CN210100000U - Clamp for truss robot - Google Patents
Clamp for truss robot Download PDFInfo
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- CN210100000U CN210100000U CN201821974330.0U CN201821974330U CN210100000U CN 210100000 U CN210100000 U CN 210100000U CN 201821974330 U CN201821974330 U CN 201821974330U CN 210100000 U CN210100000 U CN 210100000U
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Abstract
A clamp for a truss robot relates to the field of clamps and comprises a square frame, a quick-change system used for being connected with the truss robot, an air knife and four vertical pneumatic grippers, wherein the openings of the vertical pneumatic grippers face downwards and can clamp articles in the vertical direction; the four horizontal pneumatic grippers are grouped in pairs and alternately distributed below the frame in parallel, the two horizontal pneumatic grippers in the same group are respectively connected with the moving frame, the upper end of the moving frame is fixedly provided with a sliding block, the sliding block is connected with the linear sliding rail in a sliding manner, the moving frame respectively connected with the two horizontal pneumatic grippers in the same group is connected with telescopic cylinders through the same moving cross rod, and the two telescopic cylinders are respectively arranged at two sides of the frame; the openings of the two horizontal pneumatic grippers in the same group face the direction of the vertical pneumatic gripper adjacent to the openings, and the two horizontal pneumatic grippers can clamp articles from the horizontal direction. The application provides a fixture for truss robot, it can follow a plurality of directions and clip a plurality of positions of article simultaneously, snatchs more firmly.
Description
Technical Field
The utility model relates to an anchor clamps field, concretely relates to anchor clamps for truss robot.
Background
Truss robots are also known as cartesian robots and gantry robots. In industrial application, the multifunctional multi-freedom manipulator can realize automatic control, repeated programming, multiple functions, multiple degrees of freedom, spatial right-angle relation among motion degrees of freedom and multiple purposes. Can carry objects and operate tools to complete various operations. The device is widely applied to production workshops for grabbing transferred objects. At present, a common truss robot is mostly of a gantry type structure, that is, two ends of a cross beam are respectively and slidably carried on two parallel supporting beams, and a grabbing jig is installed at the bottom side of the cross beam, so that after the grabbing jig grabs an object, the cross beam moves along the supporting beams, and the object is transferred from one position to another position.
In recent years, with the rapid growth of the domestic automobile industry, domestic assembly line manufacturers are also rapidly developed, the application of industrial robots enables workers to get rid of monotonous and repeated physical labor in the large-scale production process, improves the working environment and improves the product quality, so that the industrial robots become inevitable choices for enterprise automatic transformation, and the truss robots have unique advantages in the field of material transmission due to the characteristics of high reliability, high speed, large load, large stroke, low cost and the like; in actual production operation, parts with various special shapes and structures appear on an automobile assembly line, however, the clamp of the existing truss robot is often fixed in structure and can only hold a certain part of an article from a single direction, and obviously, the clamp is not suitable for the parts with special shapes and structures appearing on the automobile assembly line.
Disclosure of Invention
In order to solve the defects existing in the prior art, the application provides a clamp for a truss robot, which can clamp multiple parts of an article from multiple directions simultaneously, is firmer in grabbing and is particularly suitable for parts with special shapes and structures.
In order to realize the technical effect, the utility model discloses a concrete technical scheme as follows:
a jig for a truss robot, comprising:
the square frame comprises a rectangular base beam on the outer side and a plurality of cross beams and longitudinal beams on the inner side, and the cross beams and the longitudinal beams are connected with the base beam through welding;
the quick-change system is fixed above the center of the frame through a mounting seat and is used for being connected with the truss robot;
the air knife is connected with the long edge of the base beam through a plurality of mounting brackets, a plurality of air inlet quick connectors and air outlet quick connectors are arranged on the air knife, the air inlet quick connectors are connected with a main electromagnetic valve through a three-way valve, and the main electromagnetic valve is connected with an air source;
the four vertical pneumatic grippers are grouped in pairs and are respectively and vertically fixed right below the short edges of the two base beams; the opening of the vertical pneumatic gripper faces downwards, and the vertical pneumatic gripper can clamp articles from the vertical direction;
the four horizontal pneumatic grippers are grouped in pairs and alternately distributed below the frame in parallel, the two horizontal pneumatic grippers in the same group are respectively connected with a vertical section of a T-shaped moving frame, a sliding block is fixed at the upper end of the horizontal section of the moving frame and is in sliding connection with a linear sliding rail fixed below the frame, the moving frames respectively connected with the two horizontal pneumatic grippers in the same group are connected with telescopic cylinders fixed below the frame through the same moving cross rod, and the two telescopic cylinders are respectively installed on two sides of the frame; the openings of the two horizontal pneumatic grippers in the same group face the direction of the vertical pneumatic grippers adjacent to the openings, and the horizontal pneumatic grippers can clamp articles from the horizontal direction.
