CN113635334A

CN113635334A - Novel industrial robot's anchor clamps

Info

Publication number: CN113635334A
Application number: CN202111075601.5A
Authority: CN
Inventors: 夏雪刚; 李永平
Original assignee: Exquisite Robot System Jiangsu Co ltd
Current assignee: Exquisite Robot System Jiangsu Co ltd
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2021-11-12

Abstract

The invention relates to a novel clamp of an industrial robot, which comprises a base, a limiting ring and a central processing table, wherein the limiting ring and the central processing table are arranged on the base, an annular plate is arranged on the outer side of the central processing table, adjusting devices are arranged on the base and the annular plate, each adjusting device comprises a base arranged on the base, an adjusting gear ring fixedly arranged in the annular plate, a slow motor fixedly arranged in the base and an adjusting gear arranged on an output shaft of the slow motor, a positioning block is arranged outside the annular plate, a clamping device is arranged on the outer side of the annular plate, and the clamping device comprises a positioning table arranged outside the positioning block, a spring, a clamping rod and a pull rod arranged in the positioning table, a threaded seat arranged on the positioning table, a threaded adjusting rod and a stabilizing rod movably arranged in the threaded seat and a clamping plate movably connected with the threaded adjusting rod. This novel industrial robot's anchor clamps can select in a flexible way and adjust the centre gripping angle to can select the quantity of clamping point according to actual conditions and conveniently use.

Description

Novel industrial robot's anchor clamps

Technical Field

The invention relates to the technical field of machining, in particular to a novel industrial robot clamp.

Background

Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have a certain degree of automation, can realize various industrial processing and manufacturing functions by means of power energy and control capability of the industrial robots, and are widely used in various industrial fields such as electronics, logistics, chemical industry and the like.

Generally, an industrial robot is composed of three major parts, namely a mechanical part, a sensing part and a control part, and the six sub-systems can be divided into a mechanical structure system, a driving system, a sensing system, a robot environment interaction system, a human-computer interaction system and a control system.

Industrial robots are precise and reliable in operation and are widely used at present, and when the industrial robots are adopted to correspondingly process parts, clamps matched with the industrial robots are usually used for auxiliary positioning processing.

The chinese patent CN 111390952 a proposes an industrial robot clamp, which can be used to solve the problem of low product yield caused by poor stability of clamping irregular and model workpieces in the robot clamp in the prior art, but in actual use, the clamping of the type is difficult to stably clamp workpieces of different models, sizes, orientations and shapes, so that the precision and stability of the special industrial robot for processing the special industrial robot are possibly affected due to unstable clamping, and thus the social requirements are difficult to meet, so a new industrial robot clamp is proposed to solve the problems mentioned above.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a novel clamp of an industrial robot, which has the advantages of convenience in stably clamping various workpieces and the like, and solves the problem that the existing clamp is difficult to stably clamp workpieces with different models, sizes, orientations and shapes to influence processing when in use.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a novel industrial robot's anchor clamps, includes the base and sets up spacing collar and central processing platform on it, the outside of central processing platform is provided with the annular slab, be provided with adjusting device on base and the annular slab, adjusting device is including setting up frame, fixed mounting on the base in the annular slab adjust the ring gear, fixed mounting in the slow motor of frame and set up in the adjusting gear on slow motor output shaft, the annular slab is provided with the locating piece outward, the outside of annular slab is provided with clamping device, clamping device is including installing the locating platform outside the locating piece, setting up spring, kelly and the pull rod in the locating platform, installing screw thread seat on the locating platform, swing mounting screw thread adjusting rod and stabilizer bar in the screw thread seat and with screw thread adjusting rod swing joint's grip block.

Furthermore, the appearance of spacing collar and annular plate all is the annular, set up the annular groove that the appearance is annular and indent in the diapire of annular plate.

Furthermore, the lower fixed surface of annular plate is connected with the bracing piece that four are no less than in quantity, the inboard of bracing piece is provided with the displacement spin of laminating with the base surface.

Further, the slow motor is a band-type brake motor, the adjusting gear ring is located on the inner side of the annular groove, and the adjusting gear is meshed with the adjusting gear ring.

Further, the locating piece is the block that the appearance is the cuboid, and twelve are no less than its quantity, the locked groove has all been seted up in the both sides wall of locating piece.

