CN113352299B

CN113352299B - Industrial robot composite clamp

Info

Publication number: CN113352299B
Application number: CN202110714470.4A
Authority: CN
Inventors: 孙青锋; 王亮; 邢院; 何义
Original assignee: Anhui Technical College of Mechanical and Electrical Engineering
Current assignee: Anhui Technical College of Mechanical and Electrical Engineering
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2022-01-25
Anticipated expiration: 2041-06-25
Also published as: CN113352299A

Abstract

The invention discloses a composite clamp for an industrial robot, which comprises a base body, a clamping device and a clamping device, wherein the base body comprises a robot arm, a clamp seat arranged on the robot arm and a bearing groove arranged on the clamp seat; the fixture assembly comprises a bearing block arranged in the bearing groove, a plurality of fixture plates arranged on the bearing block and fixture pieces arranged on the fixture plates; and the switching component is arranged in the receiving groove, is matched and installed at the action executing end of the robot, can install various single clamps at the same time through the clamp seat with the polyhedral structure, realizes free switching when executing a command, prevents the damage of the clamp caused by the action of the robot or the narrow space by utilizing the protection switching component when switching, realizes random interchange installation, and reduces the use cost of the clamp and improves the working efficiency of the robot.

Description

Industrial robot composite clamp

Technical Field

The invention relates to the technical field of industrial robot clamps, in particular to an industrial robot composite clamp.

Background

The existing industrial robot comprises an intelligent vision system, an RFID data system, a PLC control system and a mechanism, can realize the operations of sorting, detecting, carrying and the like on workpieces transmitted at high speed, and can perform installation work such as mechanical assembly, electronic design, RFID data application and the like.

In the robot assembly system, the terminal (its action execution end promptly) of arm needs the configuration anchor clamps in order to cooperate each functional module's use, and the anchor clamps that cooperate industrial robot to use at present all are one-to-one, and a functional module corresponds an anchor clamps promptly, and functional module all will replace anchor clamps again once changing, and the special plane corresponds, and the suitability is good, but can't accomplish the monomer multi-purpose, is unfavorable for the reduction of cost and the improvement of work efficiency.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The invention is provided in view of the problems of the existing industrial robot composite clamp.

Therefore, the invention aims to provide a composite clamp for an industrial robot.

In order to solve the technical problems, the invention provides the following technical scheme: a composite clamp for an industrial robot comprises a base body, a clamp base and a bearing groove, wherein the base body comprises a robot arm, a clamp base arranged on the robot arm and the bearing groove arranged on the clamp base; the fixture assembly comprises a bearing block arranged in the bearing groove, a plurality of fixture plates arranged on the bearing block and fixture pieces arranged on the fixture plates; and the switching component is arranged in the bearing groove.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the clamp plate is rotatably connected to the bearing block, the bearing block is externally extended with an extension plate, the extension plate is provided with a matching outlet matched with the clamp piece, and the matching outlet is provided with a switch plate.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the fixture piece is provided with a plurality of, every two are relative the fixture piece setting mode is the same, and is the central symmetry setting with accepting the piece, the distance between the central point of the setting position of fixture piece and accepting the piece increases along with setting distance gradually.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the clamp piece comprises a clamp rod arranged on a clamp plate, a clamping plate arranged at the end part of the clamp rod and a moving rod connected in the clamping plate in a sliding manner, wherein a driving piece is arranged between the moving rod and the clamping plate.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the driving piece is including setting up fixture block in the cardboard, sliding the drive block of connection on the fixture block and rotating the drive wheel of connection on the drive block, the drive wheel is provided with a plurality of arc teeth outward, it is protruding with arc tooth complex cooperation to be provided with a plurality of on the lateral wall of carriage release lever, rectangular annular has been seted up on the lateral wall of carriage release lever, the pivot and the cooperation of rectangular annular of drive wheel.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the switching component comprises a rotating ball connected with the bearing block, a plurality of placing surfaces arranged on the surface of the bearing block and a sliding rod arranged at one end of the rotating ball extending into the bearing groove, a plurality of sliding grooves which are mutually staggered and matched with the sliding rod are arranged on the groove wall of the bearing groove, the lower end of the sliding rod is provided with a driving wheel, the bearing groove is rotationally connected with the rotating ball,

