Double-workpiece carrying clamping jaw
By designing a dual workpiece handling clamping jaw combining robotic technology and clamping technology, the problem of insufficient efficiency and accuracy of traditional clamping jaws is solved, and efficient and accurate workpiece handling is achieved to meet the needs of modern industrial production.
Patent Information
- Application Number
- CN202421861873.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-02
- Publication Date
- 2025-05-23
- Estimated Expiration
- 2034-08-02
AI Technical Summary
Traditional single workpiece handling jaws are insufficient in efficiency and complex in handling a large number of workpieces, making it difficult to meet the high efficiency and high precision requirements of modern industrial production. The existing dual workpiece handling jaws still have shortcomings in terms of structure, operation ease and positioning accuracy.
A dual workpiece handling jaw is designed, combining advanced robotic technology and clamping technology, using a rotary mounting plate, a first clamping device and a second clamping device, which achieves high-precision clamping and handling through the design of clamping cylinders and clamping plates, and is equipped with advanced sensors and control systems to ensure positioning accuracy and operational convenience.
It realizes simultaneous clamping and handling of two workpieces, improves the efficiency and accuracy of workpiece handling, and meets the needs of modern production lines for efficient and accurate workpiece handling.
Smart Images
Figure CN222891260U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of industrial automation, in particular to a double workpiece transport clamp. Background Art
[0002] With the increasing development of industrial automation, workpiece handling, as the core link in the production line, has higher and higher performance requirements for handling equipment. Traditional single-workpiece handling grippers are obviously inefficient when facing a large number of workpieces to be handled, and the operation is complicated, which makes it difficult to meet the high efficiency and high precision requirements of modern industrial production.
[0003] Although there are some designs of dual workpiece handling grippers on the market, they still have many shortcomings in terms of structure, ease of operation and positioning accuracy. For example, some grippers are too complex in structure, which not only increases maintenance costs but also reduces their reliability; some grippers perform poorly in terms of clamping stability and adaptability, making it difficult to handle workpieces of different shapes and sizes; and some grippers lack positioning accuracy, affecting the accuracy and efficiency of handling.
[0004] Therefore, developing a dual-workpiece handling gripper with simple structure, convenient operation, stable clamping and high positioning accuracy has become an important research direction in the current industrial automation field. This new gripper should be able to clamp two workpieces at the same time, and achieve fast and accurate handling operations by optimizing the mechanical structure and control system. At the same time, it should also have high adaptability and be able to handle workpieces of different shapes and sizes to meet the needs of different production lines.
[0005] The utility model provides a double workpiece transport clamping claw for solving the above technical problems. Utility Model Content
[0006] The purpose of the utility model is to solve the above-mentioned technical problems and provide a double workpiece handling clamp. The utility model combines advanced robot technology and clamping technology. Through the unique design of the double workpiece handling clamp, the simultaneous clamping and handling of two workpieces is realized, and the efficiency and accuracy of workpiece handling are improved. The high-precision clamping device and positioning device in the mechanism ensure the stability and accuracy of the workpiece during the handling process, thereby meeting the high requirements of modern production lines for workpiece handling.
[0007] The utility model adopts the following technical solution to solve the above technical problems: a double workpiece handling clamp, comprising a robot base, a robot body and a handling clamp, wherein the handling clamp comprises a rotating mounting plate, a first clamping device and a second clamping device, the rotating mounting plate is connected to the head of the robot body, the robot body is fixed to the ground or an equipment platform through the robot base, and the first clamping device and the second clamping device are connected to both sides of the rotating mounting plate.
[0008] Preferably, the first clamping device comprises a first clamping cylinder and a first clamping plate, the number of the first clamping plates is 2, the first clamping plates are respectively mounted at both ends of the first clamping cylinder, and the first clamping cylinder controls the first clamping plate to clamp and release inwards;
[0009] The second clamping device includes a second clamping cylinder and a second clamping plate. The number of the second clamping plates is 2. The second clamping plates are respectively installed at both ends of the second clamping cylinder. The second clamping cylinder controls the second clamping plates to clamp inward and release.
[0010] Preferably, the robot base includes a fixed base and a driving base, the lower end of the fixed base is fixed to the ground or the equipment platform, the driving base is connected to the upper end of the fixed base, and the rear end of the robot body is connected to the driving base.
