CN110421584B - A fixture for industrial robot - Google Patents
A fixture for industrial robot Download PDFInfo
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- CN110421584B CN110421584B CN201910801195.2A CN201910801195A CN110421584B CN 110421584 B CN110421584 B CN 110421584B CN 201910801195 A CN201910801195 A CN 201910801195A CN 110421584 B CN110421584 B CN 110421584B
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- wall
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- clamping
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- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping mechanism for an industrial robot, and belongs to the technical field of industrial robots. A clamping mechanism for an industrial robot comprises a fixing plate, a first clamping plate and a second clamping plate, wherein a first groove, a second groove and a through hole are respectively formed in the inner wall of the first clamping plate in a chiseled mode, a moving rod is connected to the inner wall of the through hole in a sliding mode, a connecting plate is connected to the top of the moving rod, a first elastic element is connected to the outer wall of the connecting plate and connected between the connecting plate and the inner wall of the first groove, a first wedge block is connected to the inner wall of the first groove, a second wedge block is connected to the outer wall of the first wedge block in a sliding mode, a sliding rod is connected to the outer wall of the second wedge block, and an extrusion plate is; according to the invention, the stop lever is arranged on the outer wall of the first clamping plate, so that the clamping plate can resist the article after clamping the article, the article is prevented from falling off when the clamping mechanism clamps the article, and the grabbing efficiency of the industrial robot is improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a clamping mechanism for an industrial robot.
Background
The robot gripper can simulate the action of a human arm to realize the gripping and carrying of objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like at present, along with the rapid development of modern industrial production, various specifications and types of robot grippers have been developed in the industry, a factory gradually uses a robot to replace manual production, a production tool is held by a hand to operate during manual production in the past, and the robot needs to adopt the gripper to mount the production tool and be mounted at the tail end of the robot.
Current industrial robot's hold assembly is mostly the claw type, carries out the centre gripping to article through the splint of both sides, but present hold assembly when centre gripping article, often can appear hold assembly when centre gripping article, and the condition that drops appears in article is unfavorable for improving industrial robot's the efficiency of snatching.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a clamping mechanism for an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a clamping mechanism for an industrial robot comprises a fixed plate, a first clamping plate and a second clamping plate, the first clamping plate is connected on the outer wall of the fixed plate in a sliding way, the second clamping plate is fixedly connected on the outer wall of the fixed plate, the inner wall of the first clamping plate is respectively provided with a first groove, a second groove and a through hole, the inner wall of the through hole is connected with a movable rod in a sliding way, the top of the moving rod is connected with a connecting plate, the outer wall of the connecting plate is connected with a first elastic element, the first elastic element is connected between the connecting plate and the inner wall of the first groove, the inner wall of the first groove is connected with a first wedge-shaped block, the outer wall of the first wedge-shaped block is connected with a second wedge-shaped block in a sliding way, the outer wall of the second wedge-shaped block is connected with a sliding rod, the one end that the second wedge was kept away from to the slide bar is connected with the stripper plate, second recess inner wall sliding connection has the pin, the pin outer wall chisel have with the carriage release lever bottom matched with spacing groove.
Preferably, a second elastic element is connected between the stop lever and the inner wall of the second groove.
Preferably, the first groove, the second groove and the through hole are communicated with each other.
Preferably, a first sliding groove is formed in the inner wall of the second groove in a chiseled mode, and a first sliding block matched with the first sliding groove is connected to the bottom of the stop lever.
Preferably, the outer wall of the sliding rod is sleeved with a third elastic element, and the third elastic element is connected between the extrusion plate and the outer wall of the first clamping plate.
Preferably, the outer wall of the fixing plate is connected with two fixing blocks, the outer wall of the fixing block is connected with a motor, the output end of the motor is connected with a rotating shaft, one end, far away from the motor, of the rotating shaft penetrates through the fixing block and is connected with a screw rod, the screw rod is connected between the two fixing blocks in a rotating mode, the outer wall of the screw rod is in threaded connection with a sleeve, the outer wall of the sleeve is connected with a straight rod, and one end, far away from.
