Clamping jaw structure for air cylinder part machining and six-axis robot

Abstract

The utility model discloses a clamping jaw structure for cylinder part processing and a six-axis robot, the clamping jaw structure comprises a clamping jaw mounting seat and a cylinder clamping assembly, the cylinder clamping assembly is provided with four jaw parts, and the four jaw parts respectively correspond to four concave parts of a cylinder part; the air cylinder clamping assembly comprises a driving air cylinder. The two clamping jaws are connected with the driving air cylinder, and the driving air cylinder drives the two clamping jaws to move in opposite directions; each clamping jaw comprises an upper jaw part and a lower jaw part; the distance between the two upper claw parts is larger than the distance between the two lower claw parts. According to the clamping jaw structure, the finger clamp air cylinder serves as a driving component, the two clamping jaws are driven to move oppositely, the upper jaw portion and the lower jaw portion are matched with the concave portion of the upper portion and the concave portion of the lower portion of the air cylinder part respectively, and therefore the air cylinder part can be clamped more stably.

Description

Technical Field

[0001] The utility model relates to the technical field of cylinder part processing, in particular to a clamping claw structure for cylinder part processing and a six-axis robot with the clamping claw structure. Background Art

[0002] Cylinder parts have the structural characteristics of being wide at the top and narrow at the bottom. If the corresponding fixture is not designed, it cannot be clamped to achieve automated production. At present, semi-automatic production is generally adopted. When the workpiece needs to be transferred, the workpiece is placed on the drilling machine manually for drilling. This operation is time-consuming and labor-intensive, and there are certain safety hazards.

[0003] Based on the above technical problems, technicians in this field urgently need to develop a clamping structure for cylinder parts processing and a six-axis robot with the clamping structure. Utility Model Content

[0004] The purpose of the utility model is to provide a clamping claw structure for cylinder parts processing and a six-axis robot with the clamping claw structure, which drives the cylinder clamping claw to move through the cylinder and adapts to the structural characteristics of the cylinder parts that are wide at the top and narrow at the bottom, so that the parts can be clamped in place, the clamping stability is better, and the robot has a slag blowing function.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The utility model discloses a clamping jaw structure for machining cylinder parts, the clamping jaw structure comprising:

[0007] Gripper mounting base;

[0008] A cylinder clamping assembly integrated at the front end of the clamping jaw mounting seat, wherein the cylinder clamping assembly has four claws, and the four claws correspond to four recesses of the cylinder part respectively;

[0009] The cylinder clamping assembly comprises:

[0010] Actuating cylinders; and

[0011] Two clamping jaws connected to the driving cylinder, wherein the driving cylinder drives the two clamping jaws to move in opposite directions;

[0012] Each of the clamping jaws comprises an upper jaw portion and a lower jaw portion;

[0013] The distance between the two upper claws is greater than the distance between the two lower claws.

[0014] Furthermore, the clamping jaw mounting seat comprises:

[0015] A mounting end, wherein the mounting end has four mounting heads, and rubber blocks are arranged on the four mounting heads;

[0016] a mounting plate connected to the mounting end; and

[0017] A mounting rod is connected to the center of the mounting end, extends toward one side of the cylinder clamping assembly, and is connected to the driving cylinder.

[0018] Furthermore, the driving cylinder is a finger clamp cylinder of model MHF2-12D;

[0019] The driving cylinder is provided with two sliding blocks, and the driving cylinder has an air inlet cylinder and an air outlet cylinder.

[0020] Furthermore, the clamping jaw comprises:

[0021] a jaw plate; and

[0022] An upper claw portion disposed on the upper end of the clamping claw plate and a lower claw portion disposed on the lower end of the clamping claw plate;

[0023] The clamping claw plate is connected to the corresponding slider of the driving cylinder;

[0024] The upper end of the clamping claw plate extends toward the outer side of the driving cylinder, and the lower end of the clamping claw plate extends toward the inner side of the driving cylinder.

[0025] Furthermore, the mounting plate is provided with a slag removal nozzle, and the slag removal nozzle is connected to an external air source to spray compressed air toward the clamped cylinder part.

[0026] Furthermore, a proximity switch is provided on the upper portion of the driving cylinder.

