CN116810841A - Industrial robot with composite clamp for machining - Google Patents
Industrial robot with composite clamp for machining Download PDFInfo
- Publication number
- CN116810841A CN116810841A CN202310037912.5A CN202310037912A CN116810841A CN 116810841 A CN116810841 A CN 116810841A CN 202310037912 A CN202310037912 A CN 202310037912A CN 116810841 A CN116810841 A CN 116810841A
- Authority
- CN
- China
- Prior art keywords
- clamping plate
- driving
- slide rail
- industrial robot
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 24
- 238000003754 machining Methods 0.000 title claims description 13
- 150000001875 compounds Chemical class 0.000 claims abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention relates to the technical field of industrial robots and compound clamps, and discloses an industrial robot with a processing compound clamp, which comprises a clamp seat, wherein the front end of the clamp seat is provided with a sliding groove, the position, corresponding to the sliding groove, inside the clamp seat is provided with a first linear sliding rail, a first travel sensor is arranged in the first linear sliding rail, the left side of the inner wall of the clamp seat is provided with a hydraulic push rod, the right end of the hydraulic push rod is connected with a driving slide rod, the rear end of the driving slide rod is in sliding connection with the first linear sliding rail, the bottom of the driving slide rod is connected with a left clamping plate, the bottom of the clamp seat is provided with a right clamping plate in a sliding manner, the driving structure of the right clamping plate is symmetrical with the driving structure of the left clamping plate, and the inner bevel edge of the left clamping plate is provided with a movable sliding rail. The clamping pressure adjusting device is beneficial to adjusting clamping pressure according to the actual clamping of the object, is beneficial to adjusting the clamping mode according to the shape of the object, and is beneficial to improving the applicability of the composite clamp industrial robot.
Description
Technical Field
The invention relates to the technical field of industrial robots and composite clamps, in particular to an industrial robot with a composite clamp processing function.
Background
Along with the continuous improvement of manufacturing industry level, industrial robots are becoming more popular, and the industrial robots replace workers to finish the clamping movement of articles, so that the industrial robots can clamp and move the articles with different materials and different shapes by adopting the composite clamp.
The existing Chinese patent (publication number: CN 114603536A) and an industrial robot with a processing composite clamp, when the workpiece is clamped and stressed, main resistance is borne by a third sliding block and a second convex plate, so that the stress of a guide rod and a second screw rod is greatly reduced, the service life is obviously prolonged, meanwhile, as the regulating plate, the third sliding block and the second convex plate are positioned at the outer side, the clamping and replacement are more convenient, and the workpiece is used as a simple stressed structural member, the workpiece can be made of materials with lower cost on the premise of ensuring the stress intensity, so that the replacement cost is reduced, the workpiece is clamped by adopting a single motor and the screw rod, the clamping loosening condition can occur in the working process of the screw rod along with the abrasion of the screw rod and the assembly gap of clamping parts, and the clamping pressure and the clamping mode of the workpiece are certain for the industrial robot, and the clamping modes of the workpiece are also required to be adjusted according to reality due to different materials and shapes of products.
Therefore, the industrial robot with the composite clamp is beneficial to adjusting clamping pressure according to the actual clamping of the article, adjusting clamping mode according to the shape of the article and improving applicability of the industrial robot with the composite clamp.
Disclosure of Invention
The invention aims to provide an industrial robot with a composite fixture, which solves the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an industrial robot with processing compound anchor clamps, includes the anchor clamps seat, the spout has been seted up to the anchor clamps seat front end, the inside position that corresponds the spout of anchor clamps seat has been seted up first linear slide rail, install first travel sensor in the first linear slide rail, hydraulic push rod is installed in anchor clamps seat inner wall left side, hydraulic push rod right-hand member is connected with the drive slide bar, drive slide bar rear end sliding connection on first linear slide rail, drive slide bar bottom is connected with left splint, anchor clamps seat bottom slidable mounting has right splint, the drive structure of right splint is the same with the drive structure symmetry of left splint, the hypotenuse has been seted up to the interior hypotenuse of left splint, sliding mounting has the slider in the removal slide rail, the slider end is through electric putter promotion removal.
As a preferred embodiment of the invention, a second linear slide rail is arranged between the top end of the left clamping plate and the bottom surface of the clamp seat, and the left clamping plate moves on the second linear slide rail synchronously with the movement of the driving slide bar on the first linear slide rail.
As a preferable implementation mode of the invention, the electric push rod drives the sliding block to move downwards on the moving sliding rail, the side length of the inner included angle of the left clamping plate is shortened, and a second stroke sensor is arranged in the electric push rod.
As a preferred embodiment of the present invention, the left clamping plate and the right clamping plate are moved toward each other so that they form a clamped state.
