CN113246169A - Automatic clamping mechanism for industrial robot - Google Patents
Automatic clamping mechanism for industrial robot Download PDFInfo
- Publication number
- CN113246169A CN113246169A CN202110649406.2A CN202110649406A CN113246169A CN 113246169 A CN113246169 A CN 113246169A CN 202110649406 A CN202110649406 A CN 202110649406A CN 113246169 A CN113246169 A CN 113246169A
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- Prior art keywords
- gear
- clamping
- mechanical arm
- industrial robot
- hollow cylinder
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- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
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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
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic clamping mechanism for an industrial robot, which comprises a base, wherein a support is rotatably arranged at the top of the base, a rotating shaft is rotatably arranged on one side of the support, a mechanical arm is fixedly arranged on the rotating shaft, a clamping assembly for clamping an object is arranged at the bottom end in the mechanical arm, a large-size clamping plate and a small-size clamping plate for clamping the object are correspondingly arranged at the bottom of the clamping assembly, an opening is arranged at the bottom of the mechanical arm, a first rotating motor is fixedly arranged in the mechanical arm, a fixing frame is fixedly arranged at the output end of the first rotating motor, a lifting assembly is arranged in the fixing frame, a first gear or a third gear can drive the small-size clamping plate or the large-size clamping plate to clamp by rotating the first rotating gear, and the small-size clamping plate and the large-size clamping plate can be switched to and fro for use by adjusting the upper and lower positions of a hollow cylinder, the replacement time can be saved, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of industrial robot clamping, in particular to an automatic clamping mechanism for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
Industrial robot gripping is an actuator for gripping or grasping a workpiece using electric power as power. Originally originated in japan and then widely used by domestic automation enterprises. The clamp can be generally divided into a Y-shaped clamp finger and a flat clamp finger according to the style, the cylinder diameter is divided into 16MM, 20MM, 25MM, 32MM and 40MM, the main function of the clamp is to replace the grabbing work of people, and the production efficiency and the work safety can be effectively improved. The SMC pneumatic finger series is one of the most commonly used pneumatic jaw devices in the industry.
However, when the existing industrial robot clamps a workpiece, when the workpiece with different placing positions is clamped, the position of an arm of the industrial robot needs to be adjusted, so that the specified workpiece can be clamped, and the working efficiency is reduced.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an automatic clamping mechanism for an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a mechanism is got to automatic clamp that industrial robot used, the on-line screen storage device comprises a base, the top of base is rotated and is installed the support, one side of support is rotated and is installed the pivot, and fixed mounting has the arm in the pivot, the inside bottom of arm is equipped with the clamping component who is used for pressing from both sides tight object, and clamping component's bottom correspondence is equipped with the large size splint and the small size splint that are used for pressing from both sides tight object, the bottom of arm is equipped with the opening, the inside fixed mounting of arm has a rotating electrical machines, the output end fixed mounting of a rotating electrical machines has the mount, and the inside lifting unit that is equipped with of mount, lifting unit's bottom is connected with hollow cylinder, hollow cylinder's bottom is connected with clamping component.
Preferably, lifting unit includes the second rotating electrical machines of fixed mounting in the inside bottom of mount, hollow cylinder's top is equipped with the thread groove, fixed mounting has the second gear on the hollow cylinder, the output fixedly connected with threaded rod of second rotating electrical machines, and the bottom of threaded rod extend to in the thread groove and with thread groove threaded connection.
Preferably, clamping component includes the fixed cover of fixed mounting in the arm inside, and fixed cover and hollow cylinder sliding connection, the upper and lower both ends of fixed cover are rotated respectively and are installed first gear and third gear, all be equipped with the internal gear with second gear engaged with in first gear and the third gear.
Preferably, the clamping assembly further comprises first support plates located on two sides of the first gear and penetrating through the sliding installation, wherein first racks are fixedly installed on one sides, close to each other, of the first support plates, the two first racks are connected with the first gear in a meshed mode, two connecting rods are fixedly installed at the bottoms of the first support plates, the bottoms of the connecting rods extend to the outer side of the mechanical arm, and the bottoms of the connecting rods are fixedly connected with the same small clamping plate.
Preferably, the clamping assembly further comprises second support plates located on two sides of the third gear and penetrating through the sliding installation, two second support plates are fixedly mounted on one sides, close to each other, of the second support plates, two connecting rods are fixedly mounted at the bottoms of the second support plates, the bottoms of the connecting rods extend to the outer side of the mechanical arm, and the bottoms of the connecting rods are fixedly connected with the same large-size clamping plate.
