Workpiece gripping robot

Abstract

This application relates to a workpiece clamping robot, comprising: two clamping structures arranged opposite to each other; each clamping structure includes: a fixed jaw and a positioning plate; a movable jaw is provided on the positioning plate and hinged to the positioning plate; a mating member is provided on one side of the movable jaw; the mating member has a first position and a second position; when the mating member is in the first position, there is a distance between the mating member and the fixed jaw for the mating member to pass through a workpiece through hole; when the mating member is in the second position, the mating member and the fixed jaw are in a relative position; this application first rotates the movable jaw to move the mating member to the first position and pass the mating member through the through hole, then rotates the movable jaw to move the mating member to the second position, so that the mating member and the fixed jaw clamp the workpiece at the edge of the through hole; therefore, this application facilitates workpiece processing by clamping the workpiece at the edge of the through hole.

Description

Technical Field

[0001] This application relates to the technical field of workpiece clamping, and in particular to a workpiece clamping robot. Background Technology

[0002] The workpiece is an inwardly recessed part with a through hole in the middle, and the area around the through hole is a flat surface, such as... Figure 1 As shown, in order to facilitate the processing of the workpiece, it is necessary to clamp and fix the workpiece.

[0003] The workpiece has an irregular shape and many sloping surfaces. The common clamping method is to clamp the edge of the workpiece, that is, to place the robot arm horizontally above the workpiece and use the chuck to grasp the edge of the workpiece. In the above clamping method, the entire robot arm will cover a large area above the workpiece. At this time, the part of the workpiece covered by the robot arm is inconvenient to process. Summary of the Invention

[0004] This application provides a workpiece gripping robot to solve the problem of inconvenient workpiece gripping in related technologies.

[0005] In a first aspect, a workpiece gripping robot is provided, comprising:

[0006] Two clamping structures are arranged opposite each other, and the clamping structures include:

[0007] - Fixed claw;

[0008] - Positioning plate, the positioning plate is provided with a movable claw, the movable claw is hinged to the positioning plate, and a mating part is provided on one side of the movable claw;

[0009] The mating part has a first position and a second position. When the mating part is in the first position, there is a distance between the mating part and the fixed claw for the mating part to pass through the workpiece hole. When the mating part is in the second position, the mating part and the fixed claw are in a relative position.

[0010] In some embodiments, the clamping structure further includes a connector and a sliding member;

[0011] The sliding member is slidably connected to the positioning plate, one side of the connecting member is hinged to the sliding member, and the other side of the connecting member is hinged to the moving claw.

[0012] In some embodiments, a telescopic element is also included;

[0013] The telescopic component is connected to the sliding component, and the telescopic component is slidably connected between the two clamping structures.

[0014] In some embodiments, a mounting plate and a cylinder are also included;

[0015] The fixed claw is mounted on the mounting plate, the cylinder is mounted on the mounting plate, and the cylinder output end is connected to the telescopic component.

[0016] In some embodiments, the clamping structure further includes a mounting element;

[0017] The fixing claw is connected to the mounting part, and the positioning plate is connected to the mounting part.

[0018] This application provides a workpiece gripping robot. Since this application first rotates the moving jaw to move the mating part to the first position and passes the mating part through the through hole, and then rotates the moving jaw to move the mating part to the second position, so that the mating part and the fixed jaw grip the edge of the workpiece through hole, this application uses the mating part and the fixed jaw to grip the edge of the through hole, and facilitates the processing of the workpiece by covering the workpiece with a small amount of material. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the workpiece is provided for the embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the structure provided for an embodiment of this application;

[0022] Figure 3 A schematic diagram of the mounting plate is provided for the embodiments of this application;

[0023] Figure 4 A schematic diagram of the clamping structure is provided for the embodiments of this application;

[0024] Figure 5 A structural schematic diagram of the telescopic component is provided for the embodiments of this application;

[0025] In the diagram: 1. Clamping structure; 11. Fixed claw; 12. Positioning plate; 13. Moving claw; 14. Mating part; 15. Connecting part; 16. Sliding part; 17. Mounting part; 2. Telescopic part; 3. Mounting plate; 4. Cylinder. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] This application provides a workpiece gripping robot that can solve the problem of inconvenient workpiece gripping and processing in related technologies.

[0028] Please see Figures 1 to 5 A workpiece gripping robot, comprising:

[0029] Two clamping structures 1 are arranged opposite to each other. Each clamping structure 1 includes a fixed claw 11, a positioning plate 12, a movable claw 13, a mating part 14, and a mounting part 17. The positioning plate 12 is provided with a movable claw 13, which is hinged to the positioning plate 12. A mating part 14 is provided on one side of the movable claw 13.

[0030] The mating part 14 has a first position and a second position. When the mating part 14 is in the first position, there is a distance between the mating part 14 and the fixing claw 11 for the mating part 14 to pass through the workpiece through hole. When the mating part 14 is in the second position, the mating part 14 and the fixing claw 11 are in a relative position. The fixing claw 11 is connected to the mounting part 17, and the positioning plate 12 is connected to the mounting part 17.