As a preferred embodiment of the present invention, the side length of the inner angle of the right clamping plate is synchronously shortened, and the side length of the inner angle of the left clamping plate and the side length of the inner angle of the right clamping plate are synchronously changed.
As a preferred embodiment of the invention, the top of the clamp seat is provided with a rotary connecting rod, the top of the rotary connecting rod is provided with a driving frame, and the inner wall of the driving frame is connected with a driving shell through a shaft body.
As a preferable implementation mode of the invention, the rear end of the driving shell is connected with the base through the driving rod, and the front end of the driving rod is connected with the motor in the corresponding driving shell.
As a preferable implementation mode of the invention, the driving slide bar is connected through the corresponding left clamping plate of the slide groove, and the first linear slide rail is connected through the corresponding clamp seat of the driving slide bar by a signal wire.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through the arrangement of the first linear slide rail, the second linear slide rail, the hydraulic push rod, the driving slide rail, the movable slide rail, the sliding block and the electric push rod, the two groups of hydraulic push rods synchronously push the driving slide rod to move on the first linear slide rail through synchronously starting the hydraulic push rods of the left clamping seat and the right clamping seat, so that the left clamping plate and the right clamping plate synchronously move in opposite directions to clamp a product, the bidirectional moving clamping stroke is half of the unidirectional moving clamping stroke scale compared with the unidirectional moving clamping stroke scale, meanwhile, the electric push rod is started to drive the sliding block to move downwards on the movable slide rail, the side length of an inner included angle of the left clamping plate is shortened along with the sliding block, the side length of the right clamping plate synchronously shortens along with the side length of the inner included angle, and the left clamping plate and the right clamping plate can be suitable for clamping different shapes of objects through adjusting the side length of the inner included angle, thereby being beneficial to clamping pressure according to the shape adjustment clamping of the object.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of an industrial robot with a composite fixture for machining according to the present invention;
FIG. 2 is a schematic view showing an internal structure of a jig base of an industrial robot with a composite jig for machining according to the present invention;
FIG. 3 is a schematic view of a length structure of an industrial robot with a composite fixture according to the present invention;
FIG. 4 is a schematic view of a left clamping plate structure of an industrial robot with a machining composite clamp according to the present invention;
fig. 5 is a schematic view of the structure of a left clamping plate and a right clamping plate of an industrial robot with a machining composite clamp.
In the figure: 1. a base; 2. a clamp seat; 3. a rotary connecting rod; 4. a drive rack; 5. a driving case; 6. a driving rod; 7. a chute; 8. a right clamping plate; 9. a left clamping plate; 10. driving a slide bar; 11. a signal line; 12. a hydraulic push rod; 13. a first linear slide; 14. a second linear slide rail; 15. a first travel sensor; 16. an electric push rod; 17. a slide block; 18. moving the slide rail; 19. and a second stroke sensor.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention; in the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, or detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides an industrial robot with processing compound anchor clamps, includes anchor clamps seat 2, the spout 7 has been seted up to anchor clamps seat 2 front end, the inside position that corresponds spout 7 of anchor clamps seat 2 has seted up first linear slide rail 13, install first travel sensor 15 in the first linear slide rail 13, hydraulic push rod 12 is installed in anchor clamps seat 2 inner wall left side, hydraulic push rod 12 right-hand member is connected with drive slide bar 10, drive slide bar 10 rear end is sliding connection on first linear slide rail 13, drive slide bar 10 bottom is connected with left splint 9, anchor clamps seat 2 bottom slidable mounting has right splint 8, the drive structure of right splint 8 and the drive structure symmetry of left splint 9 are the same, the interior hypotenuse of left splint 9 has been seted up and has been removed slide rail 18, remove the interior slidable mounting of slide rail 18 has slider 17, slider 17 end promotes the removal through electric push rod 16;
through the synchronous start of the hydraulic push rods 12 of left holder and right holder, two sets of hydraulic push rods 12 promote the drive slide bar 10 in step and remove at first linear slide rail 13, and then left splint 9 and right splint 8 remove the centre gripping product in opposite directions in step, and two-way removal centre gripping stroke is half rather than the one-way removal centre gripping stroke scale, start electric putter 16 simultaneously and drive slider 17 at the removal slide rail 18 downwardly moving, the side length of the interior contained angle of left splint 9 shortens thereupon, the side length of the interior contained angle of right splint 8 shortens thereupon in step, can be adapted to the centre gripping different shape article through the side length adjustment to the interior contained angle of controlling, wherein slider 17 and left splint 9 constitute the angle and can carry out the angle adjustment according to the article of actual centre gripping, can adopt gear structure to realize, be favorable to getting the pressure of article adjustment centre gripping according to the article's shape adjustment centre gripping, improve compound anchor clamps industrial robot's suitability.
