CN111618910A - Industrial robot composite clamp - Google Patents
Industrial robot composite clamp Download PDFInfo
- Publication number
- CN111618910A CN111618910A CN202010495784.5A CN202010495784A CN111618910A CN 111618910 A CN111618910 A CN 111618910A CN 202010495784 A CN202010495784 A CN 202010495784A CN 111618910 A CN111618910 A CN 111618910A
- Authority
- CN
- China
- Prior art keywords
- plate
- shaft
- driving
- cylinder
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial robots, in particular to a composite fixture for an industrial robot, wherein a middle shaft which is vertically arranged is fixedly arranged on a fixed plate, two ends of the middle shaft extend outwards until the middle shaft penetrates through the fixed plate, a first auxiliary shaft and a second auxiliary shaft which are coaxially arranged with the middle shaft are respectively and rotatably arranged on the tail end of the outer side of the middle shaft, a rod body is fixedly arranged on the tail end of the outer side of each of the first auxiliary shaft and the second auxiliary shaft, clamping plates are fixedly arranged on the inner side surfaces of the rod bodies, the first auxiliary shaft and the second auxiliary shaft are in transmission connection with the same driving module, and a lifting module is fixedly arranged at the top end of the fixed plate. When the device is not used, the two rod bodies and the clamping plates can be retracted inwards, so that the overall occupied space of the device is reduced.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a composite clamp of an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
In the use process of the industrial robot, a composite clamp is often required to be mounted on a movable arm of the industrial robot for clamping a workpiece so as to carry and move the workpiece; in the process of clamping some workpieces with larger volumes, a composite clamp with larger volumes is generally required to be used; although the clamps with large volume can be used for conveniently clamping large workpieces, in the idle process of the industrial robot, the claw parts of the clamps protrude outwards to occupy a large space, and in the process of walking in a factory, a worker probably accidentally bumps the clamps or bumps the clamps by objects when carrying the objects, so that the worker can be injured or the clamps are damaged.
Disclosure of Invention
The invention aims to solve the problems in the background technology and provides a composite clamp for an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an industrial robot composite jig, includes the fixed plate, fixed mounting has the axis of perpendicular setting on the fixed plate, just centraxonial both ends all outwards extend until running through the fixed plate, first countershaft, the second countershaft of coaxial setting with it is do not rotationally installed to divide on centraxonial outside end equally, equal fixed mounting has a body of rod on the outside end of first countershaft, second countershaft, the inboard of the body of rod is equal fixed mounting on the surface has a splint, first countershaft, the equal transmission of second countershaft are connected on same drive module, fixed plate top fixed mounting has the promotion module.
Preferably, the driving module comprises a driving plate, a first connecting plate, a second connecting plate, a transmission mechanism and a first driving mechanism, the driving plate and the first connecting plate which are arranged in a V shape are fixedly arranged on the first auxiliary shaft along the circumferential direction, the second connecting plate corresponding to the first connecting plate is fixedly arranged on the second auxiliary shaft, the first connecting plate and the second connecting plate are both in transmission connection with the same transmission mechanism, and the driving plate is in transmission connection with the first driving mechanism.
Preferably, drive mechanism includes head rod, second connecting rod, riser, drum, apron, link up groove, cylinder, protruding axle, fixed mounting has the riser at the fixed plate bottom, fixed mounting has the drum on the riser, drum perpendicular to fixed plate bottom plane sets up, the drum interpolation is equipped with the cylinder, the both ends of drum fixed mounting respectively has an apron, the drum surface is opened two that have the symmetric distribution along circumference and is link up the groove, the cylinder surface is fixed along circumference and is equipped with two and link up the protruding axle of groove one-to-one, just the protruding axle all extends outwards until passing the groove, every the outside end that links up the protruding axle is equallyd divide respectively rotatable coupling and is adjacent head rod, second connecting rod one end, the other end of head rod, second connecting rod is equallyd divide respectively rotatable coupling at corresponding head rod, rotatable coupling, On the second connecting plate.
Preferably, actuating mechanism includes connecting axle, third connecting plate, axis, first motor, knee, fixed mounting has the knee on the fixed plate leading flank, fixed mounting has first motor on the outside tip of knee, just first motor and the coaxial setting of first countershaft, fixed mounting has the third connecting plate on the output shaft tip of first motor, fixed mounting has the connecting axle between third connecting plate and the drive plate.