Preferably, the outer wall of the sleeve is connected with a second sliding block, and a second sliding groove matched with the second sliding block is formed in the outer wall of the fixing plate in a chiseled mode.
Preferably, first threaded holes are drilled in the outer walls of the fixing plate and the second clamping plate, and first bolts are movably connected in the first threaded holes.
Preferably, the one end that the fixed plate was kept away from to the second splint is connected with the dwang, the dwang has the second screw hole with the equal chisel of second splint outer wall, just the downthehole swing joint of second screw has the second bolt.
Preferably, the second clamping plate and the outer wall of the first clamping plate are both connected with rubber pads, and the outer walls of the rubber pads are provided with anti-skid lines.
Compared with the prior art, the invention provides a clamping mechanism for an industrial robot, which has the following beneficial effects:
1. when the clamping mechanism is required to be controlled to clamp an article, the second bolt is firstly rotated to adjust the orientation of the rotating rod, so that the article can be conveniently grabbed, the second clamp plate is connected with the fixed plate through the first bolt, so that the second clamp plate can be conveniently installed and disassembled, then the motor is controlled to operate, the output end of the motor is controlled to rotate through the rotating shaft, the screw rod is controlled to further control the sleeve on the outer wall of the screw rod to move, so that the first clamp plate and the second clamp plate keep a proper distance, then the robot arm control device is controlled to move downwards to grab the article, in the moving process of the device, the stop lever abuts against the article, under the condition that the stop lever is limited up and down, the stop lever can extrude the second elastic element, so that the second elastic element is compressed in the second groove, the first sliding block moves in the first sliding groove, and the stop lever enters the second groove, then the moving rod enters the limiting groove to lock the stop lever, the article enters the clamping range of the first clamping plate and the second clamping plate, then the motor is controlled to operate, the motor controls the screw rod to continue rotating, and further the sleeve drives the first clamping plate to move towards the second clamping plate, in the process, the second sliding block is connected inside the second sliding groove in a sliding mode, the moving stability of the device is improved, the sliding rod abuts against the article in the process that the first clamping plate moves rightwards, the article acts on the extrusion plate, the second wedge block is matched with the first wedge block, the second wedge block extrudes the connecting plate, the connecting plate drives the moving rod to move upwards, the moving rod moves out of the limiting groove, under the action of the second elastic element, the stop lever moves out of the second groove, the article is blocked from the bottom, the article is prevented from falling in the article clamping, then the motor is controlled to stop, at the moment, the first clamping plate, the second clamping plate and the stop lever clamp the article, the rubber pad of first splint and second splint outer wall can avoid the clamping-force of splint too big, leads to article to damage, and the antiskid line can further avoid article to rock.
The parts which are not involved in the device are the same as or can be realized by adopting the prior art, the blocking rod is arranged on the outer wall of the first clamping plate, so that the clamping plate can resist the article after clamping the article, the article is prevented from falling off when the clamping mechanism clamps the article, and the grabbing efficiency of the industrial robot is improved.
Drawings
Fig. 1 is a schematic front view of a clamping mechanism for an industrial robot according to the present invention;
fig. 2 is a schematic overall structure diagram of a clamping mechanism for an industrial robot according to the present invention;
fig. 3 is a schematic diagram of the internal structure of a first clamping plate of a clamping mechanism for an industrial robot, which is provided by the invention;
fig. 4 is a schematic cross-sectional structure of a first clamping plate of a clamping mechanism for an industrial robot, which is provided by the invention;
fig. 5 is a schematic structural diagram of a second groove of a clamping mechanism for an industrial robot, which is provided by the invention;
fig. 6 is a schematic structural diagram of a fixture fixing plate for an industrial robot according to the present invention.