In this embodiment, a second linear slide rail 14 is installed between the top end of the left clamping plate 9 and the bottom surface of the clamp seat 2, and the left clamping plate 9 moves on the second linear slide rail 14 synchronously with the movement of the driving slide rod 10 on the first linear slide rail 13;
a second linear slide rail 14 is arranged between the top end of the left clamping plate 9 and the bottom surface of the clamp seat 2, and the moving state of the left clamping plate 9 is more horizontal due to the fact that the second linear slide rail 14 is used for enabling the left clamping plate 9 to be more stable in the moving process.
In this embodiment, the electric push rod 16 drives the sliding block 17 to move downward on the moving sliding rail 18, the side length of the inner included angle of the left clamping plate 9 is shortened, and a second travel sensor 19 is installed in the electric push rod 16;
the electric push rod 16 drives the sliding block 17 to move downwards on the moving slide rail 18, so that the side length of the inner included angle of the left clamping plate 9 is shortened, the side length of the inner included angle is lengthened and shortened along with the left-right movement of the sliding block 17 on the hand of the moving slide rail 18, and the stroke of the electric push rod 16 is detected through the second stroke sensor 19.
In this embodiment, the left clamping plate 9 and the right clamping plate 8 move towards each other so that they form a clamping state;
the left clamping plate 9 and the right clamping plate 8 can clamp the article between the two clamping plates, and the clamped article can adjust the clamp structure according to the actual material and shape.
In this embodiment, the side length of the inner included angle of the right clamping plate 8 is shortened synchronously, and the side length of the inner included angle of the left clamping plate 9 and the side length of the inner included angle of the right clamping plate 8 are changed synchronously;
the side length of the inner included angle of the right clamping plate 8 is synchronously shortened, the side length of the inner included angle of the left clamping plate 9 and the side length of the inner included angle of the right clamping plate 8 are synchronously changed, and the inner included angle driving structure of the left clamping plate 9 and the inner included angle driving structure of the right clamping plate 8 are connected by adopting a synchronizer.
In this embodiment, a rotary connecting rod 3 is disposed at the top of the fixture seat 2, a driving frame 4 is mounted at the top of the rotary connecting rod 3, and a driving shell 5 is connected to the inner wall of the driving frame 4 through a shaft body;
the rotary connecting rod 3 can be driven by a rotary motor, so that the rotary connecting rod 3 drives the clamp seat 2 to rotate, and the driving shell 5 drives the driving frame 4 to adjust.
In this embodiment, the rear end of the driving shell 5 is connected with the base 1 through the driving rod 6, and the front end of the driving rod 6 is connected with a motor in the driving shell 5 correspondingly;
the base 1 is connected with a driving shell 5 through a driving rod 6, and the driving shell 5 drives a driving frame 4 to conduct angle adjustment.
In this embodiment, the driving slide bar 10 passes through the slide groove 7 and is connected with the corresponding left clamping plate 9, and the first linear slide rail 13 passes through the signal wire 11 and is connected with the corresponding clamp seat 2 of the driving slide bar 10;
the driving slide bar 10 passes through the slide groove 7 to be connected with the corresponding left clamping plate 9, the first linear slide rail 13 passes through the driving slide bar 10 to be connected with the corresponding clamp seat 2 through the signal wire 11, and the signal of the first travel sensor 15 of the first linear slide rail 13 is connected with the control board of the clamp seat 2 through the signal wire 11.
When an industrial robot with a composite fixture is used, it should be noted that the present invention is an industrial robot with a composite fixture, and the components are all universal standard components or components known to those skilled in the art, and the structures and principles of the industrial robot are all known to those skilled in the art through technical manuals or through routine experimental methods.