Preferably, the lifting module comprises a rack and a second driving mechanism, the rack is fixedly mounted at the top end of the fixing plate, and the rack is connected with the second driving mechanism in an uploading manner.
Preferably, second actuating mechanism includes spout, curb plate, mounting panel, drive shaft, gear, second motor, it has the spout, every all to open along its length direction on two corresponding sides of rack equal slidable mounting has a slider, every in the spout equal fixedly connected with curb plate on the slider, and two curb plate parallel arrangement each other, two fixed mounting between the homonymy end of curb plate has a mounting panel, two rotate between the curb plate and install the drive shaft, fixed mounting has the gear of coaxial setting with it in the drive shaft, just gear and rack mesh mutually, one fixed mounting has the second motor with the coaxial setting of drive shaft on the curb plate lateral surface, the terminal and second motor output shaft fixed connection after passing the curb plate of the corresponding side of drive shaft.
The composite clamp for the industrial robot has the beneficial effects that: through setting up the drive module, utilize a drive module can drive two body of rod motions in opposite directions simultaneously to utilize splint on two body of rods to live the work piece centre gripping, when not using anchor clamps, can draw close two splint to the middle part, two splint are taken back to the inboard, thereby have reduced the whole occupation space of anchor clamps.
Drawings
Fig. 1 is a schematic structural diagram of a composite clamp of an industrial robot, which is provided by the invention;
fig. 2 is a schematic structural diagram ii of a composite fixture of an industrial robot according to the present invention;
fig. 3 is a schematic structural diagram three of a composite clamp of an industrial robot according to the present invention;
FIG. 4 is a schematic view of a portion of the structure of FIG. 1 at A;
FIG. 5 is a schematic view of a portion of the structure of FIG. 2 at B;
FIG. 6 is a schematic view of a portion of the structure of FIG. 3 at C;
fig. 7 is a schematic cross-sectional structural view of a composite fixture of an industrial robot according to the present invention.
In the figure: the device comprises a fixed plate 1, a first auxiliary shaft 2, a driving plate 3, a first connecting plate 4, a second auxiliary shaft 5, a second connecting plate 6, a first connecting rod 7, a second connecting rod 8, a vertical plate 9, a cylinder 10, a cover plate 11, a through groove 12, a cylinder 13, a protruding shaft 14, a rod body 15, a clamping plate 16, a connecting shaft 17, a third connecting plate 18, a middle shaft 19, a first motor 20, a rack 21, a sliding groove 22, a side plate 23, a mounting plate 24, a driving shaft 25, a gear 26, a second motor 27 and a bent rod 28.
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.
Example 1
Referring to fig. 1-7, a compound anchor clamps of industrial robot, including fixed plate 1, fixed mounting has perpendicular axis 19 that sets up on fixed plate 1, and the both ends of axis 9 all outwards extend until running through fixed plate 1, it is respectively rotatable first countershaft 2, the second countershaft 5 of installing coaxial setting with it to equally divide on the outside end of axis 9, first countershaft 2, all fixed mounting has a body of rod 15 on the outside end of second countershaft 5, all fixed mounting has a splint 16 on the inboard surface of the body of rod 15, first countershaft 2, the equal transmission of second countershaft 5 is connected on same drive module, fixed plate 1 top fixed mounting has the promotion module.
The driving module comprises a driving plate 3, a first connecting plate 4, a second connecting plate 6, a transmission mechanism and a first driving mechanism, the driving plate 3 and the first connecting plate 4 which are arranged in a V shape are fixedly arranged on the first auxiliary shaft 2 along the circumferential direction, the second connecting plate 6 corresponding to the first connecting plate 4 is fixedly arranged on the second auxiliary shaft 5, the first connecting plate 4 and the second connecting plate 6 are in transmission connection with the same transmission mechanism, and the driving plate 3 is in transmission connection with the first driving mechanism.
