with a pin bush fixing seat, and a fixing pin bush is arranged on the pin bush fixing seat; the top of the U-shaped base is provided with support blocks, positioning pins are arranged between the support blocks, and the positioning pins are matched with positioning through holes on two sides of the quick-change disc;
the work piece gripper comprises: the workpiece gripper comprises a third mounting plate, a quick-change disc is arranged at the top of the third mounting plate, a finger clamping cylinder is arranged at the bottom of the third mounting plate, and two clamping fingers of the finger clamping cylinder are respectively connected with a workpiece clamp; the workpiece gripper base comprises a U-shaped base, a third mounting block is arranged on the U-shaped base, one side of the third mounting block is connected with a workpiece clamping and fixing seat, and a workpiece clamping and fixing sleeve is arranged on the workpiece clamping and fixing seat; and the top of the U-shaped base is provided with support blocks, positioning pins are arranged between the support blocks, and the positioning pins are matched with positioning through holes on two sides of the quick-change disc.
2. A gripper attachment according to claim 1, wherein: and a photoelectric sensor is arranged on the second mounting plate.
3. A gripper attachment according to claim 1, wherein: and the free end of the nut fixing pin is provided with a positioning groove.
4. A gripper attachment according to claim 1, wherein: and a blowing device is arranged on one side of the quick-change disc of the nut gripper.
5. A gripper attachment according to claim 1, wherein: and a reinforcing block is arranged on the U-shaped base of the nut gripper base.
6. A gripper attachment according to claim 1, wherein: and a blowing device is arranged on one side of the quick-change disc of the workpiece gripper.
7. A gripper attachment according to claim 1, wherein: and a reinforcing block is arranged on the U-shaped base of the workpiece gripper base.
8. A gripper attachment according to claim 1, wherein: still include nut correcting unit, nut correcting unit includes: the support, support one end is installed on the workstation, and the support free end is provided with fixed cover, is provided with in the fixed cover to the sharp round pin.
9. A gripper attachment according to claim 1, wherein: the automatic air cylinder fixing device is characterized by further comprising a cover plate, a cylinder mounting seat is arranged on the workbench, a cover plate cylinder is arranged on the cylinder mounting seat, the free end of a telescopic rod of the cover plate cylinder is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the cover plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122111291.XU CN215699465U (en) | 2021-09-02 | 2021-09-02 | Gripping apparatus device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122111291.XU CN215699465U (en) | 2021-09-02 | 2021-09-02 | Gripping apparatus device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215699465U true CN215699465U (en) | 2022-02-01 |
Family
ID=80011714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122111291.XU Active CN215699465U (en) | 2021-09-02 | 2021-09-02 | Gripping apparatus device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215699465U (en) |
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2021
- 2021-09-02 CN CN202122111291.XU patent/CN215699465U/en active Active
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