[0027] Furthermore, a push plate assembly is provided at the front end of the cylinder clamping assembly;

[0028] The push plate assembly comprises:

[0029] A push plate that matches the structure of the cylinder parts; and

[0030] A reset push rod is movably connected to the push plate, the reset push rod passes through the push plate, and a reset spring is sleeved on the outside of the reset push rod.

[0031] Furthermore, a laser rangefinder is arranged on the side of the clamping jaw structure.

[0032] The utility model discloses a six-axis robot. The end of the six-axis robot is provided with the clamping claw structure for processing cylinder parts as described above.

[0033] In the above technical solution, the clamping claw structure and six-axis robot for cylinder parts processing provided by the utility model have the following beneficial effects:

[0034] The clamping jaw structure of the utility model uses the finger clamp cylinder as a driving component to drive the two clamping jaws to move toward each other and use the upper jaw part and the lower jaw part to respectively adapt to the upper recess and the lower recess of the cylinder part, so that the cylinder part can be clamped more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0036] Figure 1 A schematic structural diagram of a cylinder part adapted to the clamping jaw structure for cylinder part processing disclosed in an embodiment of the utility model;

[0037] Figure 2 It is a front structural schematic diagram of a clamping jaw structure for machining cylinder parts disclosed in an embodiment of the utility model;

[0038] Figure 3 It is a structural schematic diagram of the back side of the clamping jaw structure for machining cylinder parts disclosed in the embodiment of the utility model;

[0039] Figure 4 It is a structural schematic diagram of a driving cylinder of a clamping structure for cylinder parts processing disclosed in an embodiment of the utility model;

[0040] Figure 5 It is a structural schematic diagram of a cylinder clamping assembly of a clamping jaw structure for cylinder parts processing disclosed in an embodiment of the utility model;

[0041] Figure 6 This is a schematic structural diagram of a six-axis robot with a gripper structure disclosed in an embodiment of the utility model;

[0042] Figure 7 It is an enlarged view of the connection structure between the end of the six-axis robot and the gripper structure disclosed in the embodiment of the utility model.

[0043] Description of reference numerals:

[0044] Cylinder parts; 11, upper part; 12, lower part; 13, recessed part;

[0045] Gripper structure; 30. Six-axis robot;

[0046] 1. Gripper mounting seat; 2. Cylinder clamping assembly; 3. Push plate assembly; 4. Slag removal nozzle; 5. Proximity switch; 6. Laser rangefinder;

[0047] 101, mounting end; 102, mounting head; 103, rubber block; 104, mounting plate; 105, mounting rod;

[0048] 201, driving cylinder; 202, clamping claw plate; 203, upper claw part; 204, lower claw part; 205, air inlet cylinder; 206, air outlet cylinder; 207, slider;

[0049] 301, push plate; 302, reset push rod; 303, reset spring. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0051] See also Figures 1 to 5 As shown;

[0052] A clamping structure for machining cylinder parts in this embodiment, the clamping structure 20 comprises:

[0053] Gripper mounting seat 1;

[0054] A cylinder clamping assembly 2 integrated at the front end of the clamping jaw mounting base 1, the cylinder clamping assembly 2 having four claws, and the four claws correspond to the four recesses 13 of the cylinder part 10 respectively;

[0055] The cylinder clamping assembly 2 comprises:

[0056] A driving cylinder 201; and

[0057] Two clamping jaws connected to the driving cylinder 201, the driving cylinder 201 drives the two clamping jaws to move in opposite directions;

[0058] Each clamping jaw includes an upper jaw portion 203 and a lower jaw portion 204;

[0059] The distance between the two upper claws 203 is greater than the distance between the two lower claws 204 .

[0060] Specifically, the present embodiment discloses a clamping jaw structure 20 suitable for clamping a cylinder part 10 with a wide-upper-narrow-lower structure, which includes a clamping jaw mounting seat 1 and a cylinder clamping assembly 2; wherein the cylinder clamping assembly 2 uses a finger clamp cylinder as a driving component to drive the two clamping jaws to move in opposite directions, and at the same time, in order to adapt to the structural characteristics of the cylinder part 10 with a wide-upper-narrow-lower structure, the cylinder part 10 has two side recesses 13 on the upper part, and the lower part also has two recesses 13; when designing, the distance between the upper claw parts 203 is greater than the distance between the lower claw parts 204, so that the corresponding recesses 13 in the upper and lower areas of the cylinder part 10 can be respectively adapted to achieve clamping.