[0031] In this embodiment, the workpiece is as follows: Figure 1 As shown, two mounting pieces 17 are arranged opposite each other. Fixing claws 11 are mounted on the outer side of the mounting pieces 17, and the two fixing claws 11 are arranged opposite each other. Positioning plates 12 are fixed to the two mounting pieces 17 on both sides, and the two positioning plates 12 are located on the upper and lower sides of the mounting pieces 17 respectively. A hinge rod is provided on the end of the positioning plate 12 away from the mounting piece 17, and the two ends of the hinge rod are connected to the two positioning plates 12 respectively. The moving claw 13 is triangular in shape, as shown... Figure 5 As shown, two movable claws 13 are cross-arranged between two fixed claws 11. One corner of the movable claw 13 is rotatably connected to the hinge rod, causing the movable claw 13 to rotate around the hinge rod. During the rotation of the two movable claws 13, they move closer to each other or further away from each other. When the two movable claws 13 move closer to each other, the mating part 14 moves to the first position. At this time, the distance between the two movable claws 13 can be passed through the through hole in the middle of the workpiece. After the two fixed claws 11 are pressing against one side of the workpiece and the two movable claws 13 pass through the through hole to reach the other side of the workpiece, the two movable claws 13 are rotated, causing the mating part 14 to move to the second position, so that the mating part 14 presses against the workpiece, and the workpiece is fixed by the mating part 14 and the fixed claws 11.

[0032] Furthermore, in this embodiment, the clamping structure 1 also includes a connector 15 and a sliding member 16;

[0033] The sliding member 16 is slidably connected to the positioning plate 12, and the connecting member 15 is hinged to the sliding member 16 on one side and to the moving claw 13 on the other side.

[0034] The positioning plate 12 is provided with an O-shaped groove, and the sliding member 16 slides in the O-shaped groove. Both connecting members 15 are rotatably connected to the sliding member 16. During the sliding process of the sliding member 16, the two connecting members 15 will simultaneously drive one side of the two moving claws 13 to rotate around the hinge rod, so as to realize the simultaneous driving of the two moving claws 13 to rotate through the sliding member 16, which is convenient for the operator to operate.

[0035] Furthermore, in this embodiment, it also includes a telescopic member 2, a mounting plate 3, and a cylinder 4. The telescopic member 2 is connected to the sliding member 16, and the telescopic member 2 is slidably connected between the two clamping structures 1. The fixing claw 11 is disposed on the mounting plate 3, and the cylinder 4 is mounted on the mounting plate 3. The output end of the cylinder 4 is connected to the telescopic member 2.

[0036] Mounting plate 3 and mounting component 17 are fixedly connected by bolts. This application can fix mounting plate 3 to the robotic arm by bolts. At the same time, mounting plate 3 will fix cylinder 4. The output end of cylinder 4 is connected to telescopic component 2 by thread. When the output end of cylinder 4 extends or retracts, cylinder 4 will drive telescopic component 2 to move, and at the same time drive two moving claws 13 to rotate, so as to realize the automated work of this application.

[0037] The working principle of this application is as follows:

[0038] In this application, when clamping the workpiece, the cylinder 4 drives the telescopic component 2 to rotate the moving claw 13, so that the two moving claws 13 can directly pass through the through hole in the middle of the workpiece. When the two fixed claws 11 press against the workpiece, the two moving claws 13 rotate, moving the mating component 14 from the first position to the second position. When the mating component 14 is in close contact with the workpiece, this device clamps the workpiece. Compared with the traditional method of clamping the edge of the workpiece, this application covers a smaller area of ​​the workpiece and has a lower impact on the workpiece processing.

[0039] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A workpiece gripping robot, characterized in that, include: Two clamping structures (1) are arranged opposite to each other, and each clamping structure (1) includes: - Fixing claw (11); - Positioning plate (12), the positioning plate (12) is provided with a movable claw (13), the movable claw (13) is hinged to the positioning plate (12), and a mating part (14) is provided on one side of the movable claw (13). The mating part (14) has a first position and a second position. When the mating part (14) is in the first position, there is a distance between the mating part (14) and the fixing claw (11) for the mating part (14) to pass through the workpiece through hole. When the mating part (14) is in the second position, the mating part (14) and the fixing claw (11) are in relative positions.

2. The workpiece clamping robot as described in claim 1, characterized in that: The clamping structure (1) also includes a sliding member (16); The sliding member (16) is slidably connected to the positioning plate (12).

3. The workpiece clamping robot as described in claim 2, characterized in that: The clamping structure (1) also includes a connector (15); One side of the connector (15) is hinged to the slider (16), and the other side of the connector (15) is hinged to the moving claw (13).

4. The workpiece clamping robot as described in claim 3, characterized in that: It also includes telescopic components (2); The telescopic member (2) is connected to the sliding member (16), and the telescopic member (2) is slidably connected between the two clamping structures (1).

5. The workpiece clamping robot as described in claim 4, characterized in that: It also includes a mounting plate (3), on which the fixing claw (11) is disposed.

6. The workpiece clamping robot as described in claim 5, characterized in that: It also includes cylinders (4); The cylinder (4) is mounted on the mounting plate (3), and the output end of the cylinder (4) is connected to the telescopic member (2).

7. The workpiece clamping robot as described in claim 1, characterized in that: The clamping structure (1) also includes a mounting component (17); The fixing claw (11) is connected to the mounting component (17), and the positioning plate (12) is connected to the mounting component (17).

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