The transmission mechanism comprises a first connecting rod 7, a second connecting rod 8, a vertical plate 9, a cylinder 10, a cover plate 11, through grooves 12, a cylinder 13 and convex shafts 14, wherein the vertical plate 9 is fixedly installed at the bottom end of a fixing plate 1, the cylinder 13 is fixedly installed on the vertical plate 9, the cylinder 13 is perpendicular to the bottom end plane of the fixing plate 1, the cylinder 13 is inserted into the cylinder 13, the cover plate 11 is fixedly installed at each of two ends of the cylinder 13, the two through grooves 12 are symmetrically distributed on the outer surface of the cylinder 13 along the circumferential direction, the two convex shafts 14 which are in one-to-one correspondence with the through grooves 12 are fixedly installed on the outer surface of the cylinder 13 along the circumferential direction, the convex shafts 14 extend outwards until penetrating through the through grooves 12, the outer end of each convex shaft 14 is respectively and rotatably connected with one end of the adjacent first connecting rod 7 and second connecting rod 8, and the other ends of the first connecting, On the second connecting plate 6. The transmission mechanism limits the movement of the cylinder 13 through the cylinder 10.
The driving mechanism comprises a connecting shaft 17, a third connecting plate 18, a middle shaft 19, a first motor 20 and a bent rod 28, the bent rod 28 is fixedly installed on the front side face of the fixing plate 1, the first motor 20 is fixedly installed on the tail end of the outer side of the bent rod 28, the first motor 20 and the first auxiliary shaft 2 are coaxially arranged, the third connecting plate 18 is fixedly installed on the tail end of the output shaft of the first motor 20, and the connecting shaft 17 is fixedly installed between the third connecting plate 18 and the driving plate 3.
When the clamp is used, the clamp is arranged at the tail end of a movable arm of an industrial robot, and a driving module and a lifting module are electrically connected with a control end of the industrial robot; when the material is clamped, the industrial robot drives the drive plate 3 to rotate through the control drive module to drive the first auxiliary shaft 2 to rotate, then the first connecting plate 4 driving the first auxiliary shaft 2 is rotated, the first rotating connecting plate 4 drives the second connecting plate 6 to rotate through the transmission mechanism, the second rotating connecting plate 6 drives the second auxiliary shaft 5 to rotate, the first rotating auxiliary shaft 2 and the second auxiliary shaft 5 drive the two rod bodies 15 to move oppositely, and therefore the clamping plates 16 at the tail ends of the rod bodies 15 are matched to clamp the workpiece.
Example 2
Referring to fig. 1 to 7, as another preferred embodiment of the present invention, the difference from embodiment 1 is that the lifting module includes a rack 21 and a second driving mechanism, the rack 21 is fixedly installed at the top end of the fixing plate 1, and the second driving mechanism is connected to the rack 21 in an up-transfer manner. The second driving mechanism comprises a sliding groove 22, side plates 23, a mounting plate 24, a driving shaft 25, gears 26, a second motor 27, the sliding grooves 22 are formed in two corresponding side faces of the rack 21 along the length direction of the two corresponding side faces, a sliding block is slidably mounted in each sliding groove 22, each sliding block is fixedly connected with one side plate 23, the two side plates 23 are arranged in parallel, one mounting plate 24 is fixedly mounted between the tail ends of the same side of the two side plates 23, the driving shaft 25 is rotatably mounted between the two side plates 23, the driving shaft 25 is fixedly mounted with the gears 26 coaxially arranged with the driving shaft 25, the gears 26 are meshed with the rack 21, the second motor 27 coaxially arranged with the driving shaft 25 is fixedly mounted on the outer side face of one side plate 23, and the tail end of the corresponding side of the driving shaft 25 penetrates through the side plates 23 and then. The two sliding grooves 22 and the sliding blocks are arranged to limit the vertical movement of the rack 2, so that the rack 21 can only do vertical linear movement.
When using, with mounting panel 24 fixed mounting on industrial robot movable arm end, industrial robot drives drive shaft 25 just reverse through controlling second motor 27 to drive gear 26 just reverse, and then utilize gear 26 drive rack 21 to do the reciprocating of vertical direction between two curb plates 23, with the realization to the altitude mixture control of whole anchor clamps.