wherein, a traction piece is arranged between the sliding rod and the bearing groove.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the traction piece is including setting up the haulage rope at accepting the groove lower extreme, the haulage rope sets up along the orientation of seting up of a plurality of sliding tray, every the haulage rope rear end all is provided with the drum, be provided with the axis of rotation on the drum, the axis of rotation lower extreme is provided with the cooperation gear, accept the inslot slip be connected with cooperation gear complex ring gear.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: the bearing groove is rotatably connected with a starting rod, a column gear meshed with the ring gear is arranged at the upper end of the starting rod, the bearing groove is rotatably connected with two symmetrically arranged frames, a stepping motor is arranged in each frame, a motor shaft of each stepping motor is connected with a driving wheel, and the two driving wheels are abutted against the lower end of the starting rod.

As a preferable aspect of the industrial robot composite jig of the invention, wherein: and a connecting rod is arranged between the two frames, and a cylinder connected with the connecting rod is arranged in the bearing groove.

The invention has the beneficial effects that: the cooperation is installed at robot action execution end, can install multiple monomer anchor clamps simultaneously through polyhedral structure's anchor clamps seat to realize free switching when carrying out the execution of order, and when switching over, utilize the protection to switch over the subassembly and prevent because the action of robot or the narrow and small anchor clamps that lead to in space damage, and realize exchanging the installation wantonly, come to reduce the use cost of anchor clamps and improve the work efficiency of robot with this.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is a schematic overall structure diagram of the industrial robot composite clamp.

Fig. 2 is a schematic structural diagram of a clamp part of the composite clamp of the industrial robot.

Fig. 3 is an explosion schematic diagram of the structure of the bearing groove and the rotating ball of the composite clamp of the industrial robot.

Fig. 4 is a schematic structural diagram of a receiving groove of the composite clamp of the industrial robot.

Fig. 5 is a schematic structural diagram of the switching component of the composite clamp of the industrial robot.

Fig. 6 is a schematic structural diagram of an actuating lever of the composite clamp of the industrial robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1, a composite jig for an industrial robot includes a base body 100 including a robot arm, a jig base 101 provided on the robot arm, and a receiving groove 102 provided on the jig base 101; the fixture assembly 200 comprises a bearing block 201 arranged in the bearing groove 102, a plurality of fixture plates 202 arranged on the bearing block 201, and fixture pieces arranged on the fixture plates 202; and a switching assembly 400, wherein the switching assembly 400 is arranged in the bearing groove 102.

Specifically, the main structure of the present invention includes a base body 100, in this embodiment, the base body 100 includes a robot arm, the robot arm is used as a main body of the whole industrial robot, and a fixture seat 101 is further provided at a front end of the robot arm, the fixture seat 101 is used as a front end grabbing portion of the whole robot arm, and then a receiving groove 102 is further provided on the fixture seat 101 for receiving the fixture assembly 200.

In this embodiment, the clamp assembly 200 includes a receiving block 201 disposed in the receiving groove 102, a plurality of clamp plates 202 are further disposed in the receiving block 201, the clamp plates 202 are disposed at equal intervals along the receiving block 201, and a clamp member is disposed on each clamp plate 202, and the clamp member serves as a clamp to enable the industrial robot to complete a clamping work.

Further, the present invention also includes a switch assembly 400, wherein the switch assembly 400 is disposed within the receiving slot 102, and an operator can switch different jigs using the switch assembly.

The operation process is as follows: the clamp seat 101 with polyhedral structure can be used for simultaneously installing various single clamps at the action executing end of the robot in a matching way, realizing free switching when executing a command, preventing the clamps from being damaged due to actions of the robot or narrow space by utilizing the protection switching component 400 when switching, and realizing random interchange installation, thereby reducing the use cost of the clamps and improving the working efficiency of the robot.

