CN117140571B - Industrial robot chuck and robot - Google Patents
Industrial robot chuck and robot Download PDFInfo
- Publication number
- CN117140571B CN117140571B CN202311440228.8A CN202311440228A CN117140571B CN 117140571 B CN117140571 B CN 117140571B CN 202311440228 A CN202311440228 A CN 202311440228A CN 117140571 B CN117140571 B CN 117140571B
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- fixedly connected
- clamping
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- mounting frame
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- 230000007306 turnover Effects 0.000 claims abstract description 40
- 210000001503 joint Anatomy 0.000 claims abstract description 17
- 238000003756 stirring Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010008 shearing Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The application discloses an industrial robot chuck and robot relates to manipulator technical field. The application comprises the following steps: the number of the connecting joints is two, one end of each connecting joint is connected with a mounting frame, and the bottom of each mounting frame is rotatably provided with a double-finger chuck; the butt joint connecting rod is arranged between the mounting frame and the double-finger chuck and comprises a turnover plate hinged to two opposite sides of the mounting frame, a limiting block is constructed at the bottom of the hinged end of the turnover plate, a limiting sleeve which is inserted with the limiting block is connected to the double-finger chuck, and a pulling piece for driving the turnover plate to rotate is arranged between the turnover plate and the mounting frame. According to the device, the butt joint connecting rod is arranged on the connecting joint, the two connecting joints are connected together to form a whole through the butt joint connecting rod, and the double-finger clamping heads can synchronously move, so that the original single-point clamping of the columnar objects such as the pipeline is changed into multi-point clamping, the stability of clamping is improved, and the functionality and the flexibility of the device are improved.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to an industrial robot chuck and a robot.
Background
The invention provides an industrial robot chuck and a robot which are provided with two manipulators and can mutually butt-joint and synchronously clamp a pipeline.
Disclosure of Invention
The purpose of the present application is: in order to solve the problems in the background art, the application provides an industrial robot chuck and a robot.
The application specifically adopts the following technical scheme for realizing the purposes:
one of the purposes of the present application proposes an industrial robot cartridge comprising:
the two-finger type connecting device comprises two connecting joints, wherein one end of each connecting joint is connected with a mounting frame, two opposite arc clamping jaws are rotatably mounted in each connecting frame through rotating shafts, two meshed column gears are fixedly connected to each rotating shaft, and a driving motor connected with one rotating shaft is fixedly connected in each connecting frame;
the butt joint connecting rod is arranged between the mounting frame and the double-finger chuck, the butt joint connecting rod comprises a turnover plate hinged to the opposite sides of the mounting frame, a limiting block is constructed at the bottom of the hinged end of the turnover plate, a limiting sleeve which is inserted into the limiting block is connected to the double-finger chuck, a pulling piece for driving the turnover plate to rotate is arranged between the turnover plate and the mounting frame, and the opposite ends of the two turnover plates are detachably connected through an electromagnetic connecting piece;
the auxiliary clamping plates are arranged in number and respectively rotate at the middle parts of the opposite sides of the two overturning plates, the two auxiliary clamping plates are oppositely arranged in azimuth and oppositely overturned, and the opposite sides of the two auxiliary clamping plates are respectively provided with a magnetic attraction block capable of vertically adjusting the positions.
Further, the opposite sides of the two arc clamping jaws are provided with arc grooves for clamping the pipeline, and rubber strips are fixedly connected to the inner walls of the arc grooves.
Further, the pulling piece comprises an inclined rail fixedly connected to the bottom of the installation frame, electromagnetic push blocks are fixedly connected to two ends of the inclined rail, a permanent magnet slider is slidably installed in the inclined rail, a connecting column is formed in the middle of the turnover plate, and a tension spring is hinged between the connecting column and the permanent magnet slider.
Further, one of them the tip structure of upset board has the jack-in groove, another the tip structure of upset board has the grafting piece that inserts mutually with the jack-in groove, electromagnetic connector includes the fixed pipe of fixed connection in the jack-in groove both sides, slidable mounting has the card post in the fixed pipe, be connected with the cover between the tip of card post and fixed pipe and establish the coupling spring on the card post, two equal fixedly connected with electromagnetic block of opposite ends of fixed pipe, the both sides of grafting piece all are constructed the card hole that is used for the card post grafting.
Further, the auxiliary clamping plate comprises a first rotating rod rotatably arranged in one of the turnover plates, a second rotating rod rotatably arranged in the other turnover plate, stirring plates movably penetrating through the side surfaces of the turnover plates are fixedly sleeved on the first rotating rod and the second rotating rod, a driving piece arranged on one of the turnover plates is arranged between the opposite ends of the first rotating rod and the second rotating rod, and the driving piece is used for driving the first rotating rod and the second rotating rod to synchronously rotate reversely.