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 (6)
1. The utility model provides an industrial robot composite jig, includes fixed plate (1), its characterized in that, fixed mounting has perpendicular axis (19) that sets up on fixed plate (1), just the both ends of axis (9) all outwards extend until running through fixed plate (1), equally divide on the outside end of axis (9) and do not rotationally install first countershaft (2), second countershaft (5) with it coaxial arrangement, equal fixed mounting has a body of rod (15) on the outside tip of first countershaft (2), second countershaft (5), the inboard of the body of rod (15) is equal fixed mounting has a splint (16) on the surface, first countershaft (2), the equal transmission of second countershaft (5) are connected on same drive module, fixed plate (1) top fixed mounting has the promotion module.
2. The industrial robot composite clamp of claim 1, wherein the driving module comprises a driving plate (3), a first connecting plate (4), a second connecting plate (6), a transmission mechanism and a first driving mechanism, the driving plate (3) and the first connecting plate (4) which are arranged in a V shape are fixedly arranged on the first auxiliary shaft (2) along the circumferential direction, the second connecting plate (6) corresponding to the first connecting plate (4) is fixedly arranged on the second auxiliary shaft (5), the first connecting plate (4) and the second connecting plate (6) are both in transmission connection with the same transmission mechanism, and the driving plate (3) is in transmission connection with the first driving mechanism.
3. The composite fixture of the industrial robot according to claim 2, wherein the transmission mechanism comprises a first connecting rod (7), a second connecting rod (8), a vertical plate (9), a cylinder (10), a cover plate (11), through grooves (12), a cylinder (13) and protruding shafts (14), the bottom end of the fixing plate (1) is fixedly provided with the vertical plate (9), the vertical plate (9) is fixedly provided with the cylinder (13), the cylinder (13) is perpendicular to the bottom end plane of the fixing plate (1), the cylinder (13) is inserted into the cylinder (13), the two ends of the cylinder (13) are respectively fixedly provided with the cover plate (11), the outer surface of the cylinder (13) is provided with two through grooves (12) which are symmetrically distributed along the circumferential direction, the outer surface of the cylinder (13) is fixedly provided with the two protruding shafts (14) which correspond to the through grooves (12) one by one along the circumferential direction, and protruding axle (14) all outwards extend until passing through groove (12), every the outside end of protruding axle (14) is equallyd divide and is divided into respectively swivelling joint have adjacent head rod (7), second connecting rod (8) one end, the other end of head rod (7), second connecting rod (8) is equallyd divide and is divided do not swivelling joint on corresponding first connecting plate (4), second connecting plate (6).
4. A composite clamp of an industrial robot according to claim 2, characterized in that the driving mechanism comprises a connecting shaft (17), a third connecting plate (18), a middle shaft (19), a first motor (20) and a bent rod (28), the bent rod (28) is fixedly installed on the front side surface of the fixing plate (1), the first motor (20) is fixedly installed on the outer end of the bent rod (28), the first motor (20) is coaxially arranged with the first auxiliary shaft (2), the third connecting plate (18) is fixedly installed on the end of the output shaft of the first motor (20), and the connecting shaft (17) is fixedly installed between the third connecting plate (18) and the driving plate (3).
5. An industrial robot composite clamp according to claim 1, characterized in that the lifting module comprises a rack (21) and a second driving mechanism, the rack (21) is fixedly mounted on the top end of the fixing plate (1), and the second driving mechanism is connected to the rack (21) in an up-transfer manner.