Preferably, the first support plate and the second support plate are provided with reset components on the sides close to the inner wall of the mechanical arm.
Preferably, the reset assembly comprises fixing plates fixed on one sides of the first support plate and the second support plate, a plurality of springs are fixedly mounted on one sides of the fixing plates close to the inner wall of the mechanical arm, and the other ends of the springs are fixedly connected with the inner wall of the mechanical arm.
Preferably, the top of the hollow cylinder is provided with sliding grooves located on two sides of the threaded groove, the bottom of the fixing frame is fixedly provided with sliding rods located at two ends of the threaded rod, and the bottoms of the sliding rods extend into the corresponding sliding grooves and are in sliding connection with the sliding grooves.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the clamping device, the mechanical arm is adjusted to a proper angle by rotating the rotating shaft, the first rotating motor is opened, the fixing frame can be rotated, the fixing frame rotates to drive the second rotating motor to rotate, the second rotating motor rotates to drive the hollow cylinder to rotate, the second gear can rotate when the hollow cylinder rotates, the second gear can rotate with an inner gear of the first gear or the third gear when the second gear rotates, the inner gear drives the first gear or the third gear to rotate, the first gear or the third gear can be meshed with the first racks or the second racks on two sides of the first gear or the third gear to move, the small-size clamping plate or the large-size clamping plate can be clamped, and clamping can be rapidly performed through a simple structure.
2. According to the clamping device, the corresponding first support plate or second support plate drives the corresponding spring to stretch in the clamping process, after clamping is completed, the threaded rod is rotated to vertically move the hollow cylinder, so that the hollow cylinder is not meshed with the inner gear any more, the spring can be reset, the first support plate or the second support plate can be pulled back to complete resetting, when clamping plates of different sizes need to be replaced, the position of the hollow cylinder can be adjusted only by rotating the threaded rod, the second gear can be switched to lift in the inner gear of the first gear or the third gear, and a large clamping plate or a small clamping plate can be switched to be clamped conveniently and quickly.
The small-size clamping plate and the large-size clamping plate can be switched back and forth for use by adjusting the upper position and the lower position of the hollow cylinder, so that the replacement time can be saved, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical arm of an automatic gripping mechanism for an industrial robot according to the present invention;
fig. 2 is a schematic top view of a clamping assembly of an automated clamping mechanism for an industrial robot according to the present invention;
fig. 3 is a schematic front structural view of an automatic gripping mechanism for an industrial robot according to the present invention;
fig. 4 is a schematic top view of a first gear of an automatic clamping mechanism for an industrial robot according to the present invention;
fig. 5 is a partial three-dimensional structural schematic diagram of an automatic gripping mechanism for an industrial robot according to the present invention.
In the figure: 1. a base; 2. a support; 3. a rotating shaft; 4. a mechanical arm; 5. a first rotating electrical machine; 6. a second rotating electrical machine; 7. a threaded rod; 8. a slide bar; 9. a hollow cylinder; 10. a thread groove; 11. a first gear; 12. a second gear; 13. a first support plate; 14. a first rack; 15. a small splint; 16. a second support plate; 17. a second rack; 18. a large-size splint; 19. a third gear; 20. a fixing plate; 21. a spring; 22. an internal gear; 23. a fixed mount; 24. and (4) fixing sleeves.
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 one
Referring to fig. 1-5, an automatic clamping mechanism for industrial robot, including base 1, the top of base 1 is rotated and is installed support 2, one side of support 2 is rotated and is installed pivot 3, and fixed mounting has arm 4 on the pivot 3, the inside bottom of arm 4 is equipped with the clamping components who is used for pressing from both sides tight object, and clamping components's bottom correspondence is equipped with large size splint 18 and small size splint 15 that are used for pressing from both sides tight object, the bottom of arm 4 is equipped with the opening, the inside fixed mounting of arm 4 has first rotating electrical machines 5, the output fixed mounting of first rotating electrical machines 5 has mount 23, and mount 23 is inside to be equipped with lifting unit, lifting unit's bottom is connected with hollow cylinder 9, hollow cylinder 9's bottom and clamping components are connected.