When the clamping device is used, the base 1 is connected with the driving shell 5 through the driving rod 6, the driving frame 4 is driven by the driving shell 5 to conduct angle adjustment, the rotary connecting rod 3 can be driven by the rotary motor, the rotary connecting rod 3 drives the clamp seat 2 to rotate, the left clamp seat and the right clamp seat are synchronously started through the hydraulic push rods 12, the two groups of hydraulic push rods 12 synchronously push the driving slide rods 10 to move on the first linear slide rail 13, the left clamp plate 9 and the right clamp plate 8 synchronously move to clamp products in opposite directions, the bidirectional moving clamping stroke is half of that of the unidirectional moving clamping stroke scale, meanwhile, the electric push rods 16 are started to drive the slide blocks 17 to move downwards on the moving slide rail 18, the side length of the inner included angle of the left clamp plate 9 is shortened, the side length of the inner included angle of the right clamp plate 8 is shortened, the stroke of the electric push rods 16 is detected through the second stroke sensor 19, the inner included angle driving structure of the left clamp plate 9 and the inner included angle driving structure of the right clamp plate 8 are connected through the synchronizer, the side length adjustment of the left clamp plate 9 can be adapted to clamp different-shaped products, the clamping pressure of the clamping products can be adjusted according to the actual clamping products in opposite shapes, and the clamping pressure of the clamping products is adjusted and clamping pressure of the products is improved, and the applicability of the industrial clamping device is improved.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (8)
1. The utility model provides an industrial robot with processing compound anchor clamps, includes anchor clamps seat (2), spout (7) have been seted up to anchor clamps seat (2) front end, first linear slide rail (13) have been seted up to inside position that corresponds spout (7) of anchor clamps seat (2), install first journey sensor (15), its characterized in that in first linear slide rail (13): the left side of the inner wall of the clamp seat (2) is provided with a hydraulic push rod (12), the right end of the hydraulic push rod (12) is connected with a driving slide rod (10), the rear end of the driving slide rod (10) is connected with a left clamping plate (9) in a sliding manner on a first linear slide rail (13), the bottom of the driving slide rod (10) is connected with a right clamping plate (8) in a sliding manner, the driving structure of the right clamping plate (8) is symmetrical with the driving structure of the left clamping plate (9), the inner bevel edge of the left clamping plate (9) is provided with a moving slide rail (18), a sliding block (17) is arranged in the moving slide rail (18), and the tail end of the sliding block (17) is pushed to move through an electric push rod (16).
2. An industrial robot with a machining composite fixture according to claim 1, characterized in that: a second linear slide rail (14) is arranged between the top end of the left clamping plate (9) and the bottom surface of the clamp seat (2), and the left clamping plate (9) moves on the second linear slide rail (14) synchronously along with the movement of the driving slide rod (10) on the first linear slide rail (13).
3. An industrial robot with a machining composite fixture according to claim 1, characterized in that: the electric push rod (16) drives the sliding block (17) to move downwards on the moving sliding rail (18), the side length of the inner included angle of the left clamping plate (9) is shortened along with the side length, and the second stroke sensor (19) is arranged in the electric push rod (16).
4. An industrial robot with a machining composite fixture according to claim 1, characterized in that: the left clamping plate (9) and the right clamping plate (8) move towards each other so that the left clamping plate and the right clamping plate form a clamping state.
5. An industrial robot with a machining composite fixture according to claim 3, characterized in that: the side length of the inner included angle of the right clamping plate (8) is synchronously shortened, and the side length of the inner included angle of the left clamping plate (9) and the side length of the inner included angle of the right clamping plate (8) are synchronously changed.
6. An industrial robot with a machining composite fixture according to claim 1, characterized in that: the fixture is characterized in that a rotary connecting rod (3) is arranged at the top of the fixture seat (2), a driving frame (4) is arranged at the top of the rotary connecting rod (3), and a driving shell (5) is connected to the inner wall of the driving frame (4) through a shaft body.
7. An industrial robot with a machining composite fixture according to claim 1, characterized in that: the rear end of the driving shell (5) is connected with the base (1) through the driving rod (6), and the front end of the driving rod (6) is connected with a motor in the corresponding driving shell (5).
8. An industrial robot with a machining composite fixture according to claim 1, characterized in that: the driving slide bar (10) passes through the slide groove (7) to be connected with the corresponding left clamping plate (9), and the first linear slide rail (13) passes through the driving slide bar (10) to be connected with the corresponding clamp seat (2) through the signal wire (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310037912.5A CN116810841A (en) | 2023-01-07 | 2023-01-07 | Industrial robot with composite clamp for machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310037912.5A CN116810841A (en) | 2023-01-07 | 2023-01-07 | Industrial robot with composite clamp for machining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116810841A true CN116810841A (en) | 2023-09-29 |
Family
ID=88111536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310037912.5A Pending CN116810841A (en) | 2023-01-07 | 2023-01-07 | Industrial robot with composite clamp for machining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116810841A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117293067A (en) * | 2023-11-24 | 2023-12-26 | 深圳市曜通科技有限公司 | Stacking equipment for semiconductor chips |
-
2023
- 2023-01-07 CN CN202310037912.5A patent/CN116810841A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117293067A (en) * | 2023-11-24 | 2023-12-26 | 深圳市曜通科技有限公司 | Stacking equipment for semiconductor chips |
| CN117293067B (en) * | 2023-11-24 | 2024-02-27 | 深圳市曜通科技有限公司 | Stacking equipment for semiconductor chips |
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