A robot clamp for double workpieces in double direction clamping

Abstract

The utility model discloses a kind of two-way clamping's robot clamp of double workpieces. A kind of two-way clamping's robot clamp of double workpieces, including first clamping mechanism, first clamping mechanism includes mounting bracket, first telescopic cylinder, guide shaft, fixed base and movable seat, and the adjacent side of fixed base and movable seat is equipped with positioning pin;First telescopic cylinder is installed on mounting bracket, and movable seat is installed on the telescopic rod of first telescopic cylinder;Guide shaft is installed on mounting bracket, and fixed base is connected with guide shaft, and movable seat is slidably connected with guide shaft;It further includes second clamping mechanism, and second clamping mechanism is installed on mounting bracket, and second clamping mechanism includes parallel clamp, first clamping arm and second clamping arm, and the two clamping jaws of parallel clamp are respectively detachably connected first clamping arm and second clamping arm. The utility model realizes the clamping of two workpieces in different directions by first clamping mechanism and second clamping mechanism.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, specifically to robot grippers. Background Technology

[0002] In existing technologies, engine block cleaning requires the separate handling of the upper and lower cylinder blocks. The upper and lower cylinder blocks need to be clamped in different directions; specifically, the upper cylinder block needs to be clamped axially from its front and rear ends, while the lower cylinder block needs to be clamped from its left and right sides. Traditional solutions using two separate clamping fixtures for the upper and lower cylinder blocks, with different clamping requirements, present the following problems:

[0003] The robot uses two independent grippers to pick up the upper and lower cylinders respectively. The grippers are expensive and the tooling is bulky. In addition, the upper and lower cylinders cannot be transported simultaneously, resulting in low transfer efficiency. Furthermore, the robot requires a quick-change device to switch between the two grippers.

[0004] Currently, there is a lack of a fixture structure that can clamp two different workpieces. Utility Model Content

[0005] This invention provides a robot gripper for bidirectional clamping of two workpieces to solve at least one of the above-mentioned technical problems.

[0006] A robot gripper for bidirectional clamping of dual workpieces includes a docking end for docking a robot arm. It is characterized in that it further includes a first clamping mechanism, the first clamping mechanism including a mounting frame, a first telescopic cylinder, a guide shaft, a fixed base and a movable seat, and positioning pins are installed on the adjacent sides of the fixed base and the movable seat.

[0007] The mounting frame is connected to the docking end, and the first telescopic cylinder is mounted on the mounting frame. The movable seat is mounted on the telescopic rod of the first telescopic cylinder.

[0008] The guide shaft is mounted on the mounting bracket, the fixed base is connected to the guide shaft, and the movable seat is slidably connected to the guide shaft;

[0009] It also includes a second clamping mechanism, which is mounted on the mounting frame. The second clamping mechanism includes a parallel clamp, a first clamping arm, and a second clamping arm. The two jaws of the parallel clamp are detachably connected to the first clamping arm and the second clamping arm, respectively.

[0010] The extension and retraction direction of the parallel clamp is perpendicular to the extension and retraction direction of the first telescopic cylinder.

[0011] This invention achieves clamping of two workpieces in different directions through a first clamping mechanism and a second clamping mechanism. The use of a telescopic cylinder and parallel clamps for clamping actions simplifies the overall space occupied by the control device.

[0012] More preferably, the guide shaft is sequentially connected to the docking end, the mounting bracket, and the fixing base along the length direction;

[0013] The movable seat is slidably disposed between the fixed base and the mounting bracket.

[0014] More preferably, at least one of the first clamping arm and the second clamping arm is equipped with a positioning pin;

[0015] At least one of the first clamping arm and the second clamping arm is fixed with a positioning block, which is used to clamp the workpiece.

[0016] More preferably, the second clamping arm is provided with two positioning pins arranged along the length direction of the first clamping arm;

[0017] The positioning block is provided on the first clamping arm;

[0018] The positioning block is provided with a slot for engaging the workpiece.

[0019] More preferably, at least one of the first clamping arm and the second clamping arm is fixed with a sealing element for sealing the opening of the workpiece.

[0020] This facilitates sealing of openings on the workpiece during clamping, ensuring effective cleaning.

[0021] More preferably, the length direction of the guide shaft is parallel to the length direction of the first clamping arm;

[0022] The guide shaft is installed vertically at the docking end.