Furthermore, the connecting lines of the four vertical pneumatic grippers are in a parallelogram shape, and the two vertical pneumatic grippers are installed at the opposite corners of the base beam.
Further, the frame consists of a rectangular base beam, two long longitudinal beams, two short longitudinal beams and two connecting cross beams, wherein the two long longitudinal beams and the two connecting cross beams are arranged on the inner side of the base beam in a centrosymmetric manner by taking the center of the base beam as a center, one tail end of each long longitudinal beam is vertically connected with the short side of the base beam, the other tail end of each long longitudinal beam is vertically connected with the connecting cross beam, one tail end of each connecting cross beam is vertically connected with the long side of the base beam, and the other tail end of each connecting cross beam is vertically connected with the long longitudinal beam; the short longitudinal beams and the long longitudinal beams are arranged in parallel, one tail end of each short longitudinal beam is vertically connected with the midpoint of the connecting cross beam, and the other tail end of each short longitudinal beam is fixed on the short edge of the base beam adjacent to the connecting cross beam; the telescopic cylinder is installed under the short longitudinal beam, and the linear slide rails are respectively installed under the long longitudinal beams on two sides of the short longitudinal beam and the long edge of the base beam. Through the specific design and layout, the overall manufacturing of the frame is completed by the least number of cross beams (namely, connecting cross beams) and longitudinal beams (namely, long longitudinal beams and short longitudinal beams), the materials are saved, the weight of the frame is reduced, and meanwhile, each cross beam (namely, connecting cross beams) and each longitudinal beam (namely, long longitudinal beams and short longitudinal beams) realize the specific functions and are respectively used for fixing the longitudinal beams (namely, long longitudinal beams and short longitudinal beams), installing the sliding rails and the telescopic cylinders, so that the value is maximized; in addition, the short longitudinal beam is positioned in the center of the connecting cross beam, so that the moment of the telescopic cylinder arranged below the short longitudinal beam acting on the horizontal pneumatic grippers at the two ends is equal, and the horizontal pneumatic grippers can be pushed and pulled stably.
The control box is fixedly installed on the frame, a plurality of branch electromagnetic valves and a plurality of control valves are arranged in the control box, each control valve is in signal connection with the main electromagnetic valve and the branch electromagnetic valves respectively, and each branch electromagnetic valve is connected with the telescopic cylinder, the vertical pneumatic gripper and the horizontal pneumatic gripper through air channels respectively.
Furthermore, the device also comprises two mechanical limit switches, wherein one limit switch is arranged at the vertex angle of the base beam, and the other limit switch is arranged on the long edge of the base beam. Through two limit switch, when anchor clamps press from both sides article and remove when reaching extreme position, limit switch receives the collision to control cabinet signals in to the truss robot, the truss robot receives and stops the removal promptly after the signal, has improved the security of truss robot.
The working principle of the clamp for the truss robot is as follows:
the fixture of the utility model is connected with the truss robot through the quick-change system; when the clamp is used for clamping articles, the main electromagnetic valve is firstly communicated with an air source under the control of the control box, high-pressure air enters the air knife through the three-way valve and the air inlet quick connector, then a branch electromagnetic valve connected with the vertical pneumatic gripper is conducted under the control of the control box, high-pressure gas in the air knife is delivered to the vertical pneumatic gripper through the air outlet quick connector, the vertical pneumatic gripper clamps the object from the vertical direction under the action of the high-pressure gas, then a branch electromagnetic valve connected with the telescopic cylinder is conducted under the control of the control box, high-pressure gas in the air knife is delivered to the telescopic cylinder through the air outlet quick connector, the telescopic cylinder pushes the horizontal pneumatic gripper to approach to the article until the article reaches a preset position, then a branch electromagnetic valve connected with the horizontal pneumatic gripper is conducted under the control of the control box, high-pressure gas in the air knife is delivered to the horizontal pneumatic gripper through air outlet quick connection, and the horizontal pneumatic gripper clamps an object from the horizontal direction under the action of the high-pressure gas; then the clamp moves to the designated position along with the truss robot, after the clamp reaches the designated position, the horizontal pneumatic gripper loosens the object firstly according to the working principle, then the telescopic cylinder drives the horizontal pneumatic gripper to reset, finally the vertical pneumatic gripper loosens the object, the clamp resets, and the whole process is finished.
