CN115366135A - Flexible multi-degree-of-freedom clamp for tail end of robot with large working space - Google Patents

Abstract

A flexible multi-degree-of-freedom clamp for the tail end of a robot with a large working space relates to the field of clamps. The flexible multi-degree-of-freedom clamp at the tail end of the robot with the large working space comprises a fixing plate and a plurality of gripper clamps which are arranged at intervals along the circumferential direction; the gripper clamp comprises a lifting rod, a first rotating cylinder and a second rotating cylinder which are rotatably connected to the fixing plate, and a first connecting block, a second connecting block and a third connecting block which are rotatably sleeved on the lifting rod in a sliding manner, wherein cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected with the first connecting block and the second connecting block, the third connecting block is connected with a lifting cylinder for driving the lifting rod to move along the axial direction, and the bottom end of the lifting rod is connected with a clamping jaw; the first connecting block is connected with a third rotating cylinder for driving a third connecting block to rotate around the lifting rod. The flexible multi-degree-of-freedom clamp for the tail end of the robot with the large working space has high flexibility so as to be suitable for fixing and clamping the outer or inner gaps of plate-shaped parts with different sizes.

Description

Flexible multi-degree-of-freedom clamp for tail end of robot with large working space

Technical Field

The application relates to the field of clamps, in particular to a flexible multi-degree-of-freedom clamp for the tail end of a robot with a large working space.

Background

The existing industrial welding fixture is similar to a mold, one fixture is usually designed for one part, the fixture has great limitation on the part which can be clamped, the flexibility is lacked during use, and the fixture cannot be well adapted to different parts. The novel fixture can only be additionally developed for different parts, the production cost is greatly increased, serious waste is caused, the updating of products is influenced, the existing fixture is easy to clamp the position and influence the stress deformation condition due to the vibration of the part in the process of grabbing and carrying the part, and the qualification rate of finished products is finally influenced.

Disclosure of Invention

The application aims to provide a flexible multi-freedom-degree clamp for the tail end of a robot with a large working space, which has high flexibility and is suitable for fixing and clamping the outer or inner gaps of plate-shaped parts with different sizes.

The embodiment of the application is realized as follows:

the embodiment of the application provides a flexible multi-degree-of-freedom clamp for the tail end of a robot with a large working space, which comprises a fixed plate and a plurality of gripper clamps which are arranged at intervals along the circumferential direction and connected to the fixed plate; the gripper clamp comprises a lifting rod, a first rotating cylinder, a second rotating cylinder, a first connecting block, a second connecting block and a third connecting block, wherein the lifting rod is vertically arranged, the first rotating cylinder and the second rotating cylinder are connected to a fixing plate in a rotating mode along a horizontal plane, the first connecting block, the second connecting block and the third connecting block are sleeved on the lifting rod in a sliding mode along the horizontal plane in a rotating mode, the cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected with the first connecting block and the second connecting block, the third connecting block is connected with a lifting cylinder used for driving the lifting rod to move in the axial direction, and the bottom end of the lifting rod is connected with a clamping jaw; the first connecting block is connected with a third rotating cylinder for driving a third connecting block to rotate around the lifting rod.

In some optional embodiments, the gripper clamp further comprises a connecting plate corresponding to the gripper clamp, a first connecting seat corresponding to the first rotating cylinder, and a second connecting seat corresponding to the second rotating cylinder, the connecting plate is parallel to the fixing plate and is connected to the fixing plate through a connecting column, and the top and bottom of the first connecting seat and the bottom of the second connecting seat are respectively connected to the fixing plate and the corresponding connecting plate in a manner of being capable of rotating in the horizontal direction.

In some alternative embodiments, the first connecting base is connected to at least one first guide rod slidably penetrating therethrough and connected to the first connecting block, and/or the second connecting base is connected to at least one second guide rod slidably penetrating therethrough and connected to the second connecting block.

In some optional embodiments, the first connecting seat and the first connecting block are provided with a corresponding first laser displacement sensor and a corresponding first reflector, and/or the second connecting seat and the second connecting block are provided with a corresponding second laser displacement sensor and a corresponding second reflector.

In some alternative embodiments, both ends of the connecting plate of each gripper jaw are respectively hinged with the ends of the connecting plates of the adjacent gripper jaws through connecting rods.