Example 2

Referring to fig. 1 and 2, this embodiment differs from the first embodiment in that: the clamp plate 202 is rotatably connected to the bearing block 201, the bearing block 201 is provided with an extending plate 204 extending outwards, the extending plate 204 is provided with a matching outlet matched with the clamp piece, a switch plate is arranged on the matching outlet, the clamp piece is provided with a plurality of clamp pieces, each two opposite clamp pieces are arranged in the same mode and are arranged in central symmetry with the bearing block 201, the distance between the arrangement position of the clamp piece and the central point of the bearing block 201 is gradually increased along with the arrangement distance, the clamp piece comprises a clamp rod 300 arranged on the clamp plate 202, a clamp plate arranged at the end part of the clamp rod 300 and a moving rod 302 connected in the clamp plate in a sliding manner, a driving piece 303 is arranged between the moving rod 302 and the clamp plate, the driving piece 303 comprises a clamping block 303a arranged in the clamp plate, a driving block 303b connected on the clamping block 303a in a sliding manner and a driving wheel 303c connected on the driving block 303b in a rotating manner, and a plurality of arc-shaped teeth 303d are arranged outside the driving wheel 303c, the lateral wall of the moving rod 302 is provided with a plurality of matching protrusions 303e matched with the arc-shaped teeth 303d, the lateral wall of the moving rod 302 is provided with a long-strip ring groove 303f, and a rotating shaft of the driving wheel 303c is matched with the long-strip ring groove 303 f.

Specifically, the clamp plate 202 is rotatably connected to the bearing block 201, the bearing block 201 is further provided with an extending plate 204 extending outwards, the extending plate 204 extends downwards, the cross section of the extending plate 204 is L-shaped, the extending plate 204 is further provided with a matching outlet matched with the clamp piece, the matching outlet is further rotatably connected with a switch plate, and the switch plate is used for closing the matching outlet and is used for closing when the machine arm is not used.

Further, anchor clamps spare is provided with a plurality ofly, and per two relative anchor clamps spare setting mode is the same, and is central symmetry setting with accepting piece 201, and the distance between the central point of the setting position of anchor clamps spare and accepting piece 201 increases along with setting up the distance gradually, and this setting makes the cooperation of every two relative anchor clamps spare that set up form the clamping part that can play the clamping action for the centre gripping.

Further, in this embodiment, the clamp member includes a clamp rod 300 disposed on the clamp plate 202, the clamp rod 300 extends outward, a clamping plate disposed at an end of the clamp rod 300, and a moving rod 302 slidably connected in the clamping plate, a driving member 303 is disposed between the moving rod 302 and the clamping plate, the driving member 303 includes a clamping block 303a disposed in the clamping plate, the clamping block 303a is disposed along a vertical direction, a driving block 303b is further slidably connected to the clamping block 303a along the vertical direction, a driving wheel 303c is rotatably connected to the driving block 303b, a rotation plane of the driving wheel 303c is vertically disposed, a plurality of arc teeth 303d are further disposed outside the driving wheel 303c to form a gear-like shape, a plurality of matching protrusions 303e matched with the arc teeth 303d are further disposed on a side wall of the moving rod 302, and a linear path is formed along a horizontal direction, and a long annular groove 303f is disposed on a side wall of the moving rod 302, the rotating shaft of the driving wheel 303c is matched with the strip-shaped ring groove 303f, so that the driving wheel 303c only needs to rotate, the horizontal movement of the moving rod 302 can be realized under the matching between the arc-shaped teeth 303d and the matching protrusions 303e, and the clamping is further realized.