Example two
The embodiment is improved on the basis of the first embodiment: lifting unit includes second rotating electrical machines 6 of fixed mounting in the inside bottom of mount 23, hollow cylinder 9's top is equipped with thread groove 10, fixed mounting has second gear 12 on hollow cylinder 9, output fixedly connected with threaded rod 7 of second rotating electrical machines 6, and the bottom of threaded rod 7 extend to in the thread groove 10 and with thread groove 10 threaded connection, clamping assembly includes fixed cover 24 of fixed mounting in 4 insides of arm, and fixed cover 24 and hollow cylinder 9 sliding connection, the upper and lower both ends of fixed cover 24 are rotated respectively and are installed first gear 11 and third gear 19, all be equipped with the internal gear 22 with second gear 12 looks meshing in first gear 11 and the third gear 19.
EXAMPLE III
The embodiment is improved on the basis of the first embodiment: the clamping assembly further comprises first supporting plates 13 which are positioned on two sides of the first gear 11 and are slidably mounted in a penetrating manner, first racks 14 are fixedly mounted on one sides, close to each other, of the two first supporting plates 13, the two first racks 14 are connected with the first gear 11 in a meshed manner, two connecting rods are fixedly mounted at the bottoms of the two first supporting plates 13, the bottom ends of the connecting rods extend to the outer side of the mechanical arm 4, the bottoms of the two connecting rods are fixedly connected with a same small-size clamping plate 15, the clamping assembly further comprises second supporting plates 16 which are positioned on two sides of a third gear 19 and are slidably mounted in a penetrating manner, second racks 17 are fixedly mounted on one sides, close to each other, of the two second supporting plates 16, the two second racks 17 are connected with the third gear 19 in a meshed manner, two connecting rods are fixedly mounted at the bottoms of the two second supporting plates 16, the bottom ends of the connecting rods extend to the outer side of the mechanical arm 4, and the bottoms of the two connecting rods are fixedly connected with a same large-size clamping plate 18, one side that first extension board 13 and second extension board 16 are close to 4 inner walls of arm all is equipped with the subassembly that resets, the subassembly that resets is including fixing fixed plate 20 in first extension board 13 and 16 one side of second extension board, the equal fixed mounting in one side that a plurality of fixed plates 20 are close to 4 inner walls of arm has spring 21, and spring 21's the inner wall of other end fixed connection arm 4, hollow cylinder 9 top is equipped with the spout that is located thread groove 10 both sides, the bottom fixed mounting of mount 23 has the slide bar 8 that is located threaded rod 7 both ends, and the bottom of slide bar 8 all extend to correspond in the spout and with spout sliding connection.
The working principle is as follows: firstly, the rotating shaft 3 is rotated to adjust the mechanical arm 4 to a proper angle, the first rotating motor 5 is opened, the fixing frame 23 can be rotated, the fixing frame 23 rotates to drive the second rotating motor 6 to rotate, the second rotating motor 6 rotates to drive the hollow cylinder 9 to rotate, the hollow cylinder 9 can rotate, the second gear 12 can rotate with the internal gear 22 of the first gear 11 or the third gear 19 when rotating, the internal gear 22 drives the first gear 11 or the third gear 19 to rotate, the first gear 11 or the third gear 19 can be engaged with the first rack 14 or the second rack 17 on two sides of the first gear 11 or the third gear 19 to move, the small-size clamp plate 15 or the large-size clamp plate 18 can be clamped, when the corresponding first support plate 13 or the second support plate 16 drives the corresponding spring 21 to stretch in the clamping process, and after the clamping is finished, the hollow cylinder 9 is moved up and down by rotating the threaded rod 7, the first support plate 13 or the second support plate 16 can be pulled back to complete reset by resetting the spring 21 without being meshed with the internal gear 22, the position of the hollow cylinder 9 is adjusted by rotating the threaded rod 7, the second gear 12 can be switched in the internal gear 22 of the first gear 11 or the third gear 19 in a lifting mode, and the large-size clamp plate 18 or the small-size clamp plate 15 can be switched to clamp conveniently and quickly.
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 (8)
1. The automatic clamping mechanism for the industrial robot comprises a base (1), wherein a support (2) is rotatably mounted at the top of the base (1), and is characterized in that a rotating shaft (3) is rotatably mounted at one side of the support (2), a mechanical arm (4) is fixedly mounted on the rotating shaft (3), a clamping assembly for clamping an object is arranged at the bottom inside the mechanical arm (4), a large clamping plate (18) and a small clamping plate (15) for clamping the object are correspondingly arranged at the bottom of the clamping assembly, an opening is formed in the bottom of the mechanical arm (4), a first rotating motor (5) is fixedly mounted inside the mechanical arm (4), a fixing frame (23) is fixedly mounted at the output end of the first rotating motor (5), a lifting assembly is arranged inside the fixing frame (23), a hollow cylinder (9) is connected to the bottom of the lifting assembly, the bottom of the hollow cylinder (9) is connected with a clamping component.
