CN111571631A - Industrial robot arm clamping device - Google Patents
Industrial robot arm clamping device Download PDFInfo
- Publication number
- CN111571631A CN111571631A CN202010485504.2A CN202010485504A CN111571631A CN 111571631 A CN111571631 A CN 111571631A CN 202010485504 A CN202010485504 A CN 202010485504A CN 111571631 A CN111571631 A CN 111571631A
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- clamping
- arc
- connecting plate
- industrial robot
- shaped sliding
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping device for a mechanical arm of an industrial robot, which comprises a turntable, a clamping mechanism and a clamping mechanism, wherein the turntable is connected with the mechanical arm of the industrial robot, and a plurality of clamping components for clamping objects are uniformly distributed on the turntable along the circumferential direction of the turntable; each clamping assembly comprises a clamping mechanical claw which is hinged with the lower end of the connecting plate through a rotating shaft, and a pushing piece for driving the clamping mechanical claw to rotate around the connecting plate to clamp an article is arranged on the connecting plate; the connecting plate is connected with the rotary table in a sliding mode through the circumferential sliding assembly and drives the clamping mechanical claws to rotate around the center of the rotary table so as to adjust the clamping position of each clamping mechanical claw; this application can be according to the angle between the different centre gripping gripper tool claws of the reasonable regulation of shape of part, makes the part of its centre gripping different shapes that can stabilize, still is equipped with vacuum adsorption device simultaneously, can guarantee the stability of centre gripping.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a mechanical arm clamping device of an industrial robot.
Background
The industrial robot is a multi-joint multi-degree-of-freedom machine device widely applied to the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on self power energy and control capacity; industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like; but current industrial robot arm clamping device, only carry out the centre gripping to the object from the left and right sides, and the centre gripping arm of the left and right sides is the symmetry basically and sets up, can not change clamping position, be fit for the part of centre gripping regular shape like this, and to irregularly shaped part, hardly find suitable position, make its symmetry centre gripping, the structure that adopts the left and right sides centre gripping arm can cause the atress of the object left and right sides great moreover, can make the centre gripping object atress inhomogeneous, cause local damaged problem to appear easily.
Disclosure of Invention
The invention aims to provide a mechanical arm clamping device of an industrial robot, which can reasonably adjust the angles between different clamping mechanical claws according to the shapes of parts so as to enable the mechanical arm clamping device to stably clamp the parts with different shapes, and is also provided with a vacuum adsorption device so as to ensure the clamping stability.
The technical scheme of the invention is as follows:
a clamping device for an industrial robot mechanical arm comprises a rotary table used for being connected with the industrial robot mechanical arm, wherein a plurality of clamping assemblies used for clamping objects are uniformly distributed on the rotary table along the circumferential direction of the rotary table;
each clamping assembly comprises a clamping mechanical claw which is hinged with the lower end of the connecting plate through a rotating shaft, and a pushing piece for driving the clamping mechanical claw to rotate around the connecting plate to clamp an article is arranged on the connecting plate;
the connecting plate is connected with the rotary table in a sliding mode through the circumferential sliding assembly, and the connecting plate drives the clamping mechanical claws to rotate around the center of the rotary table to adjust the clamping position of each clamping mechanical claw.
The circumferential sliding assembly comprises an arc-shaped sliding block, the arc-shaped sliding block is fixed at the upper end of the connecting plate, the arc-shaped sliding block is in sliding connection with an arc-shaped sliding chute, and the arc-shaped sliding chute is fixed on the rotary table; the arc-shaped sliding block is fixed at a proper position on the arc-shaped sliding groove through the positioning assembly.
The positioning assembly comprises a screw rod, and the screw rod sequentially penetrates through the arc-shaped sliding groove and the arc-shaped sliding block; the screw rod is formed by fixedly connecting a left-handed screw rod and a right-handed screw rod, the left-handed screw rod is in threaded connection with a left-handed nut, the left-handed nut compresses one side of the arc-shaped sliding groove, the right-handed screw rod is in threaded connection with a right-handed nut, and the right-handed nut compresses the other side of the arc-shaped sliding groove.