Furthermore, the locating platform joint is in the outside of locating piece, the inboard spring of locating platform, kelly and the pull rod quantity are two.

Furthermore, the clamping rod is fixedly connected with the pull rod, the spring surrounds the outer side of the pull rod, and the clamping rod is matched with the locking groove.

Furthermore, one end of the pull rod, which is far away from the clamping rod, extends out of the positioning table, and the thread adjusting rod is installed on the inner side of the thread seat in a threaded manner.

Further, the grip block is fixedly connected with the stabilizer bar, and the other end of the stabilizer bar, which is far away from the grip block, is fixedly connected with a limit sleeve.

Furthermore, the inside of stop collar has seted up the anticreep hole, the screw thread adjusting lever is located this anticreep downthehole, the one end that the grip block was kept away from to the screw thread adjusting lever is provided with the turning handle.

Compared with the prior art, the technical scheme of the application has the following beneficial effects:

1. this novel industrial robot's anchor clamps, through with the locating piece of location platform installation to different position outside, just so can conveniently install clamping device to different angles, also can select the quantity of the device in a flexible way simultaneously, and, the installation finishes the back steerable slow motor start, the adjusting gear rotates and drives rather than the transmission of the regulation ring gear of meshing, just so make the annular plate can change the angle in a flexible way, consequently, can make things convenient for clamping device to carry out nimble regulation, and adopt this mode to adjust the back can be to the different grade type, the centre gripping location is stabilized to the work piece of size and appearance, the convenient effect of stabilizing the centre gripping to multiple work piece has been reached.

2. This novel industrial robot's anchor clamps, make its inboard spiral displacement at the screw thread seat through rotating the screw thread regulation pole, can make grip block synchronous displacement and to the work piece centre gripping after the displacement, and, the stabilizer bar in its outside of grip block is located the inboard of screw thread seat all the time when adjusting, and the stabilizer bar is provided with the stop collar outward, it can strengthen the structure regulation stability before adjusting the pole with the screw thread, consequently, can guarantee that this anchor clamps is reliable and stable when in-service use and adjust nimble convenience, and, this anchor clamps structure retrencies and convenient operation, thereby the effectual problem of having solved current anchor clamps when using because of being difficult to the stable centre gripping of work piece to different model sizes, position and shape influences processing.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a clamping device according to the present invention;

FIG. 3 is a top view of the construction of the annular plate of the present invention.

In the figure: the device comprises a base 1, a limiting ring 2, a central processing table 3, a supporting rod 4, a displacement rolling ball 5, an annular plate 6, an adjusting gear ring 7, a base 8, a slow motor 9, an adjusting gear 10, a positioning block 11, a positioning table 12, a spring 13, a clamping rod 14, a pull rod 15, a threaded seat 16, a threaded adjusting rod 17, a rotating handle 18, a clamping plate 19, a stabilizing rod 20 and a limiting sleeve 21.

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. 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.

Referring to fig. 1-3, the clamping apparatus of the industrial robot in this embodiment includes a processing table structure, an adjusting device disposed on the processing table structure for adjusting and providing power, and a clamping device disposed on the processing table structure and capable of being mounted and clamped in multiple directions, wherein the processing table structure includes a base 1, a spacing ring 2 fixedly mounted on the upper surface of the base 1, a central processing table 3 welded on the upper surface of the base 1, and an annular plate 6 surrounding the outer surface of the central processing table 3.

In this embodiment, the appearance of spacing collar 2 and annular plate 6 all is the annular, and the lower fixed surface of annular plate 6 is connected with quantity and is no less than four, and uses the centre of a circle department of annular plate 6 as the bracing piece 4 of central equidistance annular distribution to, the inboard of 6 one end of annular plate is then rolled and is installed displacement spin 5 to bracing piece 4.

The displacement balls 5 are slidably connected to the upper surface of the base 1, so that the annular plate 6 can stably surround the outer surface of the center processing table 3, and the top wall of the annular plate 6 is flush with the top wall of the center processing table 3, thereby ensuring smoothness.

In order to facilitate the control of the machining table structure to perform corresponding angle adjustment, the adjusting device in this embodiment includes a base 8 fixedly mounted on the upper surface of the base 1, and a slow motor 9 is fixedly mounted on the inner side of the base 8, and the slow motor 9 is a contracting brake motor, and after the output shaft stops working, the contracting brake circuit is switched on, so that the output shaft can be locked to prevent rotation.