According to the technical scheme, the utility model discloses an anchor clamps possess simultaneously can follow the tongs that vertical direction, horizontal direction cliied article, can grab the jail simultaneously article from a plurality of angles, a plurality of positions, snatchs more firmly, the spare part of specially adapted special shape, structure.
Drawings
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is a schematic bottom view of the present invention;
FIG. 4 is a schematic view of the structure of portion A of FIG. 1;
FIG. 5 is a schematic view of a portion B of FIG. 1;
fig. 6 is a schematic diagram of the connection among the control valve, the main solenoid valve, the branch solenoid valves, the telescopic cylinder, the vertical pneumatic gripper and the horizontal pneumatic gripper of the present invention;
wherein, 1, a base beam; 2. a quick-change system; 21. a mounting seat; 3. an air knife; 4. mounting a bracket; 5. air inlet quick connection; 6. air outlet and quick connection; 7. a three-way valve; 8. a master electromagnetic valve; 9. a vertical pneumatic gripper; 10. a horizontal pneumatic gripper; 11. a movable frame; 12. a slider; 13. a linear slide rail; 14. moving the cross bar; 15. a telescopic cylinder; 16. a long stringer; 17. a short stringer; 18. connecting the cross beam; 19. a control box; 20. and a limit switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present embodiments more clear, the technical solutions in the present embodiments will be clearly and completely described below with reference to the drawings in the present embodiments, and it is obvious that the described embodiments are some, but not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, it should be understood that the terms "upper end", "lower end", "tail end", "left and right", "up and down", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the equipment or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "long", "short", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "long", "short", etc. may explicitly or implicitly include one or more of that feature.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Examples
As shown in fig. 1, a jig for a truss robot includes: the frame comprises a rectangular base beam 1 at the outer side and a plurality of cross beams and longitudinal beams at the inner side, wherein the cross beams and the longitudinal beams are connected with the base beam 1 through welding; the quick-change system 2 is fixed above the center of the frame through a mounting seat 21, the quick-change system 2 is used for being connected with the truss robot, the quick-change system is of an upper and lower split structure, the upper portion of the quick-change system is used for being connected with the truss robot, the lower portion of the quick-change system is used for being connected with other clamp portions below, and therefore other clamps of the same type can be conveniently replaced, the quick-change system 2 is well known in the art, equipment is well known in the industry, and the specific structure is not detailed here.
As shown in fig. 4, an air knife 3, the air knife 3 is connected with the long side of the base beam 1 through a plurality of mounting brackets 4, the air knife 3 is provided with a plurality of air inlet quick connectors 5 and air outlet quick connectors 6, the air inlet quick connectors 5 are connected with a main electromagnetic valve 8 through a three-way valve 7, and the main electromagnetic valve 8 is connected with an air source.
As shown in fig. 2 and 3, four vertical pneumatic grippers 9 are arranged in pairs, and the four vertical pneumatic grippers 9 are respectively and vertically fixed right below the short sides of the two base beams 1; the opening of the vertical pneumatic gripper 9 faces downwards, and the vertical pneumatic gripper can clamp articles from the vertical direction; the connecting lines of the four vertical pneumatic grippers 9 are in a parallelogram shape, and the two vertical pneumatic grippers 9 are arranged at the opposite corners of the base beam. The four horizontal pneumatic grippers 10 are grouped in pairs and alternately distributed below the frame in parallel, two horizontal pneumatic grippers 10 in the same group are respectively connected with a vertical section of a T-shaped moving frame 11, a sliding block 12 is fixed at the upper end of the horizontal section of the moving frame 11, the sliding block 12 is in sliding connection with a linear sliding rail 13 fixed below the frame, the moving frame 11 respectively connected with the two horizontal pneumatic grippers 10 in the same group is connected with a telescopic cylinder 15 fixed below the frame through a same moving cross bar 14, and the two telescopic cylinders 15 are respectively installed on two sides of the frame; the two horizontal pneumatic grippers 10 of the same group are opened toward the vertical pneumatic grippers 9 adjacent to the horizontal pneumatic grippers, and can clamp articles from the horizontal direction.