Example 3

Referring to fig. 3-6, this embodiment differs from the above embodiments in that: the switching assembly 400 comprises a rotating ball 401 connected with the receiving block 201, a plurality of placing surfaces 402 arranged on the surface of the receiving block 201, and a sliding rod 403 arranged at one end of the rotating ball 401 extending into the receiving groove 102, a plurality of sliding grooves 404 arranged on the wall of the receiving groove 102 and mutually staggered and matched with the sliding rods 403, a driving wheel 303c is arranged at the lower end of the sliding rod 403, the receiving groove 102 is rotatably connected with the rotating ball 401, wherein a traction member 406 is arranged between the sliding rod 403 and the receiving groove 102, the traction member 406 comprises a traction rope 406a arranged at the lower end of the receiving groove 102, the traction rope 406a is arranged along the arrangement direction of the plurality of sliding grooves 404, a winding disc 406b is arranged at the rear end of each traction rope 406a, a rotating shaft is arranged on the winding disc 406b, a matching gear 406c is arranged at the lower end of the rotating shaft, and a ring gear 406d matched with the matching gear 406c is slidably connected in the receiving groove 102, the bearing groove 102 is rotatably connected with an actuating rod 407, a column gear 408 meshed with the ring gear 406d is arranged at the upper end of the actuating rod 407, the bearing groove 102 is rotatably connected with two symmetrically arranged frames 500, a stepping motor 501 is arranged in each frame 500, an actuating wheel 502 is connected to the motor shaft of each stepping motor 501, the two actuating wheels 502 are abutted against the upper end of the actuating rod 407, a connecting rod is arranged between the two frames 500, and a cylinder 503 connected with the connecting rod is arranged in the bearing groove 102.

Specifically, in this embodiment, the switching assembly 400 includes a rotating ball 401 disposed in the receiving groove 102, the rotating ball 401 is connected to the receiving block 201, and further the shape of the receiving groove 102 is also matched with the arc surface of the rotating ball 401, and a placing surface 402 is opened at one end of the rotating ball 401, which extends out of the receiving groove 102, and then each clamp plate 202 is uniformly disposed on the surface of the placing surface 402, and a groove is opened on the surface of each placing surface 402, and a cylinder 503 connected to the clamp plate 202 is disposed in the groove for pushing out the clamp plate 202.

Further, a sliding rod 403 is further arranged at one end, extending into the bearing groove 102, of the rotating ball 401, the sliding rod 403 extends out along the axial direction of the rotating ball 401, an arc-shaped panel is arranged at the bottom surface of the bearing groove 102, a plurality of sliding grooves 404 matched with the sliding rod 403 are formed in the arc-shaped panel, the radian of the arc-shaped panel is consistent with that of the bearing groove 102, a pulley is further arranged at the lower end of the sliding rod 403, and the pulley is spherical in shape and further can adapt to rotation of the sliding rod 403 at different positions.

Further, a traction member 406 is arranged between the sliding rod 403 and the receiving groove 102, in this embodiment, the traction member 406 includes a traction rope 406a arranged at the lower end of the receiving groove 102, the traction rope 406a is arranged along the opening direction of the sliding grooves 404, the front end of the traction rope 406a is connected with the sliding rod 403, and further the traction rope 406a is pulled to drive the sliding rod 403 to move, then a winding disc 406b is arranged at the rear end of each traction rope 406a, the rotating plane of the winding disc 406b is horizontally arranged, meanwhile, a rotating shaft is arranged on the winding disc 406b, a matching gear 406c is arranged at the lower end of the rotating shaft, the setting heights of the driving gears are different, different heights are respectively arranged, and a ring gear 406d matched with the matching gear 406c is connected in the receiving groove 102 in a sliding manner.

Further, in order to drive the ring gear 406d to rotate and slide along the vertical direction, the inner wall of the receiving groove 102 is further provided with an actuating lever 407, the rotating plane of the actuating lever 407 is horizontally arranged, but the whole body is arranged along the vertical direction, the upper end of the actuating lever 407 is provided with a column gear 408 which is externally engaged with the ring gear 406d, two symmetrically arranged frames 500 are connected in the receiving groove 102 in a sliding manner, the frames 500 are symmetrically arranged along the actuating lever 407, meanwhile, a stepping motor 501 is arranged in each frame 500, the stepping motor 501 can move along with the frame 500, an actuating wheel 502 is connected to the motor shaft of each stepping motor 501, the two actuating wheels 502 are abutted against the upper end of the actuating lever 407, and further, the movement of the frame 500 is performed by taking the actuating wheel 502 as the middle point to swing by 90 degrees, so that the contact form between the actuating wheel 502 and the actuating lever 407 is different, and then a connecting rod is arranged between the two frames 500, a cylinder 503 connected with a connecting rod is arranged in the bearing groove 102.