[0061] Preferably, the clamping jaw mounting seat 1 of this embodiment includes:

[0062] A mounting end 101, wherein the mounting end 101 has four mounting heads 102, and rubber blocks 103 are disposed on the four mounting heads 102;

[0063] A mounting plate 104 connected to the mounting end 101; and

[0064] A mounting rod 105 is connected to the center of the mounting end 101 , extends toward one side of the cylinder clamping assembly 2 , and is connected to the driving cylinder 201 .

[0065] First, this embodiment further defines the structure of the clamp mounting base 1. The mounting end 101 of the clamp mounting base 1 is a structure connected to an external mechanism, and is provided with four mounting heads 102. A mounting plate 104 is provided at the front end as a mounting basis for other components. In order to connect with the driving cylinder 201, a mounting rod 105 is provided at the mounting end 101 of this embodiment, which is connected to the middle position of the cylinder body of the driving cylinder 201.

[0066] Preferably, the driving cylinder 201 of this embodiment uses a finger clamp cylinder of model MHF2-12D;

[0067] This embodiment further defines the structure and working principle of the cylinder clamping assembly 2 . The driving cylinder 201 of this embodiment is provided with two sliders 207 , and the driving cylinder 201 has an air inlet cylinder 205 and an air outlet cylinder 206 .

[0068] The clamping jaws of this embodiment include:

[0069] A clamping plate 202; and

[0070] An upper claw portion 203 disposed at the upper end of the claw plate 202 and a lower claw portion 204 disposed at the lower end of the claw plate 202;

[0071] The clamping claw plate 202 is connected to the corresponding slider 207 of the driving cylinder 201;

[0072] The upper end of the clamping claw plate 202 extends toward the outer side of the driving cylinder 201 , and the lower end of the clamping claw plate 202 extends toward the inner side of the driving cylinder 201 .

[0073] The driving cylinder 201 drives the two sliders 207 to move in opposite directions along the slide rail of the cylinder to clamp or release the cylinder part 10.

[0074] In order to adapt to the structure of the cylinder part 10, which is wide at the top and narrow at the bottom and has four recesses, the upper and lower ends of the clamping claw plate 202 of this embodiment are formed into arc-shaped surfaces according to the positions of the recesses 13 of the cylinder part 10, so as to realize the arrangement of the corresponding positions of the upper claw part 203 and the lower claw part 204. Both the upper claw part 203 and the lower claw part 204 are structures that bulge toward the front side.

[0075] Since the cylinder part 10 is mainly processed by drilling, there will be iron filings left on the surface. Therefore, in order to remove slag from the cylinder part 10, a slag removal nozzle 4 is integrated on the clamping jaw structure 20, which is connected to an external air source to finally spray compressed air on the surface of the cylinder part 10. Specifically, the mounting plate 104 is equipped with a slag removal nozzle 4, which is connected to an external air source to spray compressed air toward the clamped cylinder part 10.

[0076] Preferably, a proximity switch 5 is provided on the upper portion of the driving cylinder 201 of this embodiment.

[0077] Preferably, a push plate assembly 3 is provided at the front end of the cylinder clamping assembly 2 of this embodiment;

[0078] The push plate assembly 3 includes:

[0079] A push plate 301 that matches the structure of the cylinder part 10; and

[0080] A reset push rod 302 is movably connected to the push plate 301 , passes through the push plate 301 , and a reset spring 303 is sleeved on the outside of the reset push rod 302 .

[0081] In order to make it easier for the cylinder part 10 to detach from the clamping structure 20 when releasing the cylinder part 10, the present embodiment further integrates a push plate assembly 3; it includes a push plate 301 and a reset push rod 302 connected thereto, the overall surface shape of the push plate 301 matches the cylinder part 10, and a reset spring 303 is sleeved on the reset push rod 302. When the clamping structure 20 clamps the cylinder part 10, the reset spring 303 will be compressed by the push plate 301. When the clamping structure 20 is released, the cylinder part 10 can be pushed to move outward under the action of the reset spring 303.