[0011] Preferably, the rotating mounting plate includes a rotating head and push-pull cylinders, the number of the push-pull cylinders is 2, the push-pull cylinders are respectively installed on both sides of the rotating head, and the first clamping cylinder and the second clamping cylinder are respectively installed on the push-pull cylinders on both sides of the rotating head.
[0012] Preferably, the first clamping plate and the second clamping plate are both provided with clamping claws, and the number of the clamping claws provided on the first clamping plate and the second clamping plate is no less than 4.
[0013] Preferably, both ends of the first clamping plate and the second clamping plate are provided with positioning devices, and the positioning devices are pressed against both ends of the workpiece to locate the position of the workpiece when the clamping claws clamp the workpiece.
[0014] Preferably, the robot body comprises a rotating shaft and a transporting shaft, wherein the transporting shaft is mounted on one end of the rotating shaft and rotates within a horizontal range of 360°, and the other end of the rotating shaft is mounted on a driving base and rotates within a horizontal range of 360°.
[0015] Preferably, the transport axis includes a main axis and a swing axis, the swing axis is connected to the rotating axis, the lower end of the main axis is connected to the rotating axis, and the main axis controls the rotation direction and angle of the rotating axis.
[0016] Preferably, both the first clamping device and the second clamping device are provided with mounting blocks, the mounting block on the first clamping device connects the push-pull cylinder and the first clamping cylinder, and the mounting block on the second clamping device connects the push-pull cylinder and the second clamping cylinder.
[0017] Preferably, the driving base is provided with a cable interface, which is arranged on the top side of the driving base.
[0018] The beneficial effects of the utility model are:
[0019] 1. The utility model can clamp and carry two workpieces at the same time, which significantly improves the handling efficiency compared with the traditional single-workpiece clamp, thereby speeding up the operation speed of the entire production line;
[0020] 2. The gripper is equipped with advanced sensors and control systems, which can achieve high-precision positioning and handling, reduce production errors caused by inaccurate positioning, and improve product quality;
[0021] 3. By optimizing the mechanical structure and control system, the operation of the gripper is made simpler and more intuitive, which reduces the difficulty of operation and reduces the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0023] Figure 2 It is a side structural schematic diagram of the utility model;
[0024] Figure 3 This is a schematic diagram of the robot body structure of the utility model;
[0025] Figure 4 This is a schematic diagram of the structure of the transport clamp of the utility model;
[0026] Figure 5 It is a schematic diagram of the structure of the transport clamping claw shaft of the utility model from a viewing angle.
[0027] In the figure: 1. robot base, 11. fixed base, 12. driving base, 121. cable interface, 2. robot body, 21. rotating axis, 22. carrying axis, 221. main axis, 222. swing axis, 3. carrying clamp, 31. rotating mounting plate, 311. rotating head, 312. push-pull cylinder, 32. first clamping device, 321. first clamping cylinder, 322. first clamping plate, 33. second clamping device, 331. second clamping cylinder, 332. second clamping plate, 4. clamp, 5. positioning device, 6. mounting block. DETAILED DESCRIPTION
[0028] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.
[0029] like Figure 1-5 As shown, the utility model is a double workpiece handling clamp, including a robot base 1, a robot body 2 and a handling clamp 3, the handling clamp 3 includes a rotating mounting plate 31, a first clamping device 32 and a second clamping device 33, the rotating mounting plate 31 is connected to the head of the robot body 2, the robot body 2 is fixed to the ground or the equipment platform through the robot base 1, and the first clamping device 32 and the second clamping device 33 are connected to both sides of the rotating mounting plate 31.
[0030] By adopting the above-mentioned technical scheme, multi-angle and multi-directional clamping and carrying operations can be realized through the rotation of the robot body 2 and the rotating mounting plate 31 of the carrying clamp 3, so that the clamp can adapt to more complex production environments and workpiece layouts, and enhance the flexibility and convenience of operation. By optimizing the design of the clamping device and cooperating with advanced sensors and control systems, the clamp can achieve high-precision positioning and stable clamping, which is conducive to reducing production errors and workpiece damage caused by inaccurate positioning or unstable clamping, and improving product quality and production stability.