6. A composite clamp of industrial robot according to claim 5, characterized in that the second driving mechanism comprises a sliding groove (22), side plates (23), a mounting plate (24), a driving shaft (25), a gear (26) and a second motor (27), the sliding groove (22) is opened along the length direction of the rack (21) on two corresponding sides, a sliding block is slidably mounted in each sliding groove (22), a side plate (23) is fixedly connected to each sliding block, the two side plates (23) are arranged in parallel, a mounting plate (24) is fixedly mounted between the ends of the same side of the two side plates (23), the driving shaft (25) is rotatably mounted between the two side plates (23), a gear (26) coaxially arranged with the driving shaft (25) is fixedly mounted on the driving shaft (25), and the gear (26) is meshed with the rack (21), and a second motor (27) which is coaxial with the driving shaft (25) is fixedly arranged on the outer side surface of one side plate (23), and the tail end of the corresponding side of the driving shaft (25) penetrates through the side plate (23) and then is fixedly connected with an output shaft of the second motor (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010495784.5A CN111618910A (en) | 2020-06-03 | 2020-06-03 | Industrial robot composite clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010495784.5A CN111618910A (en) | 2020-06-03 | 2020-06-03 | Industrial robot composite clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111618910A true CN111618910A (en) | 2020-09-04 |
Family
ID=72256432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010495784.5A Pending CN111618910A (en) | 2020-06-03 | 2020-06-03 | Industrial robot composite clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111618910A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201711972U (en) * | 2010-07-16 | 2011-01-19 | 刘建勋 | Multifunctional extended mechanical gripper of EOD (explosive ordnance disposal) robot |
| CN205219141U (en) * | 2015-09-25 | 2016-05-11 | 宁波市镇海新超机器人有限公司 | A manipulator hand claw for getting put plastic bottle |
| CN106976075A (en) * | 2017-05-11 | 2017-07-25 | 佛山智达思佳机电科技有限公司 | A kind of power equipment clamps conveying arrangement |
| US9718195B1 (en) * | 2016-06-09 | 2017-08-01 | X Development Llc | Cylindrical worm drive robotic gripper |
| CN108240182A (en) * | 2018-01-05 | 2018-07-03 | 深圳市中科智诚科技有限公司 | A kind of intelligent drill rod grip device for no-dig technique horizontal directional drilling machine |
| CN109079833A (en) * | 2018-09-07 | 2018-12-25 | 江南大学 | The manipulator of double drive series connection Trapezoidal flexible hinge framework |
-
2020
- 2020-06-03 CN CN202010495784.5A patent/CN111618910A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201711972U (en) * | 2010-07-16 | 2011-01-19 | 刘建勋 | Multifunctional extended mechanical gripper of EOD (explosive ordnance disposal) robot |
| CN205219141U (en) * | 2015-09-25 | 2016-05-11 | 宁波市镇海新超机器人有限公司 | A manipulator hand claw for getting put plastic bottle |
| US9718195B1 (en) * | 2016-06-09 | 2017-08-01 | X Development Llc | Cylindrical worm drive robotic gripper |
| CN106976075A (en) * | 2017-05-11 | 2017-07-25 | 佛山智达思佳机电科技有限公司 | A kind of power equipment clamps conveying arrangement |
| CN108240182A (en) * | 2018-01-05 | 2018-07-03 | 深圳市中科智诚科技有限公司 | A kind of intelligent drill rod grip device for no-dig technique horizontal directional drilling machine |
| CN109079833A (en) * | 2018-09-07 | 2018-12-25 | 江南大学 | The manipulator of double drive series connection Trapezoidal flexible hinge framework |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110871429A (en) | Movable industrial transfer robot | |
| CN108747109B (en) | Automatic part welding device for industrial production | |
| CN111331588A (en) | Multi-freedom industrial mechanical arm | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN111216095A (en) | Novel manipulator capable of rotating circumferentially | |
| CN210878802U (en) | Machine tool material transfer system based on six-degree-of-freedom robot | |
| CN109591006A (en) | A kind of continuous clamping type manipulator | |
| CN204431241U (en) | A kind of five spindle-type transfer robots | |
| CN213034154U (en) | Material taking and placing device of numerical control machine tool manipulator | |
| CN210312449U (en) | Multi freedom material loading manipulator device | |
| CN110216707B (en) | Robot positioning clamping jaw | |
| CN111618910A (en) | Industrial robot composite clamp | |
| CN208713511U (en) | A kind of loading and unloading cooperation robot body | |
| CN219152035U (en) | Planetary gear reducer internal gear assembly manipulator | |
| CN207771412U (en) | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling | |
| CN214081491U (en) | Mechanical gripper for industrial robot | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN211615603U (en) | Multi-axis robot | |
| CN211517538U (en) | Gear rack lifting type joint mechanical arm | |
| CN204431242U (en) | A kind of tetraxon transfer robot | |
| CN113580125A (en) | Mechanical arm with multiple degrees of freedom | |
| CN113319828B (en) | Synchronous driving five-freedom-degree parallel robot | |
| CN216328413U (en) | A six robots of well load for unloading on production line | |
| CN112207854B (en) | Industrial robot presss from both sides takes composite jig | |
| CN218173815U (en) | Automatic feeding and discharging mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200904 |
|
| RJ01 | Rejection of invention patent application after publication |