[0023] More preferably, both the fixed base and the movable seat are provided with a first extension portion extending outward along the clamping direction of the parallel clamp;

[0024] The mounting bracket is provided with a second extension that extends outward along the clamping direction of the parallel clamp;

[0025] The first extension portion extends in the opposite direction to the second extension portion;

[0026] The parallel clamp is mounted on the second extension.

[0027] More preferably, there are two guide shafts, which are respectively connected to the two ends of the fixed base and the movable seat;

[0028] The parallel clamp is positioned adjacent to one of the two guide shafts.

[0029] More preferably, a detection plate is connected to the movable seat;

[0030] The mounting bracket is equipped with two proximity switches arranged along the extension and retraction direction of the telescopic cylinder and used to sense the detection plate.

[0031] Beneficial effects: This utility model enables two workpieces to be clamped and fixed using different clamping directions.

[0032] This device enables the synchronous handling of two workpieces, thus improving transfer efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the present invention;

[0034] Figure 2 This is a structural schematic diagram of the present invention from another perspective;

[0035] Figure 3 This is a structural schematic diagram of the present invention from another perspective;

[0036] Figure 4 This is a schematic diagram of the structure of the present invention in the state of clamping the workpiece;

[0037] Figure 5 This is a schematic diagram of the structure of the present invention from another perspective when the workpiece is being clamped.

[0038] In the figure: 1 is the docking end, 2 is the first clamping mechanism, 3 is the second clamping mechanism, 21 is the mounting bracket, 22 is the first telescopic cylinder, 23 is the guide shaft, 24 is the fixed base, 25 is the movable seat, 26 is the detection plate, 27 is the proximity switch, 31 is the parallel clamp, 32 is the first clamping arm, 33 is the second clamping arm, and 34 is the positioning block. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] Please see Figures 1 to 5As shown, a robot gripper for bidirectional clamping of dual workpieces includes a docking end 1 for docking a robot arm, and a first clamping mechanism 2. The first clamping mechanism 2 includes a mounting frame 21, a first telescopic cylinder 22, a guide shaft 23, a fixed base 24, and a movable seat. Positioning pins are installed on the adjacent sides of the fixed base 24 and the movable seat 25. The mounting frame 21 is connected to the docking end 1, and the first telescopic cylinder 22 is mounted on the mounting frame 21. The movable seat is mounted on the telescopic rod of the first telescopic cylinder 22. The guide shaft 23 is mounted on the mounting frame 21, the fixed base 24 is connected to the guide shaft 23, and the movable seat is slidably connected to the guide shaft 23. The second clamping mechanism 3 is mounted on the mounting frame 21 and includes a parallel clamp 31, a first clamping arm 32, and a second clamping arm 33. The two jaws of the parallel clamp 31 are detachably connected to the first clamping arm 32 and the second clamping arm 33, respectively. The telescopic direction of the parallel clamp 31 is perpendicular to the telescopic direction of the first telescopic cylinder 22. This invention achieves clamping of two workpieces in different directions through a first clamping mechanism 2 and a second clamping mechanism 3. The use of a telescopic cylinder and a parallel clamp 31 for clamping action simplifies the overall space occupied by the control device.

[0041] The parallel clamp includes a parallel finger cylinder, and the two jaws of the parallel finger cylinder are connected to the first clamping arm 32 and the second clamping arm 33.

[0042] The guide shaft 23 is connected sequentially along the length direction to the docking end 1, the mounting bracket 21 and the fixed base 24; the movable seat is slidably disposed between the fixed base 24 and the mounting bracket 21.

[0043] A positioning pin is installed on at least one of the first clamping arm 32 and the second clamping arm 33; a positioning block 34 is fixed on at least one of the first clamping arm 32 and the second clamping arm 33, and the positioning block 34 is used to clamp the workpiece.

[0044] The second clamping arm 33 is provided with two positioning pins arranged along the length direction of the first clamping arm 32; the first clamping arm 32 is provided with a positioning block 34; the positioning block 34 is provided with a slot for clamping the workpiece.

[0045] At least one of the first clamping arm 32 and the second clamping arm 33 is fixed with a sealing element for sealing the opening of the workpiece. This facilitates sealing the opening on the workpiece during clamping, ensuring effective cleaning.

[0046] The length direction of the guide shaft is parallel to the length direction of the first clamping arm 32; the guide shaft is installed vertically at the docking end 1.