In the figure: 1. a fixing plate; 2. a first splint; 201. a first groove; 2011. a first elastic element; 202. a second groove; 2021. a second elastic element; 203. a through hole; 2031. a travel bar; 2032. a connecting plate; 3. a second splint; 4. a first wedge block; 5. a second wedge block; 6. a slide bar; 7. a pressing plate; 8. a stop lever; 801. a limiting groove; 9. a third elastic element; 10. a first slider; 11. a first chute; 12. a fixed block; 13. a motor; 14. a screw rod; 15. a sleeve; 151. a straight rod; 152. a second slider; 16. a second chute; 17. a first bolt; 18. rotating the rod; 19. a second bolt; 20. and (7) a rubber pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-3, a clamping mechanism for an industrial robot comprises a fixing plate 1, a first clamping plate 2 and a second clamping plate 3, wherein the first clamping plate 2 is slidably connected to the outer wall of the fixing plate 1, the second clamping plate 3 is fixedly connected to the outer wall of the fixing plate 1, a first groove 201, a second groove 202 and a through hole 203 are respectively drilled on the inner wall of the first clamping plate 2, a moving rod 2031 is slidably connected to the inner wall of the through hole 203, a connecting plate 2032 is connected to the top of the moving rod 2031, a first elastic element 2011 is connected to the outer wall of the connecting plate 2032 and the inner wall of the first groove 201, a first wedge block 4 is connected to the inner wall of the first groove 201, a second wedge block 5 is slidably connected to the outer wall of the first wedge block 4, a sliding rod 6 is connected to the outer wall of the second wedge block 5, an extrusion plate 7 is connected to one end of the sliding rod 6 far away from the second wedge block 5, a, the outer wall of the stop lever 8 is provided with a limit groove 801 matched with the bottom of the movable rod 2031.
Referring to fig. 3 to 5, a second elastic element 2021 is connected between the bar 8 and the inner wall of the second groove 202.
Referring to fig. 3 to 4, the first groove 201, the second groove 202, and the through hole 203 communicate with each other.
Referring to fig. 5, a first sliding groove 11 is bored in the inner wall of the second groove 202, and a first slider 10 engaged with the first sliding groove 11 is connected to the bottom of the blocking lever 8.
Referring to fig. 1 to 3, the outer wall of the sliding rod 6 is sleeved with a third elastic element 9, and the third elastic element 9 is connected between the extrusion plate 7 and the outer wall of the first clamping plate 2.
Referring to fig. 1, 2 and 6, the outer wall of the fixing plate 1 is connected with two fixing blocks 12, the outer wall of the fixing block 12 is connected with a motor 13, the output end of the motor 13 is connected with a rotating shaft, one end of the rotating shaft, far away from the motor 13, penetrates through the fixing block 12 and is connected with a screw rod 14, the screw rod 14 is rotatably connected between the two fixing blocks 12, the outer wall of the screw rod 14 is in threaded connection with a sleeve 15, the outer wall of the sleeve 15 is connected with a straight rod 151, and one end.
Referring to fig. 6, the second sliding block 152 is connected to the outer wall of the sleeve 15, and the second sliding groove 16 matched with the second sliding block 152 is cut on the outer wall of the fixing plate 1.
Referring to fig. 1-2, the outer walls of the fixing plate 1 and the second clamping plate 3 are both provided with first threaded holes, and first bolts 17 are movably connected in the first threaded holes.
Referring to fig. 1-2, one end of the second clamping plate 3, which is far away from the fixing plate 1, is connected to a rotating rod 18, second threaded holes are drilled in the outer walls of the rotating rod 18 and the second clamping plate 3, and a second bolt 19 is movably connected in each second threaded hole.
Referring to fig. 2, the outer walls of the second clamping plate 3 and the first clamping plate 2 are both connected with a rubber pad 20, and the outer wall of the rubber pad 20 is provided with anti-skid lines.