[0031] The first clamping device 32 includes a first clamping cylinder 321 and a first clamping plate 322. The number of the first clamping plates 322 is two. The first clamping plates 322 are respectively installed at both ends of the first clamping cylinder 321. The first clamping cylinder 321 controls the first clamping plates 322 to clamp inwardly and release.
[0032] The second clamping device 33 includes a second clamping cylinder 331 and a second clamping plate 332. The number of the second clamping plates 332 is 2. The second clamping plates 332 are respectively installed at both ends of the second clamping cylinder 331. The second clamping cylinder 331 controls the second clamping plates 332 to clamp inwardly and release.
[0033] By adopting the above technical solution, each device includes a clamping cylinder and two clamping plates, which are respectively installed at both ends of the clamping cylinder. The clamping cylinder controls the inward clamping and loosening of the clamping plates, so that the clamping area is wider and the clamping force is more uniform, thereby ensuring that the workpiece can be stably clamped during the transportation process and is not easy to fall off or shift. The clamping cylinder serves as a power source and can accurately control the opening and closing degree and clamping force of the clamping plates, which helps to adapt to workpieces of different sizes and materials and avoid the problem of over-clamping or under-clamping.
[0034] The robot base 1 includes a fixed base 11 and a driving base 12 . The lower end of the fixed base 11 is fixed to the ground or an equipment platform, the driving base 12 is connected to the upper end of the fixed base 11 , and the rear end of the robot body 2 is connected to the driving base 12 .
[0035] By adopting the above technical solution, the lower end of the fixed base 11 is fixed to the ground or the equipment platform, providing stable support, so that the entire transport clamp system is not easy to shake or shift during operation, thereby ensuring the accuracy and stability of transportation. The design of the driving base 12 enables the robot body 2 to move and turn within a certain range. This flexibility enables the transport clamp to adapt to production lines with different layouts, facilitating the transportation and positioning of workpieces.
[0036] The rotating mounting plate 31 includes a rotating head 311 and a push-pull cylinder 312 . The number of the push-pull cylinders 312 is 2. The push-pull cylinders 312 are respectively installed on both sides of the rotating head 311 . The first clamping cylinder 321 and the second clamping cylinder 331 are respectively installed on the push-pull cylinders 312 on both sides of the rotating head 311 .
[0037] By adopting the above technical solution, the design of the rotating head 311 enables the entire clamping device to rotate around the rotating head, thereby adapting to the needs of workpiece handling at different angles and directions. The addition of the push-pull cylinder 312 enables the first clamping cylinder 321 and the second clamping cylinder 331 to move accurately under the drive of the push-pull cylinder. The push-pull cylinder 312 can respond quickly, and the clamping and releasing actions of the first clamping cylinder 321 and the second clamping cylinder 331 can be completed quickly, thereby improving the handling efficiency. In addition, by accurately controlling the force and stroke of the push-pull cylinder, it can adapt to workpieces of different sizes and weights and achieve efficient clamping operations.
[0038] The first clamping plate 322 and the second clamping plate 332 are both provided with clamping claws 4 , and the number of the clamping claws 4 provided on the first clamping plate 322 and the second clamping plate 332 is no less than 4.
[0039] By adopting the above technical solution, multiple clamps 4 act on the workpiece at the same time, which can disperse the clamping force, make the clamping more uniform and stable, reduce the risk of shaking and falling of the workpiece during transportation, and more flexibly adapt to workpieces of different shapes and sizes. Whether it is a round, square or irregular shaped workpiece, stable clamping can be achieved through a reasonable clamping layout.
[0040] Both ends of the first clamping plate 322 and the second clamping plate 332 are provided with positioning devices 5 , and the positioning devices 5 are pressed against both ends of the workpiece to locate the position of the workpiece when the clamping jaws 4 clamp the workpiece.
[0041] By adopting the above technical solution, the design of the positioning device 5 enables the workpiece to be accurately positioned at a predetermined position during the clamping process. By abutting against both ends of the workpiece, the movement of the workpiece in the horizontal and vertical directions can be limited, thereby improving the positioning accuracy.