[0047] Both the fixed base and the movable base are provided with a first extension extending outward along the clamping direction of the parallel clamp 31; the mounting bracket 21 is provided with a second extension extending outward along the clamping direction of the parallel clamp 31; the first extension and the second extension extend in opposite directions; the parallel clamp 31 is mounted on the second extension.

[0048] There are two guide shafts, which are connected to the two ends of the fixed base and the movable seat, respectively; the parallel clamp 31 is arranged adjacent to one of the two guide shafts.

[0049] A detection plate 26 is connected to the movable base; two proximity switches 27 are installed on the mounting bracket 21, which are arranged along the extension and retraction direction of the telescopic cylinder and are used to sense the detection plate 26.

[0050] Figures 4 to 5 The image shows a first clamping mechanism 2 for clamping the upper cylinder block of the engine. A second clamping mechanism 3 is used to clamp the lower cylinder block of the engine.

[0051] In use, the docking end of this device is connected to the robot arm. The robot gripper moves to the designated gripping position for the workpiece. The first gripping mechanism clamps and fixes the first type of workpiece. The robot arm adjusts its posture and moves to the designated gripping position for the second type of workpiece, where the second gripping mechanism clamps the second type of workpiece.

[0052] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot gripper for bidirectional clamping of dual workpieces, comprising a docking end for docking a robot arm, characterized in that, It also includes a first clamping mechanism, which includes a mounting frame, a first telescopic cylinder, a guide shaft, a fixed base, and a movable seat. Positioning pins are installed on the adjacent sides of the fixed base and the movable seat. The mounting frame is connected to the docking end, and the first telescopic cylinder is mounted on the mounting frame. The movable seat is mounted on the telescopic rod of the first telescopic cylinder. The guide shaft is mounted on the mounting bracket, the fixed base is connected to the guide shaft, and the movable seat is slidably connected to the guide shaft; It also includes a second clamping mechanism, which is mounted on the mounting frame. The second clamping mechanism includes a parallel clamp, a first clamping arm, and a second clamping arm. The two jaws of the parallel clamp are detachably connected to the first clamping arm and the second clamping arm, respectively. The extension and retraction direction of the parallel clamp is perpendicular to the extension and retraction direction of the first telescopic cylinder.

2. The robot gripper for bidirectional clamping of dual workpieces according to claim 1, characterized in that: The guide shaft is sequentially connected to the docking end, the mounting bracket, and the fixed base along the length direction; The movable seat is slidably disposed between the fixed base and the mounting bracket.

3. The robot gripper for bidirectional clamping of dual workpieces according to claim 1, characterized in that: A positioning pin is installed on at least one of the first clamping arm and the second clamping arm; At least one of the first clamping arm and the second clamping arm is fixed with a positioning block, which is used to clamp the workpiece.

4. The robot gripper for bidirectional clamping of dual workpieces according to claim 3, characterized in that: The second clamping arm is provided with two positioning pins arranged along the length direction of the first clamping arm; The positioning block is provided on the first clamping arm; The positioning block is provided with a slot for engaging the workpiece.

5. A robot gripper for bidirectional clamping of two workpieces according to claim 1, characterized in that: At least one of the first clamping arm and the second clamping arm is fixed with a sealing element for sealing the opening of the workpiece.

6. A robot gripper for bidirectional clamping of dual workpieces according to claim 1, characterized in that: The length direction of the guide shaft is parallel to the length direction of the first clamping arm; The guide shaft is installed vertically at the docking end.

7. A robot gripper for bidirectional clamping of two workpieces according to claim 1, characterized in that: Both the fixed base and the movable base are provided with a first extension portion extending outward along the clamping direction of the parallel clamp; The mounting bracket is provided with a second extension that extends outward along the clamping direction of the parallel clamp; The first extension portion extends in the opposite direction to the second extension portion; The parallel clamp is mounted on the second extension.

8. A robot gripper for bidirectional clamping of two workpieces according to claim 1, characterized in that: Two guide shafts are provided, and the two guide shafts are respectively connected to the two ends of the fixed base and the movable seat; The parallel clamp is positioned adjacent to one of the two guide shafts.

9. A robot gripper for bidirectional clamping of two workpieces according to claim 1, characterized in that: A detection plate is connected to the movable seat; The mounting bracket is equipped with two proximity switches arranged along the extension and retraction direction of the telescopic cylinder and used to sense the detection plate.

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