In the invention, when the clamping mechanism needs to be controlled to clamp an article, the second bolt 19 is firstly rotated to adjust the orientation of the rotating rod 18, so as to conveniently grab the article, the second clamp plate 3 is connected with the fixed plate 1 through the first bolt 17, so as to conveniently mount and dismount the second clamp plate 3, then the motor 13 is controlled to operate, the output end of the motor 13 controls the screw rod 14 to rotate through the rotating shaft, so as to further control the sleeve 15 on the outer wall of the screw rod 14 to move, so that the first clamp plate 2 and the second clamp plate 3 keep a proper distance, then the robot arm control device is controlled to move downwards to grab the article, in the process of moving downwards, the stop lever 8 is abutted against the article, under the condition that the stop lever 8 is limited up and down, the stop lever 8 can extrude the second elastic element 2021, so that the second elastic element 2021 is compressed inside the second groove 202, so that the first slide block 10 moves inside the first sliding groove 11, the stop lever 8 enters the second groove 202, the moving rod 2031 enters the limit groove 801, the stop lever 8 is locked, the article enters the clamping range of the first clamping plate 2 and the second clamping plate 3, then the motor 13 is controlled to operate, the motor 13 controls the screw rod 14 to continue rotating, the sleeve 15 drives the first clamping plate 2 to move towards the second clamping plate 3, in the process, the second sliding block 152 is connected inside the second sliding groove 16 in a sliding manner, the moving stability of the device is improved, the article abuts against the article in the process that the first clamping plate 2 moves towards the right, the article acts on the extrusion plate 7, the second wedge block 5 is matched with the first wedge block 4, the second wedge block 5 extrudes the connecting plate 2032, the connecting plate 2032 drives the moving rod 2031 to move upwards, the moving rod 2031 moves out of the limit groove 801, the stop lever 8 moves out of the second groove 202 under the action of the second elastic element 2021, and the article is stopped from the bottom, the article is prevented from dropping during clamping, then the motor 13 is controlled to stop rotating, at the moment, the first clamping plate 2, the second clamping plate 3 and the stop lever 8 clamp and limit the article, the rubber pads 20 on the outer walls of the first clamping plate 2 and the second clamping plate 3 can prevent the clamping force of the clamping plates from being too large, so that the article is prevented from being damaged, and the anti-skid lines can further prevent the article from shaking; according to the invention, the stop lever 8 is arranged on the outer wall of the first clamping plate 2, so that the clamping plate can resist an article after the article is clamped, the article is prevented from falling off when the article is clamped by the clamping mechanism, and the grabbing efficiency of the industrial robot is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The clamping mechanism for the industrial robot comprises a fixing plate (1), a first clamping plate (2) and a second clamping plate (3), wherein the first clamping plate (2) is connected to the outer wall of the fixing plate (1) in a sliding manner, the second clamping plate (3) is fixedly connected to the outer wall of the fixing plate (1), the clamping mechanism is characterized in that a first groove (201), a second groove (202) and a through hole (203) are respectively formed in the inner wall of the first clamping plate (2), a moving rod (2031) is connected to the inner wall of the through hole (203) in a sliding manner, a connecting plate (2032) is connected to the top of the moving rod (2031), a first elastic element (2011) is connected to the outer wall of the connecting plate (2032), the first elastic element (2011) is connected between the connecting plate (2032) and the inner wall of the first groove (201), a first wedge block (4) is connected to the inner wall of the first groove (201), a second wedge block (5) is connected to the outer wall of, second wedge (5) outer wall connection has slide bar (6), the one end that second wedge (5) were kept away from in slide bar (6) is connected with stripper plate (7), second recess (202) inner wall sliding connection has pin (8), pin (8) outer wall is opened and is dug have with carriage release lever (2031) bottom matched with spacing groove (801).
2. A clamping mechanism for an industrial robot according to claim 1, characterized in that a second resilient element (2021) is connected between the bar (8) and the inner wall of the second groove (202).
3. A clamping mechanism for an industrial robot according to claim 2, characterized in that the first recess (201), the second recess (202) and the through hole (203) communicate with each other.
4. A clamping mechanism for an industrial robot according to claim 3, characterized in that the inner wall of the second groove (202) is chiseled with a first runner (11), and the bottom of the bar (8) is connected with a first slide (10) cooperating with the first runner (11).
5. A clamping mechanism for an industrial robot according to claim 1, characterized in that the outer wall of the sliding rod (6) is sleeved with a third elastic element (9), and the third elastic element (9) is connected between the pressing plate (7) and the outer wall of the first clamping plate (2).