[0042] The robot body 2 includes a rotating shaft 21 and a transporting shaft 22. The transporting shaft 22 is installed on one end of the rotating shaft 21 and rotates to work within a horizontal rotation range of 360°. The other end of the rotating shaft 21 is installed on the driving base 12 and rotates to work within a horizontal rotation range of 360°.
[0043] By adopting the above technical solution, the rotating axis 21 and the transport axis 22 can both rotate horizontally 360°, and the robot body 2 can work in an all-round range without being restricted by a fixed direction or angle, thereby improving the flexibility and adaptability of the work. The rotation of the transport axis 22 enables the robot to quickly and accurately transport workpieces in different directions.
[0044] The transport shaft 22 includes a main shaft 221 and a swing shaft 222 . The swing shaft 222 is connected to the rotating shaft 21 . The lower end of the main shaft 221 is connected to the rotating shaft 21 . The main shaft 221 controls the rotation direction and angle of the rotating shaft 21 .
[0045] By adopting the above technical solution, the spindle 221 can control the rotation direction and angle of the rotating axis 21, which enables the robot body 2 to flexibly adjust the posture and position of the workpiece during the handling process. If the orientation of the workpiece needs to be changed or it needs to be placed at a specific angle, it can be achieved through the precise control of the spindle 221.
[0046] The first clamping device 32 and the second clamping device 33 are both provided with a mounting block 6 . The mounting block 6 on the first clamping device 32 connects the push-pull cylinder 312 and the first clamping cylinder 321 , and the mounting block 6 on the second clamping device 33 connects the push-pull cylinder 312 and the second clamping cylinder 331 .
[0047] By adopting the above technical solution, the mounting block 6 is used as a connecting component, so that the connection between the clamping device, the cylinder and the push-pull cylinder is more modular, which not only simplifies the assembly process of the entire mechanism, but also makes the subsequent maintenance and replacement of parts more convenient. When the cylinder needs to be replaced or the clamping device needs to be adjusted, it is only necessary to disassemble and reinstall the mounting block without making large-scale changes to the entire mechanism.
[0048] The driving base 12 is provided with a cable interface 121 , which is arranged on the top side of the driving base 12 .
[0049] During the specific implementation of the utility model, the entire mechanism is first installed on a designated ground or equipment platform, the lower end of the fixed base 11 is fixed to the ground or equipment platform to ensure the stability of the entire robot structure, the driving base 12 is connected to the upper end of the fixed base 11, and is provided with a cable interface 121 for connecting power and signal lines to provide power and control signals for the robot.
[0050] The rear end of the robot body 2 is connected to the driving base 12. Through the control of the driving base 12, the robot body 2 can achieve flexible movement. The robot body 2 includes a rotating shaft 21 and a transport shaft 22, wherein the rotating shaft 21 is responsible for horizontal 360° rotation, and the transport shaft 22 achieves more complex transport movements through the cooperation of the main shaft 221 and the swing shaft 222.
[0051] The carrying clamp 3 is a key part for carrying workpieces. The rotating mounting plate 31 is connected to the head of the robot body 2. Through the cooperation of the rotating head 311 and the push-pull cylinder 312, the rotation and push-pull actions of the clamp component can be realized. The first clamping device 32 and the second clamping device 33 are respectively connected to the two sides of the rotating mounting plate 31. Through the control of the first clamping cylinder 321 and the second clamping cylinder 331, the inward clamping and releasing actions of the first clamping plate 322 and the second clamping plate 332 can be controlled respectively.
[0052] A plurality of clamping jaws 4 are provided on the first clamping plate 322 and the second clamping plate 332 for directly clamping the workpiece. At the same time, a positioning device 5 is also provided on the clamping jaw 4. The positioning device 5 is against both ends of the workpiece when the clamping jaw 4 clamps the workpiece, and is used to locate the position of the workpiece to ensure that the workpiece is clamped accurately and stably.
[0053] In actual operation, by controlling the movement of the robot body 2 and the clamping action of the carrying clamp 3, the simultaneous carrying of two workpieces can be achieved. The carrying clamp 3 is positioned to the position of the workpiece through the coordinated movement of the rotating axis 21 and the carrying axis 22. Then, by controlling the action of the first clamping cylinder 321 and the second clamping cylinder 331, the first clamping plate 322 and the second clamping plate 332 are clamped inward. Through the cooperation of the clamp 4 and the positioning device 5, the workpiece is stably clamped. Finally, the workpiece is transported to the specified position again through the movement of the robot body 2.