In some alternative embodiments, the third rotary cylinder is fixed to the first connecting block and the cylinder rod is hinged to the third connecting block by a push rod.

In some alternative embodiments, the jaws include pairs of jaws spaced above one another circumferentially along the lifter bar.

In some optional embodiments, a stop block is fixedly sleeved on the top of the lifting rod.

In some optional embodiments, the lifting rod is connected with a positioning pin for limiting the position of the limiting block.

The beneficial effect of this application is: the flexible multi-degree-of-freedom clamp for the tail end of the robot with the large working space comprises a fixed plate and a plurality of gripper clamps which are arranged at intervals along the circumferential direction and connected to the fixed plate; the gripper clamp comprises a lifting rod, a first rotating cylinder, a second rotating cylinder, a first connecting block, a second connecting block and a third connecting block, wherein the lifting rod is vertically arranged, the first rotating cylinder and the second rotating cylinder are connected to a fixing plate in a rotating mode along a horizontal plane, the first connecting block, the second connecting block and the third connecting block are sleeved on the lifting rod in a sliding mode along the horizontal plane in a rotating mode, the cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected with the first connecting block and the second connecting block, the third connecting block is connected with a lifting cylinder used for driving the lifting rod to move in the axial direction, and the bottom end of the lifting rod is connected with a clamping jaw; the first connecting block is connected with a third rotating cylinder for driving a third connecting block to rotate around the lifting rod. The flexible multi-degree-of-freedom clamp for the tail end of the robot with the large working space has high flexibility to adapt to fixing and clamping of the outer or inner gaps of plate-shaped parts with different sizes, and meanwhile, the flexible multi-degree-of-freedom clamp has large working space and more degrees of freedom to complete clamping work under different working conditions.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a first view of a large-workspace robotic end flexible multiple degree of freedom gripper according to an embodiment of the present disclosure;

FIG. 2 is a structural diagram of a second view of a large workspace robotic end flexible multiple degree of freedom gripper according to an embodiment of the present disclosure;

FIG. 3 is a third perspective view of a flexible multiple degree of freedom gripper at the end of a large workspace robot according to an embodiment of the present disclosure;

FIG. 4 is a fourth perspective view of a flexible multiple degree of freedom gripper at the end of a large workspace robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram illustrating a first view of a gripper clamp in a flexible multiple degree of freedom end gripper of a large-workspace robot according to an embodiment of the present disclosure;

FIG. 6 is a structural diagram illustrating a second view of a gripper clamp of a flexible multiple degree of freedom end gripper of a large-workspace robot according to an embodiment of the disclosure;

FIG. 7 is a schematic structural diagram of a third view of a gripper clamp in a flexible multiple degree of freedom gripper at a distal end of a large-workspace according to an embodiment of the application;

fig. 8 is a schematic view of a connection structure of a lifting rod, a first connection block, a second connection block and a third connection block in a gripper clamp in a flexible multiple-degree-of-freedom clamp at the tail end of a robot with a large working space according to an embodiment of the present application;

fig. 9 is a schematic view of a connection structure of a fixed plate, a connection column, and a connection rod in a flexible multiple-degree-of-freedom clamp for a robot end with a large working space according to an embodiment of the present application.

In the figure: 100. a fixing plate; 110. a connecting plate; 120. connecting columns; 130. a connecting rod; 140. a push rod; 150. a limiting block; 160. positioning pins; 200. a gripper clamp; 210. a lifting rod; 220. a first connection block; 230. a second connecting block; 240. a third connecting block; 250. a first rotating cylinder; 260. a second rotating cylinder; 270. a lifting plate; 280. a lifting cylinder; 290. a clamping jaw; 291. a chuck; 300. a third rotary cylinder; 310. a first connecting seat; 320. a second connecting seat; 330. a first guide bar; 340. a second guide bar; 350. a first laser displacement sensor; 360. a first reflector; 370. a second laser displacement sensor; 380. a second reflector.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The features and performance of the large workspace robotic end effector flexible multiple degree of freedom gripper of the present application are described in further detail below with reference to the examples.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, and 9, an embodiment of the present application provides a set of large-working-space robot end flexible multiple-degree-of-freedom clamps, which includes a horizontally arranged annular fixing plate 100, three gripper clamps 200 arranged at intervals in the circumferential direction and connected to the fixing plate 100, and three connecting plates 110 corresponding to the gripper clamps 200 one by one, wherein the three connecting plates 110 are arranged in parallel below the fixing plate 100 and arranged at intervals in the circumferential direction of the fixing plate 100, and the connecting plates 110 and the fixing plate 100 are connected by connecting posts 120, respectively.