As shown in fig. 3, the frame of the present invention is specifically composed of a rectangular base beam 1, two long longitudinal beams 16, two short longitudinal beams 17, and two connecting cross beams 18, wherein the two long longitudinal beams 16 and the two connecting cross beams 18 are arranged inside the base beam 1 in a centrosymmetric manner with the center of the base beam 1, one end of each long longitudinal beam 16 is vertically connected to the short side of the base beam 1, the other end is vertically connected to the connecting cross beam 18, one end of each connecting cross beam 18 is vertically connected to the long side of the base beam 1, and the other end is vertically connected to the long longitudinal beam 16; the short longitudinal beams 17 and the long longitudinal beams 16 are arranged in parallel, one tail end of each short longitudinal beam is vertically connected with the midpoint of the connecting cross beam 18, and the other tail end of each short longitudinal beam is fixed on the short side of the base beam 1 adjacent to the connecting cross beam 18; the telescopic cylinder 15 is installed right below the short longitudinal beam 17, and the linear slide rails 13 are respectively installed right below the long longitudinal beams 16 on two sides of the short longitudinal beam 17 and the long side of the base beam 1.
As shown in fig. 6, the utility model discloses still include a control box 19, 19 fixed mounting in on the frame, be equipped with a plurality of branch solenoid valves, a plurality of control valve in the control box 19, each control valve respectively with total solenoid valve 8, branch road solenoid valve signal connection, each the branch road solenoid valve pass through the gas circuit respectively with telescopic cylinder 15, vertical pneumatic gripper 9, horizontal pneumatic gripper 10 connect.
The utility model discloses still include two mechanical type limit switch 20, one of them limit switch 20 install in 1 apex angle department of foundation beam, another limit switch install in the long limit of foundation beam 1.
The utility model discloses a theory of operation:
the fixture of the utility model is connected with the truss robot through the quick change system 2; when the clamp is to clamp an article, a main electromagnetic valve 8 is firstly communicated with an air source under the control of a control box 19, high-pressure air enters an air knife 3 through a three-way valve 7 and an air inlet quick connector 5, then a branch electromagnetic valve connected with a vertical pneumatic gripper 9 is communicated under the control of the control box 19, the high-pressure air in the air knife 3 is conveyed to the vertical pneumatic gripper 9 through an air outlet quick connector 6, the vertical pneumatic gripper 9 clamps the article from the vertical direction under the action of the high-pressure air, then the branch electromagnetic valve connected with a telescopic cylinder 15 is communicated under the control of the control box 19, the high-pressure air in the air knife 3 is conveyed to the telescopic cylinder 15 through the air outlet quick connector 6, the telescopic cylinder 15 pushes a horizontal pneumatic gripper 10 to approach the article until the article reaches a preset position, then the branch electromagnetic valve connected with the horizontal pneumatic gripper 10 is communicated under the control of the control box 19, the high-pressure air in the air knife 3 is conveyed to the horizontal pneumatic gripper 10 through the, the horizontal pneumatic gripper 10 clamps the object from the horizontal direction under the action of high-pressure gas; then the clamp moves to a designated position along with the truss robot, after the clamp reaches the designated position, the horizontal pneumatic gripper 10 loosens the object firstly according to the working principle, then the telescopic cylinder 15 drives the horizontal pneumatic gripper 10 to reset, finally the vertical pneumatic gripper 9 loosens the object, the clamp resets, and the whole process is finished.
The above description is provided by way of example only to aid understanding of the present invention, and is not intended to limit the present invention. For a person skilled in the art, several simple deductions, modifications or substitutions may be made according to the present idea.