An adjusting gear 10 is fixedly connected to an output shaft of the slow motor 9, an annular groove is formed in the inner side of the bottom wall of the annular plate 6, an adjusting gear ring 7 which is annular in shape is fixedly connected to the inner side wall of the annular groove, and the adjusting gear 10 extends to the inner side of the annular groove and is meshed with the adjusting gear ring 7.

When the device is used, the output shaft of the slow motor 9 can drive the adjusting gear 10 to rotate after being electrified and started, the adjusting gear 10 is meshed with the adjusting gear ring 7, therefore, the adjusting gear ring 7 and the annular plate 6 can rotate at a constant speed, the annular plate 6 can be adjusted in a rotating mode, at least twelve positioning blocks 11 are fixedly arranged on the upper surface of the annular plate 6 and are distributed in an equidistant annular mode, and the angle between each positioning block 11 and the central processing table 3 can be changed after the annular plate 6 rotates.

In order to facilitate clamping of the workpiece after the angle adjustment, the clamping device in this embodiment includes a positioning table 12 clamped outside the positioning block 11, and the inner side of the positioning table 12 is movably connected with two springs 13 and two clamping rods 14 which are distributed oppositely, wherein the clamping rods 14 are attached to the springs 13, and two side walls of the positioning block 11 are both provided with locking grooves adapted to the clamping rods 14.

Above-mentioned well kelly 14's outside fixedly connected with pull rod 15, this pull rod 15 is located the inboard of spring 13, and its other end of keeping away from kelly 14 extends to the outside of location platform 12, and when using, handheld pull rod 15 draws outward and can drive kelly 14 to the inboard displacement of location platform 12, and spring 13 is in the extrusion state this moment, and kelly 14 can break away from the inboard of locked groove to make things convenient for locating piece 11 and location platform 12 to separate.

On the contrary, after the pull rod 15 is loosened, the spring 13 in the extrusion state can rebound, so that the spring 13 can provide elastic force for the clamping rod 14, and the clamping rod is clamped in the locking groove on the positioning block 11, so that the positioning block 11 and the positioning table 12 are convenient to fix, and as the number of the positioning blocks 11 is not less than twelve, and the annular plate 6 can rotate in the direction, the multi-angle installation and adjustment are convenient.

It can be understood that the upper surface of the positioning table 12 is fixedly connected with a threaded seat 16, the inner side of the threaded seat 16 is in threaded connection with a threaded adjusting rod 17, the outer part of the threaded adjusting rod 17 is fixedly connected with a rotating handle 18, and the other end of the threaded adjusting rod, which is far away from the rotating handle 18, is movably provided with a clamping plate 19, when in use, the threaded adjusting rod 17 can be rotated to change the spiral telescopic position of the threaded adjusting rod on the inner side of the threaded seat 16, so that the clamping plate 19 can be driven to perform transverse displacement.

And a stabilizer bar 20 is fixedly connected to the outer wall of the clamping plate 19 on the side close to the threaded adjusting rod 17, the stabilizer bar 20 penetrates through the threaded seat 16 and extends to the other end thereof, a limiting sleeve 21 is fixedly connected to the end, and the limiting sleeve 21 is also positioned on the outer side of the threaded adjusting rod 17.

When the threaded adjusting rod 17 is adjusted in lateral displacement, the clamping plate 19 can drive the stabilizer bar 20 to perform synchronous displacement, and the stabilizer bar 20 is always positioned on the inner side of the threaded seat 16 in the displacement process, so that better structural stability can be provided for the structure.

When in actual use, can come the clamping device of corresponding quantity by location platform 12 with locating piece 11 location according to the type of work piece, then adjust annular plate 6's rotation direction to can confirm suitable centre gripping angle, the 19 displacements of final control grip block carry out the centre gripping to the work piece can, consequently can conveniently carry out reliable and stable centre gripping to the work piece of different model sizes, different position and different shapes, thereby can make things convenient for corresponding industrial robot to carry out stable accurate processing to the work piece.

The working principle of the above embodiment is as follows:

1 install the locating piece 11 outside the locating piece in different position with locating table 12, just so can conveniently install clamping device to different angles, also can select the quantity of the device in a flexible way simultaneously, and, steerable slow motor 9 starts after finishing installing, adjusting gear 10 rotates and drives the regulation ring gear 7 transmission rather than the meshing, just so makes the annular plate 6 can change the angle in a flexible way, consequently can make things convenient for clamping device to carry out nimble regulation and stabilize the centre gripping location to the work piece of different grade type, size and appearance.