6. The clamping mechanism for the industrial robot is characterized in that two fixing blocks (12) are connected to the outer wall of the fixing plate (1), a motor (13) is connected to the outer wall of each fixing block (12), a rotating shaft is connected to the output end of each motor (13), one end, far away from the motor (13), of each rotating shaft penetrates through the corresponding fixing block (12) and is connected with a lead screw (14), the lead screw (14) is rotatably connected between the two fixing blocks (12), a sleeve (15) is connected to the outer wall of each lead screw (14) in a threaded mode, a straight rod (151) is connected to the outer wall of each sleeve (15), and one end, far away from the corresponding sleeve (15), of each straight rod (151) is connected with the first clamping.
7. A clamping mechanism for an industrial robot according to claim 6, characterized in that a second slide block (152) is attached to the outer wall of the sleeve (15), and a second slide groove (16) cooperating with the second slide block (152) is chiseled on the outer wall of the fixed plate (1).
8. A clamping mechanism for an industrial robot according to claim 6, characterized in that the outer walls of the fixing plate (1) and the second clamping plate (3) are both chiseled with a first threaded hole in which a first bolt (17) is movably connected.
9. A clamping mechanism for an industrial robot according to claim 8, characterized in that a turning rod (18) is connected to the end of the second clamping plate (3) far away from the fixed plate (1), a second threaded hole is chiseled on the outer wall of the turning rod (18) and the outer wall of the second clamping plate (3), and a second bolt (19) is movably connected in the second threaded hole.
10. A clamping mechanism for an industrial robot according to claim 9, characterized in that a rubber pad (20) is attached to the outer wall of the second clamping plate (3) and the outer wall of the first clamping plate (2), and the outer wall of the rubber pad (20) is provided with anti-skid threads.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010143714.3A CN111267132B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
| CN201910801195.2A CN110421584B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
| PCT/CN2020/089507 WO2021036337A1 (en) | 2019-08-28 | 2020-05-10 | Clamping mechanism used for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801195.2A CN110421584B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010143714.3A Division CN111267132B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110421584A CN110421584A (en) | 2019-11-08 |
| CN110421584B true CN110421584B (en) | 2020-03-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910801195.2A Active CN110421584B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
| CN202010143714.3A Active CN111267132B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010143714.3A Active CN111267132B (en) | 2019-08-28 | 2019-08-28 | A fixture for industrial robot |
Country Status (2)
| Country | Link |
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| CN (2) | CN110421584B (en) |
| WO (1) | WO2021036337A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421584B (en) * | 2019-08-28 | 2020-03-10 | 南京驭逡通信科技有限公司 | A fixture for industrial robot |
| CN113391502A (en) * | 2020-03-11 | 2021-09-14 | 中强光电股份有限公司 | Adjusting module and projector |
| CN111731839B (en) * | 2020-06-28 | 2021-12-10 | 浙江金马逊机械有限公司 | Clamping and lifting mechanism |
| CN111957698B (en) * | 2020-07-16 | 2023-11-28 | 深圳市誉华食品科技控股有限公司 | Basket washing machine |
| CN112047095A (en) * | 2020-07-31 | 2020-12-08 | 南京昱晟机器人科技有限公司 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
| CN112092001B (en) * | 2020-09-09 | 2021-07-27 | 深圳市智美高科技有限公司 | Locking device of industrial clamping robot with emergency stop function |
| CN112320566B (en) * | 2020-11-18 | 2023-04-07 | 湖北秦鸿新材料股份有限公司 | Hanging clamp |
| CN112687300B (en) * | 2020-12-17 | 2021-12-14 | 浙江威固信息技术有限责任公司 | Computer storage device with automatic recovery file and use method thereof |
| CN113400334B (en) * | 2021-06-29 | 2022-01-11 | 吴昊泽 | Manipulator for intelligent manufacturing |
| CN113977616B (en) * | 2021-10-29 | 2023-04-21 | 九江学院 | Manipulator for producing electronic element |
| CN114425768B (en) * | 2022-03-31 | 2022-08-12 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
| CN116513797B (en) * | 2023-05-31 | 2023-09-29 | 临沂凯益自动化设备有限公司 | Multi-axis stacking mechanical arm |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110421584A (en) | 2019-11-08 |
| CN111267132A (en) | 2020-06-12 |
| CN111267132B (en) | 2021-04-23 |
| WO2021036337A1 (en) | 2021-03-04 |
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