Above-mentioned centre gripping gripper is the arc structure, and the centre gripping gripper inboard is connected with the cushion through the bolster, and equidistant distribution has a plurality of ventholes on the cushion, and the position that corresponds every venthole on the bolster all is equipped with the air flue, and the inside vacuum adsorption device that is equipped with of centre gripping gripper is used for adsorbing into the vacuum between cushion and the centre gripping object.
The vacuum adsorption device comprises a vacuum cavity arranged inside the clamping mechanical claw, the vacuum cavity is connected with a vacuum pump through an air pipe, the vacuum pump is fixed on the turntable and used for adsorbing the elastic pad and a clamped object into vacuum.
The pushing piece is a cylinder, the fixed end of the cylinder is hinged to the connecting plate, and the telescopic end of the cylinder is hinged to the side wall of the clamping mechanical claw.
The upper surface of the turntable is provided with scale marks for determining the clamping angle of the clamping mechanical claw.
The invention has the beneficial effects that:
1. the traditional industrial robot mechanical arm clamping device only clamps an object from the left side and the right side, the clamping arms on the left side and the right side are basically symmetrically arranged, the clamping positions cannot be changed, so that the device is suitable for clamping parts with regular shapes, for parts with irregular shapes, a suitable position is difficult to find, the parts are symmetrically clamped, and the left side and the right side of the object are stressed greatly due to the adoption of the structure of the clamping arms on the left side and the right side, so that the clamped object is stressed unevenly, and the problem of local damage is easily caused;
the industrial robot mechanical arm clamping device is provided with a plurality of clamping assemblies for clamping objects, the number of the clamping assemblies can be selected according to needs, the objects can be clamped at multiple angles when the objects are clamped, the angle between each clamping assembly can be adjusted, and the angle between any two clamping assemblies can be adjusted when parts are irregular, so that the parts can be clamped at a proper clamping position;
2. this application still is equipped with the cushion, and the cushion contact treats the article of centre gripping when centre gripping article, just so can not make clamping part pressure too big, and it has a plurality of ventholes to go back equidistant distribution on the cushion simultaneously, and the position of every venthole all is equipped with the air flue, and the inside vacuum adsorption dress that is equipped with of centre gripping gripper is used for adsorbing into the vacuum between cushion and the centre gripping object, further keeps the stability of part centre gripping like this under the suction effect of vacuum pump.
Drawings
Fig. 1 is a schematic structural view of a clamping device in embodiment 1.
Fig. 2 is a schematic structural view of the circumferential sliding assembly in embodiment 2.
Fig. 3 is a schematic structural diagram of a positioning assembly in embodiment 2.
Fig. 4 is a schematic structural view of a vacuum adsorption apparatus in embodiment 3.
In the figure: 1. a turntable; 2. clamping the mechanical claw; 3. a rotating shaft; 4. a connecting plate; 5. a pusher member; 6. an arc-shaped sliding block; 7. an arc-shaped chute; 8. a left-handed screw; 9. a right-handed screw; 10. a left-handed nut; 11. right-hand turning of the nut; 12. a buffer member; 13. an elastic pad; 14. an air outlet; 15. an airway; 16. a vacuum chamber; 17. an air tube; 18. a vacuum pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing technical solutions of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to the attached figure 1 of the specification, the device comprises a turntable 1 used for being connected with a mechanical arm of an industrial robot, and a plurality of clamping assemblies used for clamping objects are uniformly distributed on the turntable 1 along the circumferential direction of the turntable;
each clamping assembly comprises a clamping mechanical claw 2, the clamping mechanical claw 2 is hinged with the lower end of a connecting plate 4 through a rotating shaft 3, and a pushing piece 5 for driving the clamping mechanical claw 2 to rotate around the connecting plate 4 to clamp an article is arranged on the connecting plate 4;
the connecting plate 4 is connected with the turntable 1 in a sliding mode through the circumferential sliding assembly, and the connecting plate 4 drives the clamping mechanical claws 2 to rotate around the circle center of the turntable 1 to adjust the clamping position of each clamping mechanical claw 2.