[0082] Preferably, a laser rangefinder 6 is provided on the side of the clamping jaw structure 20 of this embodiment.

[0083] See also Figure 6 to Figure 7 As shown, the utility model discloses a six-axis robot 30, and the end of the six-axis robot 30 is installed with the clamping claw structure 20 for cylinder part processing as described above.

[0084] In the above technical solution, the clamping claw structure and six-axis robot for cylinder parts processing provided by the utility model have the following beneficial effects:

[0085] The clamp structure 20 of the utility model uses the finger clamp cylinder as a driving component to drive the two clamps to move toward each other and use the upper claw part 203 and the lower claw part 204 to respectively adapt to the recess 13 of the upper part 11 and the recess 13 of the lower part 12 of the cylinder part 10, so that the cylinder part 10 can be clamped more stably.

[0086] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A clamping jaw structure for machining cylinder parts, characterized in that: The clamping claw structure (20) comprises: Gripper mounting bracket (1); A cylinder clamping assembly (2) integrated at the front end of the clamping jaw mounting seat (1), the cylinder clamping assembly (2) having four claws, and the four claws respectively correspond to four recesses (13) of the cylinder part (10); The cylinder clamping assembly (2) comprises: A driving cylinder (201); and two clamping jaws connected to the driving cylinder (201), the driving cylinder (201) driving the two clamping jaws to move in opposite directions; Each of the clamping jaws comprises an upper jaw portion (203) and a lower jaw portion (204); The distance between the two upper claws (203) is greater than the distance between the two lower claws (204).

2. The clamping jaw structure for cylinder parts processing according to claim 1, characterized in that: The clamping jaw mounting seat (1) comprises: A mounting end (101), the mounting end (101) having four mounting heads (102), and rubber blocks (103) are arranged on the four mounting heads (102); a mounting plate (104) connected to the mounting end (101); and A mounting rod (105) connected to the center of the mounting end (101), extending toward one side of the cylinder clamping assembly (2), and connected to the driving cylinder (201).

3. The clamping jaw structure for cylinder parts processing according to claim 2, characterized in that: The driving cylinder (201) is a finger clamp cylinder of model MHF2-12D; The driving cylinder (201) is provided with two sliding blocks (207), and the driving cylinder (201) has an air inlet cylinder (205) and an air outlet cylinder (206).

4. The clamping jaw structure for cylinder parts processing according to claim 3, characterized in that: The clamping jaws include: a clamping plate (202); and An upper claw portion (203) arranged at the upper end of the claw plate (202) and a lower claw portion (204) arranged at the lower end of the claw plate (202); The clamping claw plate (202) is connected to a corresponding slider (207) of the driving cylinder (201); The upper end of the clamping claw plate (202) extends toward the outer side of the driving cylinder (201), and the lower end of the clamping claw plate (202) extends toward the inner side of the driving cylinder (201).

5. The clamping jaw structure for cylinder parts processing according to claim 2, characterized in that: The mounting plate (104) is mounted with a slag removal nozzle (4), and the slag removal nozzle (4) is connected to an external air source to spray compressed air toward the clamped cylinder part (10).

6. The clamping jaw structure for cylinder parts processing according to claim 2, characterized in that: A proximity switch (5) is provided on the upper portion of the driving cylinder (201).

7. The clamping jaw structure for cylinder parts processing according to claim 2, characterized in that: A push plate assembly (3) is provided at the front end of the cylinder clamping assembly (2); The push plate assembly (3) comprises: a push plate (301) having a structure matching that of the cylinder component (10); and A reset push rod (302) is movably connected to the push plate (301), the reset push rod (302) passes through the push plate (301), and a reset spring (303) is sleeved on the outside of the reset push rod (302).

8. The clamping jaw structure for cylinder parts processing according to claim 1, characterized in that: A laser rangefinder (6) is arranged on the side of the clamping claw structure (20).

9. A six-axis robot, characterized in that: A clamping claw structure (20) for machining cylinder parts according to any one of claims 1 to 8 is installed at the end of the six-axis robot (30).

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