Claims (5)
1. A jig for a truss robot, comprising:
the square frame comprises a rectangular base beam on the outer side and a plurality of cross beams and longitudinal beams on the inner side, and the cross beams and the longitudinal beams are connected with the base beam through welding;
the quick-change system is fixed above the center of the frame through a mounting seat and is used for being connected with the truss robot;
the air knife is connected with the long edge of the base beam through a plurality of mounting brackets, a plurality of air inlet quick connectors and air outlet quick connectors are arranged on the air knife, the air inlet quick connectors are connected with a main electromagnetic valve through a three-way valve, and the main electromagnetic valve is connected with an air source;
the four vertical pneumatic grippers are grouped in pairs and are respectively and vertically fixed right below the short edges of the two base beams; the opening of the vertical pneumatic gripper faces downwards, and the vertical pneumatic gripper can clamp articles from the vertical direction;
the four horizontal pneumatic grippers are grouped in pairs and alternately distributed below the frame in parallel, the two horizontal pneumatic grippers in the same group are respectively connected with a vertical section of a T-shaped moving frame, a sliding block is fixed at the upper end of the horizontal section of the moving frame and is in sliding connection with a linear sliding rail fixed below the frame, the moving frames respectively connected with the two horizontal pneumatic grippers in the same group are connected with telescopic cylinders fixed below the frame through the same moving cross rod, and the two telescopic cylinders are respectively installed on two sides of the frame; the openings of the two horizontal pneumatic grippers in the same group face the direction of the vertical pneumatic grippers adjacent to the openings, and the horizontal pneumatic grippers can clamp articles from the horizontal direction.
2. The jig for truss robots as claimed in claim 1, wherein the connecting lines of the four vertical pneumatic grips are formed in a parallelogram shape, and wherein two vertical pneumatic grips are installed at opposite corners of the base beam.
3. The jig for truss robots as claimed in claim 2, wherein said frame is composed of a rectangular base beam, two long longitudinal beams, two short longitudinal beams and two connecting cross beams, said two long longitudinal beams and said two connecting cross beams are arranged on the inner side of said base beam with central symmetry at the center of said base beam, one end of said long longitudinal beam is connected perpendicularly to the short side of said base beam, the other end is connected perpendicularly to said connecting cross beam, one end of said connecting cross beam is connected perpendicularly to the long side of said base beam, the other end is connected perpendicularly to said long longitudinal beam; the short longitudinal beams and the long longitudinal beams are arranged in parallel, one tail end of each short longitudinal beam is vertically connected with the midpoint of the connecting cross beam, and the other tail end of each short longitudinal beam is fixed on the short edge of the base beam adjacent to the connecting cross beam; the telescopic cylinder is installed under the short longitudinal beam, and the linear slide rails are respectively installed under the long longitudinal beams on two sides of the short longitudinal beam and the long edge of the base beam.
4. The clamp for the truss robot as claimed in any one of claims 1 to 3, further comprising a control box, wherein the control box is fixedly mounted on the frame, a plurality of branch solenoid valves and a plurality of control valves are arranged in the control box, each control valve is respectively in signal connection with the main solenoid valve and the branch solenoid valves, and each branch solenoid valve is respectively connected with the telescopic cylinder, the vertical pneumatic gripper and the horizontal pneumatic gripper through air channels.
5. The jig for truss robots as recited in claim 4, further comprising two mechanical limit switches, one of which is installed at the vertex angle of said base beam and the other of which is installed at the long side of said base beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821974330.0U CN210100000U (en) | 2018-11-28 | 2018-11-28 | Clamp for truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821974330.0U CN210100000U (en) | 2018-11-28 | 2018-11-28 | Clamp for truss robot |
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| Publication Number | Publication Date |
|---|---|
| CN210100000U true CN210100000U (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821974330.0U Active CN210100000U (en) | 2018-11-28 | 2018-11-28 | Clamp for truss robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN210100000U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773752A (en) * | 2018-11-28 | 2019-05-21 | 嘉兴博信机器人科技有限公司 | A kind of truss robot fixture |
| CN111390951A (en) * | 2020-04-29 | 2020-07-10 | 共享智能铸造产业创新中心有限公司 | Grabbing device of truss robot |
-
2018
- 2018-11-28 CN CN201821974330.0U patent/CN210100000U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773752A (en) * | 2018-11-28 | 2019-05-21 | 嘉兴博信机器人科技有限公司 | A kind of truss robot fixture |
| CN111390951A (en) * | 2020-04-29 | 2020-07-10 | 共享智能铸造产业创新中心有限公司 | Grabbing device of truss robot |
| CN111390951B (en) * | 2020-04-29 | 2023-09-08 | 共享智能装备有限公司 | Truss robot grabbing device |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210226 Address after: 201600 4th floor, building 5, No.518, Xinzhuan Road, Xinqiao Town, Songjiang District, Shanghai Patentee after: Shanghai Boxin Yihui Intelligent Technology Co.,Ltd. Address before: 314100 1st floor, building 2, No.18 liangchuang Road, ganyao Town, Jiashan County, Jiaxing City, Zhejiang Province Patentee before: JIAXING BOXIN ROBOT TECHNOLOGY Co.,Ltd. |
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