The gripper clamp 200 includes a vertically arranged lifting rod 210, a first connecting seat 310 and a second connecting seat 320 symmetrically disposed on both sides of the lifting rod 210, a first connecting block 220 in a shape of a rectangle, a second connecting block 230 in a shape of a rectangle and a third connecting block 240, the lifting rod 210 sequentially slides from top to bottom through one end of the second connecting block 230, one end of the first connecting block 220, the third connecting block 240, the other end of the first connecting block 220 and the other end of the second connecting block 230, the top and the bottom of the lifting rod 210 are respectively connected with a limiting block 150 and a clamping jaw 290, the lifting rod 210 is further connected with a positioning pin 160 located above the limiting block 150, the clamping jaw 290 includes three pairs of clamping heads 291 circumferentially arranged along the lifting rod 210, and each pair of clamping heads 291 are arranged up and down at intervals and oppositely. The top and the bottom of the first connecting seat 310 and the second connecting seat 320 are rotatably connected to the bottom surface of the fixing plate 100 and the top surface of one end of the corresponding connecting plate 110 through bearings, the first connecting seat 310 and the second connecting seat 320 are connected with a first rotating cylinder 250 and a second rotating cylinder 260, the cylinder rod of the first rotating cylinder 250 is connected with the first connecting block 220, the cylinder rod of the second rotating cylinder 260 is connected with the second connecting block 230, the bottom of the lifting rod 210 is connected with a lifting plate 270 positioned above the clamping jaw 290, the third connecting block 240 is connected with a vertically arranged lifting cylinder 280, the cylinder rod of the lifting cylinder 280 is connected with the top surface of the lifting plate 270, the third connecting block 240 is hinged with a push rod 140, the first connecting seat 310 is connected with a third rotating cylinder 300, the cylinder rod of the third rotating cylinder 300 is hinged with the push rod 140, and the cylinder rods of the first rotating cylinder 250, the second rotating cylinder 260 and the third rotating cylinder 300 drive the first connecting block 220, the second connecting block 230 and the third connecting block 240 to rotate around the lifting rod 210 when extending and retracting.

The first connecting base 310 is connected with two first guide rods 330 slidably penetrating through the first connecting base and connected with the first connecting block 220, the first guide rods 330 are parallel to the cylinder rod of the first rotating cylinder 250, the second connecting base 320 is connected with two second guide rods 340 slidably penetrating through the second connecting block 230 and connected with the second connecting block 230, and the second guide rods 340 are parallel to the cylinder rod of the second rotating cylinder 260. The first connection holder 310 and the first connection block 220 are provided with a first laser displacement sensor 350 and a first reflector 360 which are oppositely arranged, and the second connection holder 320 and the second connection block 230 are provided with a second laser displacement sensor 370 and a second reflector 380 which are oppositely arranged. The two ends of the connecting plate 110 of each gripper clamp 200 are respectively hinged with the ends of the connecting plates 110 of two adjacent gripper clamps 200 through connecting rods 130.

In the embodiment of the application, when the flexible multi-degree-of-freedom clamp for the tail end of the robot with a large working space is used for operating, the gripper clamp 200 connected with the fixing plate 100 is used for clamping and moving a part, and specifically, the working process of one gripper clamp 200 is taken as an example for description: an operator drives the first connecting block 220 and the second connecting block 230 to move by controlling the cylinder rods of the first rotating cylinder 250 and the second rotating cylinder 260 to stretch and contract, thereby driving the lifting rod 210 sleeved with the first connecting block 220 and the second connecting block 230 to move along a horizontal plane, so that the clamping jaw 290 connected to the bottom end of the lifting rod 210 moves to a preset position of the horizontal plane, and controls the telescopic cylinder rod of the lifting cylinder 280 connected to the third connecting block 240 to drive the lifting plate 270 to push the lifting rod 210 to lift, so that the clamping jaw 290 connected to the bottom end of the lifting rod 210 moves to a preset height, thereby controlling the cylinder rod of the third rotating cylinder 300 to stretch and contract to drive the lifting cylinder 280 and the lifting plate 270 and the lifting rod 210 connected to rotate, so that the clamping jaw 290 connected to the bottom end of the lifting rod 210 rotates to a preset angle to align with the clamping position of a part, thereby rapidly and efficiently clamping, fixing and clamping and moving parts of different shapes and different structures, effectively increasing the stability of the process, reducing the stress deformation of the clamp, simultaneously, each jaw 200 works independently and interferes with more working conditions that the clamp can be clamped under different working conditions.