In the embodiment, a plurality of clamping assemblies for clamping objects are uniformly distributed on the rotary table 1 along the circumferential direction of the rotary table, the clamping mechanical claws 2 of the clamping assemblies are used for clamping the objects, and the pushing piece 5 is used for driving the clamping mechanical claws 2 to rotate around the connecting plate 4 to clamp the objects during clamping;
then the clamping position of each clamping mechanical claw 2 is adjusted according to the clamped part, and the arc-shaped sliding block 6 rotates in the arc-shaped sliding groove 7 to drive the connecting plate 4 and the clamping mechanical claws 2 fixed at the lower end of the connecting plate 4 to rotate to different positions to clamp the object.
Example 2:
referring to the attached figure 2 of the specification, the circumferential sliding assembly comprises an arc-shaped sliding block 6, the arc-shaped sliding block 6 is fixed at the upper end of the connecting plate 4, the arc-shaped sliding block 6 is connected with an arc-shaped sliding chute 7 in a sliding mode, and the arc-shaped sliding chute 7 is fixed on the rotary table 1; the arc-shaped sliding block 6 is fixed at a proper position on the arc-shaped sliding groove 7 through a positioning component.
Referring to the attached drawing 3 in the specification, the positioning assembly comprises a screw rod, and the screw rod sequentially penetrates through the arc-shaped sliding groove 7 and the arc-shaped sliding block 6; the screw rod is formed by fixedly connecting a left-handed screw rod 8 and a right-handed screw rod 9, the left-handed screw rod 8 is in threaded connection with a left-handed nut 10, the left-handed nut 10 compresses one side of the arc-shaped chute 7, the right-handed screw rod 9 is in threaded connection with a right-handed nut 11, and the right-handed nut 11 compresses the other side of the arc-shaped chute 7.
In this embodiment, utilize arc slider 6 and arc spout 7 to slide, can guarantee that arc slider 6 rotates around the 7 centre of a circle of arc spout all the time, and arc slider 6 drives centre gripping gripper tool 2 through connecting plate 4 again and rotates different positions and come centre gripping article, utilizes arc slider 6 and the 7 complex structures of arc spout, can guarantee that the atress direction of gripper tool 2 points to the centre of a circle all the time.
In this embodiment, locating component utilizes levogyration screw rod and levogyration nut and dextrorotation screw rod and dextrorotation nut complex structure, can fix the centre gripping gripper in suitable position, utilizes the pretightning force of nut and screw rod to guarantee the stability of centre gripping.
Example 3:
referring to the attached figure 4 in the specification, the clamping gripper 2 is of an arc structure, the inner side of the clamping gripper 2 is connected with an elastic pad 13 through a buffer 12, a plurality of air outlets 14 are distributed on the elastic pad 13 at equal intervals, an air passage 15 is arranged on the buffer 12 corresponding to each air outlet 14, and a vacuum adsorption device is arranged inside the clamping gripper 2 and used for adsorbing the elastic pad 13 and a clamped object to be vacuum;
the vacuum adsorption device comprises a vacuum cavity 16 arranged inside the clamping mechanical claw, the vacuum cavity 16 is connected with a vacuum pump 18 through an air pipe 17, the vacuum pump 18 is fixed on the turntable 1, and the vacuum pump 18 is used for adsorbing the elastic cushion 13 and a clamped object to be vacuum.
Furthermore, the pushing member 5 is a cylinder, the fixed end of the cylinder is hinged to the connecting plate 4, and the telescopic end of the cylinder is hinged to the side wall of the clamping gripper 2.
Furthermore, the upper surface of the turntable 1 is provided with scale marks for determining the clamping angle of the clamping mechanical claw 2.
When centre gripping article in this application, the article of centre gripping is treated in the cushion 13 contact, just so can not make clamping part pressure too big, still equidistant distribution has a plurality of ventholes 14 simultaneously on cushion 13, and every venthole 14's position all is equipped with air flue 15, and centre gripping gripper 2 is inside to be equipped with vacuum adsorption device and is used for adsorbing into the vacuum between cushion 13 and the centre gripping object, further keeps the stability of part centre gripping like this under vacuum pump 18's suction effect.