2 the screw thread adjusting rod 17 is rotated to make the screw thread adjusting rod move in the inner side of the screw thread seat 16, after the screw thread adjusting rod moves, the clamping plate 19 can move synchronously and clamp the workpiece, in addition, the stabilizing rod 20 on the outer side of the clamping plate 19 is always positioned on the inner side of the screw thread seat 16 when the clamping plate is adjusted, and the limiting sleeve 21 is arranged outside the stabilizing rod 20, so that the stability of the structure adjustment before the screw thread adjusting rod 17 can be enhanced, and the clamp can be ensured to be stable and reliable and is flexibly and conveniently adjusted when in actual use.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A new clamp for an industrial robot comprising:

the device comprises a base (1), a limiting ring (2) and a central processing table (3), wherein the limiting ring and the central processing table are arranged on the base, and an annular plate (6) is arranged on the outer side of the central processing table (3);

the method is characterized in that:

adjusting devices are arranged on the base (1) and the annular plate (6), each adjusting device comprises a base (8) arranged on the base (1), an adjusting gear ring (7) fixedly arranged in the annular plate (6), a slow motor (9) fixedly arranged in the base (8) and an adjusting gear (10) arranged on an output shaft of the slow motor (9), and a positioning block (11) is arranged outside the annular plate (6);

the outer side of the annular plate (6) is provided with a clamping device, and the clamping device comprises a positioning table (12) arranged outside the positioning block (11), a spring (13), a clamping rod (14) and a pull rod (15) arranged in the positioning table (12), a threaded seat (16) arranged on the positioning table (12), a threaded adjusting rod (17) and a stabilizing rod (20) movably arranged in the threaded seat (16), and a clamping plate (19) movably connected with the threaded adjusting rod (17).

2. A new clamp for an industrial robot according to claim 1, characterized in that: the appearance of spacing collar (2) and annular slab (6) all is the annular, set up the annular channel that the appearance is annular and indent in the diapire of annular slab (6).

3. A new clamp for an industrial robot according to claim 1, characterized in that: the lower fixed surface of annular plate (6) is connected with bracing piece (4) that four are no less than in quantity, the inboard of bracing piece (4) is provided with displacement spin (5) with base (1) surface laminating.

4. A new clamp for an industrial robot according to claim 2, characterized in that: the slow motor (9) is a band-type brake motor, the adjusting gear ring (7) is located on the inner side of the annular groove, and the adjusting gear (10) is meshed with the adjusting gear ring (7).

5. A new clamp for an industrial robot according to claim 1, characterized in that: locating piece (11) are the block that the appearance is the cuboid, and twelve are no less than its quantity, the locked groove has all been seted up in the both sides wall of locating piece (11).

6. A new clamp for an industrial robot according to claim 1, characterized in that: the positioning table (12) is connected to the outer side of the positioning block (11) in a clamped mode, and the number of the springs (13), the clamping rods (14) and the pull rods (15) on the inner side of the positioning table (12) is two.

7. A new clamp for an industrial robot according to claim 5, characterized in that: the clamping rod (14) is fixedly connected with the pull rod (15), the spring (13) surrounds the outer side of the pull rod (15), and the clamping rod (14) is matched with the locking groove.

8. A new clamp for an industrial robot according to claim 7, characterized in that: one end of the pull rod (15) far away from the clamping rod (14) extends out of the positioning table (12), and the threaded adjusting rod (17) is installed on the inner side of the threaded seat (16) in a threaded mode.

9. A new clamp for an industrial robot according to claim 1, characterized in that: the clamping plate (19) is fixedly connected with the stabilizer bar (20), and the other end, far away from the clamping plate (19), of the stabilizer bar (20) is fixedly connected with a limiting sleeve (21).

10. A new clamp for an industrial robot according to claim 9, characterized in that: the anti-falling device is characterized in that an anti-falling hole is formed in the limiting sleeve (21), the thread adjusting rod (17) is located in the anti-falling hole, and a rotating handle (18) is arranged at one end, far away from the clamping plate (19), of the thread adjusting rod (17).