Be equipped with corresponding first laser displacement sensor 350 and first reflector panel 360 on first connecting seat 310 and the first connecting block 220, be equipped with corresponding second laser displacement sensor 370 and second reflector panel 380 on second connecting seat 320 and the second connecting block 230, can utilize first laser displacement sensor 350 and second laser displacement sensor 370 transmission laser, and make first laser displacement sensor 350 and second laser displacement sensor 370 receive the laser that first reflector panel 360 and second reflector panel 380 reflect and confirm the cylinder pole flexible length of first revolving cylinder 250 and second revolving cylinder 260, thereby drive lifter 210 along the exact position of horizontal plane removal when location first revolving cylinder 250 and second revolving cylinder 260 are flexible.

The embodiments described above are some, but not all embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

Claims (9)

1. A flexible multi-degree-of-freedom clamp for the tail end of a robot with a large working space is characterized by comprising a fixed plate and a plurality of gripper clamps which are arranged at intervals along the circumferential direction and connected to the fixed plate; the gripper clamp comprises a lifting rod, a first rotating cylinder, a second rotating cylinder, a first connecting block, a second connecting block and a third connecting block, wherein the lifting rod is vertically arranged, the first rotating cylinder and the second rotating cylinder are connected to the fixing plate in a rotating mode along the horizontal plane, the first connecting block, the second connecting block and the third connecting block are sleeved on the lifting rod in a sliding mode along the horizontal plane in a rotating mode, the cylinder rods of the first rotating cylinder and the second rotating cylinder are connected with the first connecting block and the second connecting block respectively, the third connecting block is connected with a lifting cylinder used for driving the lifting rod to move in the axial direction, and the bottom end of the lifting rod is connected with a clamping jaw; the first connecting block is connected with a third rotating cylinder for driving the third connecting block to rotate around the lifting rod.

2. The large workspace robot end flexible multiple degree of freedom gripper according to claim 1, further comprising a connecting plate corresponding to the gripper, a first connecting seat corresponding to the first rotating cylinder, and a second connecting seat corresponding to the second rotating cylinder, wherein the connecting plate is parallel to the fixed plate and connected to the fixed plate through a connecting post, and the top and bottom of the first connecting seat and the second connecting seat are respectively connected to the fixed plate and the connecting plate in a horizontal direction in a rotatable manner.

3. The large workspace robotic end flexible multiple degree of freedom gripper according to claim 2, wherein the first linkage base is coupled to at least one first guide rod slidably passing therethrough and coupled to the first linkage block, and/or the second linkage base is coupled to at least one second guide rod slidably passing therethrough and coupled to the second linkage block.

4. The large workspace robot end flexible multiple degree of freedom clamp of claim 3, wherein the first connecting base and the first connecting block are provided with corresponding first laser displacement sensors and first reflectors, and/or the second connecting base and the second connecting block are provided with corresponding second laser displacement sensors and second reflectors.

5. The large workspace robot end flexible multiple degree of freedom gripper according to claim 2, wherein both ends of the connecting plate of each gripper are respectively hinged to the ends of the connecting plates of adjacent gripper grippers by a connecting rod.

6. The large workspace robot end flexible multiple degree of freedom gripper according to claim 2, wherein the third rotating cylinder is fixed to the first connecting block and a cylinder rod is hinged to the third connecting block by a push rod.

7. The large workspace robotic end flexible multiple degree of freedom gripper according to claim 1, wherein the jaws comprise a plurality of pairs of vertically disposed jaws spaced circumferentially along the lifting rod.

8. The large workspace robotic distal end flexible multiple degree of freedom gripper of claim 1, wherein the top of said lifting rod is fixedly sleeved with a stop block.

9. The large workspace robotic end flexible multiple degree of freedom gripper according to claim 8, wherein the lifting lever is coupled with a locating pin for defining the position of the stop block.

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