The working principle of the invention is as follows:
determining the number of clamping components and the clamping positions of the clamping components according to the shape of an article to be clamped by using the industrial robot mechanical arm clamping device;
when parts of different shapes need to be clamped, the clamping position needs to be adjusted, when the clamping position is adjusted, the connecting plate 4 is utilized to drive the arc-shaped sliding block 6 fixed at the upper end of the connecting plate to rotate around the arc-shaped sliding chute 7, when the arc-shaped sliding block 6 drives the arc-shaped sliding chute 7 to rotate to a proper position, the arc-shaped sliding block can be rotated to a proper clamping position for clamping, and after the arc-shaped sliding block is rotated to a proper position, the arc-shaped sliding block 6 is fixed at a proper position on the arc-shaped sliding chute 7 by;
when the fixing device is fixed, the screw rod penetrates through the arc-shaped sliding groove 7 and the arc-shaped sliding block 6 in sequence; the screw is formed by fixedly connecting a left-handed screw 8 and a right-handed screw 9, the left-handed screw 8 is in threaded connection with a left-handed nut 10, the left-handed nut 10 compresses one side of the arc-shaped chute 7, the right-handed screw 9 is in threaded connection with a right-handed nut 11, and the right-handed nut 11 compresses the other side of the arc-shaped chute 7, so that the clamping mechanical claw 2 can be fixed at a proper clamping position;
then, the pushing piece 5 is started, and the pushing piece 5 drives the clamping mechanical claw 2 to rotate around the connecting plate 4 to clamp the article;
in order to guarantee the firm centre gripping of article, this application is equipped with cushion 13, the article of centre gripping is treated in the laminating that cushion 13 can be fine, avoid the clamping-force too big, cause the damage to the object, in order to guarantee firm centre gripping, start vacuum pump 18, vacuum pump 18 is through trachea 17 with the inside vacuum cavity 16 pump vacuums of centre gripping gripper 2, vacuum pump 18 also adsorbs into vacuums state between with cushion 13 and the centre gripping object simultaneously, guarantee the stability to the object centre gripping.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The clamping device for the mechanical arm of the industrial robot is characterized by comprising a rotary table (1) connected with the mechanical arm of the industrial robot, wherein a plurality of clamping assemblies used for clamping objects are uniformly distributed on the rotary table (1) along the circumferential direction of the rotary table;
each clamping assembly comprises a clamping mechanical claw (2), the clamping mechanical claw (2) is hinged with the lower end of a connecting plate (4) through a rotating shaft (3), and a pushing piece (5) for driving the clamping mechanical claw (2) to rotate around the connecting plate (4) to clamp an article is arranged on the connecting plate (4);
the connecting plate (4) is connected with the rotary table (1) in a sliding mode through the circumferential sliding assembly, and the connecting plate (4) drives the clamping mechanical claws (2) to rotate around the circle center of the rotary table (1) to adjust the clamping position of each clamping mechanical claw (2).
2. The industrial robot arm clamping device of claim 1, wherein the circumferential sliding component comprises an arc-shaped sliding block (6), the arc-shaped sliding block (6) is fixed at the upper end of the connecting plate (4), the arc-shaped sliding block (6) is in sliding connection with an arc-shaped sliding chute (7), and the arc-shaped sliding chute (7) is fixed on the turntable (1); the arc-shaped sliding block (6) is fixed at a proper position on the arc-shaped sliding groove (7) through a positioning component.
3. An industrial robot arm clamping device according to claim 2, characterized in that the positioning assembly comprises a screw rod which penetrates the arc-shaped sliding groove (7) and the arc-shaped sliding block (6) in turn; the screw rod is formed by fixedly connecting a left-handed screw rod (8) and a right-handed screw rod (9), the left-handed screw rod (8) is in threaded connection with a left-handed nut (10), the left-handed nut (10) compresses one side of the arc-shaped chute (7), the right-handed screw rod (9) is in threaded connection with a right-handed nut (11), and the right-handed nut (11) compresses the other side of the arc-shaped chute (7).