2. The automatic clamping mechanism for the industrial robot is characterized in that the lifting assembly comprises a second rotating motor (6) fixedly mounted at the bottom end inside a fixing frame (23), a thread groove (10) is formed in the top of the hollow cylinder (9), a second gear (12) is fixedly mounted on the hollow cylinder (9), a threaded rod (7) is fixedly connected to the output end of the second rotating motor (6), and the bottom of the threaded rod (7) extends into the thread groove (10) and is in threaded connection with the thread groove (10).
3. The automatic clamping mechanism for the industrial robot as claimed in claim 1, wherein the clamping assembly comprises a fixed sleeve (24) fixedly mounted inside the mechanical arm (4), the fixed sleeve (24) is slidably connected with the hollow cylinder (9), the upper end and the lower end of the fixed sleeve (24) are respectively rotatably mounted with a first gear (11) and a third gear (19), and the first gear (11) and the third gear (19) are respectively internally provided with an internal gear (22) engaged with the second gear (12).
4. The automatic clamping mechanism for the industrial robot is characterized in that the clamping assembly further comprises first support plates (13) which are arranged on two sides of the first gear (11) in a penetrating and sliding mode, first racks (14) are fixedly arranged on the sides, close to each other, of the two first support plates (13), the two first racks (14) are meshed with the first gear (11), two connecting rods are fixedly arranged at the bottoms of the two first support plates (13), the bottom ends of the connecting rods extend to the outer side of the mechanical arm (4), and the bottoms of the two connecting rods are fixedly connected with the same small-size clamping plate (15).
5. The automatic clamping mechanism for the industrial robot is characterized in that the clamping assembly further comprises second support plates (16) which are arranged on two sides of a third gear (19) in a penetrating and sliding mode, a second rack (17) is fixedly arranged on one side, close to each other, of each of the two second support plates (16), the two second racks (17) are meshed with the third gear (19) and connected with each other, two connecting rods are fixedly arranged at the bottoms of the two second support plates (16) and extend to the outer side of the mechanical arm (4), and the bottoms of the two connecting rods are fixedly connected with the same large-size clamping plate (18).
6. The automated gripper mechanism for industrial robots according to claim 4, characterized in that the first (13) and second (16) support plate are provided with a return assembly on the side close to the inner wall of the robot arm (4).
7. The automatic clamping mechanism for the industrial robot is characterized in that the resetting component comprises fixing plates (20) fixed on one sides of the first support plate (13) and the second support plate (16), a plurality of springs (21) are fixedly installed on one sides of the fixing plates (20) close to the inner wall of the mechanical arm (4), and the other ends of the springs (21) are fixedly connected with the inner wall of the mechanical arm (4).
8. The automatic clamping mechanism for the industrial robot is characterized in that sliding grooves are formed in the tops of the hollow cylinders (9) and located on two sides of the threaded grooves (10), sliding rods (8) located at two ends of the threaded rods (7) are fixedly mounted at the bottoms of the fixing frames (23), and the bottoms of the sliding rods (8) extend into the corresponding sliding grooves and are in sliding connection with the sliding grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649406.2A CN113246169A (en) | 2021-06-10 | 2021-06-10 | Automatic clamping mechanism for industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649406.2A CN113246169A (en) | 2021-06-10 | 2021-06-10 | Automatic clamping mechanism for industrial robot |
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| CN113246169A true CN113246169A (en) | 2021-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110649406.2A Pending CN113246169A (en) | 2021-06-10 | 2021-06-10 | Automatic clamping mechanism for industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635280A (en) * | 2021-10-13 | 2021-11-12 | 江苏金猫机器人科技有限公司 | Tubular part clamping device for industrial robot |
| CN116533272A (en) * | 2023-05-15 | 2023-08-04 | 盐城泽阳智控科技有限公司 | Clamping mechanism for industrial robot |
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Cited By (3)
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| CN113635280A (en) * | 2021-10-13 | 2021-11-12 | 江苏金猫机器人科技有限公司 | Tubular part clamping device for industrial robot |
| CN116533272A (en) * | 2023-05-15 | 2023-08-04 | 盐城泽阳智控科技有限公司 | Clamping mechanism for industrial robot |
| CN116533272B (en) * | 2023-05-15 | 2024-02-09 | 盐城泽阳智控科技有限公司 | Clamping mechanism for industrial robot |
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