The rest of the structure is the same as in example 2.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. The utility model provides an industrial robot composite jig which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the base body (100) comprises a machine arm, a clamp seat (101) arranged on the machine arm and a receiving groove (102) arranged on the clamp seat (101);

the fixture assembly (200) comprises a bearing block (201) arranged in the bearing groove (102), a plurality of fixture plates (202) arranged on the bearing block (201) and fixture pieces arranged on the fixture plates (202); and the number of the first and second groups,

the switching assembly (400) is arranged in the bearing groove (102), the switching assembly (400) comprises a rotating ball (401) connected with the bearing block (201), a plurality of placing surfaces (402) arranged on the surface of the bearing block (201) and a sliding rod (403) arranged at one end of the rotating ball (401) extending into the bearing groove (102), a plurality of sliding grooves (404) which are arranged in a mutually staggered mode and matched with the sliding rod (403) are formed in the groove wall of the bearing groove (102), a driving wheel (303 c) is arranged at the lower end of the sliding rod (403), the bearing groove (102) is rotatably connected with the rotating ball (401), a traction piece (406) is arranged between the sliding rod (403) and the bearing groove (102), the clamp plate (202) is rotatably connected to the bearing block (201), and an extending plate (204) extends outwards from the bearing block (201), the extension plate (204) is provided with a matching outlet matched with the clamp piece, the matching outlet is provided with a switch plate, and the switch plate is used for sealing the matching outlet and sealing when the machine arm is not used.

2. A composite gripper for industrial robots according to claim 1, characterized in that: the clamp is characterized in that a groove is formed in the bearing block (201), an air cylinder (503) is arranged in the groove, the air cylinder (503) is hinged to the extension plate (204), the air cylinder (503) is placed in the groove, the clamp piece comprises a clamp rod (300) arranged on the clamp plate (202), a clamp plate arranged at the end of the clamp rod (300) and a moving rod (302) connected into the clamp plate in a sliding mode, and a driving piece (303) is arranged between the moving rod (302) and the clamp plate.

3. A composite gripper for industrial robots according to claim 2, characterized in that: drive piece (303) including setting up fixture block (303 a) in the cardboard, sliding connection drive block (303 b) and rotation connection drive wheel (303 c) on drive block (303 b) on fixture block (303 a), drive wheel (303 c) are provided with a plurality of arc teeth (303 d) outward, it is protruding (303 e) with arc tooth (303 d) complex cooperation to be provided with a plurality of on the lateral wall of carriage release lever (302), rectangular annular (303 f) have been seted up on the lateral wall of carriage release lever (302), the pivot and the cooperation of rectangular annular (303 f) of drive wheel (303 c).

4. A composite gripper for industrial robots according to claim 1, characterized in that: the traction piece (406) comprises a traction rope (406 a) arranged at the lower end of the bearing groove (102), the traction rope (406 a) is arranged along the opening direction of the sliding grooves (404), a winding disc (406 b) is arranged at the rear end of each traction rope (406 a), a rotating shaft is arranged on the winding disc (406 b), a matching gear (406 c) is arranged at the lower end of the rotating shaft, and a ring gear (406 d) matched with the matching gear (406 c) is connected to the bearing groove (102) in a sliding mode.

5. An industrial robot composite gripper according to claim 4, characterized in that: the bearing groove (102) is rotatably connected with an actuating rod (407), the upper end of the actuating rod (407) is provided with a column gear (408) which is externally meshed with a ring gear (406 d), the bearing groove (102) is rotatably connected with two symmetrically arranged frames (500), each frame (500) is internally provided with a stepping motor (501), a motor shaft of each stepping motor (501) is connected with an actuating wheel (502), and the two actuating wheels (502) are abutted against the lower end of the actuating rod (407).

6. A composite gripper for industrial robots according to claim 5, characterized in that: a connecting rod is arranged between the two frames (500), and a cylinder (503) connected with the connecting rod is arranged in the bearing groove (102).