[0054] During the whole process, the power supply and signal lines connected through the cable interface 121 provide the robot with stable power and precise control signals, ensuring the smooth progress of the whole handling process.
[0055] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0056] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A double workpiece handling clamp, characterized in that: The robot comprises a robot base (1), a robot body (2) and a transport clamp (3); the transport clamp (3) comprises a rotating mounting plate (31), a first clamping device (32) and a second clamping device (33); the rotating mounting plate (31) is connected to the head of the robot body (2); the robot body (2) is fixed on the ground or an equipment platform through the robot base (1); and the first clamping device (32) and the second clamping device (33) are connected to both sides of the rotating mounting plate (31).
2. The double workpiece handling clamp according to claim 1, characterized in that: The first clamping device (32) comprises a first clamping cylinder (321) and a first clamping plate (322), the number of the first clamping plates (322) is two, the first clamping plates (322) are respectively mounted at both ends of the first clamping cylinder (321), and the first clamping cylinder (321) controls the first clamping plates (322) to clamp inwardly and release inwardly; The second clamping device (33) comprises a second clamping cylinder (331) and a second clamping plate (332). The number of the second clamping plates (332) is 2. The second clamping plates (332) are respectively installed at both ends of the second clamping cylinder (331). The second clamping cylinder (331) controls the second clamping plates (332) to clamp inward and release.
3. The double workpiece handling clamp according to claim 1, characterized in that: The robot base (1) comprises a fixed base (11) and a driving base (12); the lower end of the fixed base (11) is fixed to the ground or an equipment platform; the driving base (12) is connected to the upper end of the fixed base (11); and the rear end of the robot body (2) is connected to the driving base (12).
4. The double workpiece handling clamp according to claim 2, characterized in that: The rotating mounting plate (31) comprises a rotating head (311) and a push-pull cylinder (312). The number of the push-pull cylinders (312) is 2. The push-pull cylinders (312) are respectively mounted on both sides of the rotating head (311). The first clamping cylinder (321) and the second clamping cylinder (331) are respectively mounted on the push-pull cylinders (312) on both sides of the rotating head (311).
5. The double workpiece handling clamp according to claim 2, characterized in that: The first clamping plate (322) and the second clamping plate (332) are both provided with clamping claws (4), and the number of the clamping claws (4) provided on the first clamping plate (322) and the second clamping plate (332) is no less than 4.
6. The double workpiece handling clamp according to claim 5, characterized in that: Both ends of the first clamping plate (322) and the second clamping plate (332) are provided with positioning devices (5), and when the clamping jaws (4) clamp the workpiece, the positioning devices (5) are pressed against both ends of the workpiece to locate the position of the workpiece.
7. The double workpiece handling clamp according to claim 1, characterized in that: The robot body (2) comprises a rotating shaft (21) and a transport shaft (22); the transport shaft (22) is mounted on one end of the rotating shaft (21) and rotates to a range of 360° horizontally; the other end of the rotating shaft (21) is mounted on a driving base (12) and rotates to a range of 360° horizontally.
8. The double workpiece handling clamp according to claim 7, characterized in that: The transport shaft (22) comprises a main shaft (221) and a swing shaft (222), the swing shaft (222) is connected to the rotating shaft (21), the lower end of the main shaft (221) is connected to the rotating shaft (21), and the main shaft (221) controls the rotation direction and angle of the rotating shaft (21).
9. The double workpiece handling clamp according to claim 2, characterized in that: The first clamping device (32) and the second clamping device (33) are both provided with a mounting block (6); the mounting block (6) on the first clamping device (32) is connected to the push-pull cylinder (312) and the first clamping cylinder (321); and the mounting block (6) on the second clamping device (33) is connected to the push-pull cylinder (312) and the second clamping cylinder (331).
10. The double workpiece handling clamp according to claim 3, characterized in that: The driving base (12) is provided with a cable interface (121), and the cable interface (121) is arranged on the top side of the driving base (12).