4. The industrial robot arm clamping device according to claim 1, wherein the clamping gripper is of an arc structure, the inner side of the clamping gripper is connected with an elastic pad (13) through a buffer member (12), a plurality of air outlet holes (14) are equidistantly distributed on the elastic pad (13), an air passage (15) is arranged on the buffer member (12) corresponding to each air outlet hole (14), and a vacuum adsorption device is arranged inside the clamping gripper (2) and used for adsorbing vacuum between the elastic pad (13) and a clamped object.
5. An industrial robot arm clamping device according to claim 4, characterized in that the vacuum suction device comprises a vacuum chamber (16) arranged inside the clamping gripper, the vacuum chamber (16) is connected with a vacuum pump (18) through an air pipe (17), the vacuum pump (18) is fixed on the turntable (1), and the vacuum pump (18) is used for sucking vacuum between the elastic pad (13) and the clamped object.
6. An industrial robot arm clamping device according to claim 1, characterized in that the pushing member (5) is a cylinder, the fixed end of which is hinged to the connection plate (4) and the telescopic end of which is hinged to the side wall of the clamping gripper (2).
7. An industrial robot arm gripping device according to claim 1, characterized in that the turntable (1) is provided with graduation marks on its upper surface for determining the gripping angle of the gripping fingers (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010485504.2A CN111571631B (en) | 2020-06-01 | 2020-06-01 | Industrial robot arm clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010485504.2A CN111571631B (en) | 2020-06-01 | 2020-06-01 | Industrial robot arm clamping device |
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| Publication Number | Publication Date |
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| CN111571631A true CN111571631A (en) | 2020-08-25 |
| CN111571631B CN111571631B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010485504.2A Expired - Fee Related CN111571631B (en) | 2020-06-01 | 2020-06-01 | Industrial robot arm clamping device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733140A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm grabbing control method based on binocular vision |
| CN114749965A (en) * | 2022-04-27 | 2022-07-15 | 济南平阴天宫铸造有限公司 | Casting production and processing equipment and processing technology thereof |
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| CA2458310A1 (en) * | 1997-01-10 | 1998-07-10 | Btm Corporation | Universal gripper |
| JP2010234506A (en) * | 2009-03-31 | 2010-10-21 | Nagaki Seiki Co Ltd | Remote control gripping tool |
| CN203697028U (en) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | Three-jaw clamp holder with manually adjustable angles between fingers |
| CN204725505U (en) * | 2015-05-12 | 2015-10-28 | 江南大学 | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator |
| CN208575842U (en) * | 2018-06-08 | 2019-03-05 | 林木胜 | A kind of multi-faceted movement industrial machine human arm |
| CN110666823A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Clamping mechanism capable of adjusting direction of clamping jaw |
| CN210233080U (en) * | 2019-05-16 | 2020-04-03 | 深圳市百思智能科技有限公司 | Novel manipulator arm assembly |
-
2020
- 2020-06-01 CN CN202010485504.2A patent/CN111571631B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2458310A1 (en) * | 1997-01-10 | 1998-07-10 | Btm Corporation | Universal gripper |
| JP2010234506A (en) * | 2009-03-31 | 2010-10-21 | Nagaki Seiki Co Ltd | Remote control gripping tool |
| CN203697028U (en) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | Three-jaw clamp holder with manually adjustable angles between fingers |
| CN204725505U (en) * | 2015-05-12 | 2015-10-28 | 江南大学 | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator |
| CN208575842U (en) * | 2018-06-08 | 2019-03-05 | 林木胜 | A kind of multi-faceted movement industrial machine human arm |
| CN210233080U (en) * | 2019-05-16 | 2020-04-03 | 深圳市百思智能科技有限公司 | Novel manipulator arm assembly |
| CN110666823A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Clamping mechanism capable of adjusting direction of clamping jaw |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733140A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm grabbing control method based on binocular vision |
| CN114749965A (en) * | 2022-04-27 | 2022-07-15 | 济南平阴天宫铸造有限公司 | Casting production and processing equipment and processing technology thereof |
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| CN111571631B (en) | 2021-10-08 |
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