Further, the driving piece comprises a transmission bevel gear fixedly connected to the opposite ends of the first rotating rod and the second rotating rod, a driving motor is fixedly connected to the plug-in block, a driving bevel gear rotatably mounted on the plug-in block is fixedly connected to an output shaft of the driving motor, and the driving bevel gear is synchronously meshed with the two transmission bevel gears.
Further, the stirring plate is internally provided with a T-shaped vertical groove, the magnetic attraction block comprises a fixed magnetic rod fixedly connected to the bottom of the T-shaped vertical groove, one end of the T-shaped vertical groove communicated with the outside is slidably inserted with a plurality of sliding magnetic rods arranged in parallel with the fixed magnetic rod along the length direction of the T-shaped vertical groove, the T-shaped vertical groove is internally provided with a shearing fork connecting rod, the hinging shaft at the bottommost part of the shearing fork connecting rod is connected with the fixed magnetic rod, the rest hinging shafts at the middle part of the shearing fork connecting rod are respectively connected with the sliding magnetic rod in sequence, the hinging shaft at the uppermost side of the shearing fork connecting rod is fixedly connected with an adjusting rod which slides to penetrate through the stirring plate, and the stirring plate is fixedly connected with an electric push rod with an output end connected with the adjusting rod.
The second of this application purpose proposes a robot, including above-mentioned industrial robot chuck, still includes the positioning seat, the positioning seat upper end rotates to be installed and accepts the horizontal pole, it all rotates at the both ends of accepting the horizontal pole and installs L type joint pole one, L type joint pole one keeps away from the one end rotation of accepting the horizontal pole and is connected with L type joint pole two, connect the joint rotation to connect the one end of keeping away from L type joint pole one at L type joint pole two.
The beneficial effects of this application are as follows:
according to the device, the butt joint connecting rod is arranged on the connecting joint, the two connecting joints are connected together to form a whole through the butt joint connecting rod, and the double-finger clamping heads can synchronously move, so that the original single-point clamping of the columnar objects such as the pipeline is changed into multi-point clamping, the stability of clamping is improved, and the functionality and the flexibility of the device are improved.
Drawings
FIG. 1 is a perspective view of the present application;
FIG. 2 is a partial perspective view of the present application;
FIG. 3 is a perspective view in half section of the structure of FIG. 2 of the present application;
FIG. 4 is a perspective view of a two-finger chuck of the present application in semi-section;
FIG. 5 is another partial perspective view of the present application;
FIG. 6 is a semi-sectional view of the solid structure of FIG. 5 of the present application;
FIG. 7 is a partial perspective view in half section of yet another alternative embodiment of the present application;
FIG. 8 is a semi-sectional view of the alternate perspective view of FIG. 7 of the present application;
FIG. 9 is an enlarged view of FIG. 7A of the present application;
FIG. 10 is a perspective view of the auxiliary splint of the present application;
FIG. 11 is a perspective view in half section of the present application of FIG. 10;
reference numerals: 1. connecting joints; 101. an L-shaped pipe body; 102. adjusting a motor; 2. a mounting frame; 201. a U-shaped groove; 3. a double-finger chuck; 301. a connection frame; 302. a rotating shaft; 303. arc clamping jaws; 3031. an arc groove; 3032. a rubber strip; 304. a post gear; 305. a drive motor; 4. a butt joint connecting rod; 401. a turnover plate; 4011. a plug-in groove; 4012. a plug block; 402. a limiting block; 403. a limit sleeve; 404. a pulling member; 4041. a ramp; 4042. an electromagnetic push block; 4043. a permanent magnet slider; 4044. a connecting column; 4045. a tension spring; 405. an electromagnetic connector; 4051. a fixed tube; 4052. a clamping column; 4053. a connecting spring; 4054. an electromagnetic block; 4055. a clamping hole; 5. an auxiliary clamping plate; 501. a first rotating rod; 502. a second rotating rod; 503. a toggle plate; 5031. t-shaped vertical grooves; 504. a driving member; 5041. a drive bevel gear; 5042. a driving motor; 5043. driving a bevel gear; 6. a magnetic suction block; 601. fixing the magnetic rod; 602. a sliding magnetic rod; 603. a scissors fork connecting rod; 604. an adjusting rod; 605. an electric push rod; 7. a positioning seat; 8. a receiving cross bar; 9. an L-shaped joint rod I; 10. and the L-shaped joint rod II.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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.
Example 1
As shown in fig. 1-2, an industrial robot chuck according to a first embodiment of the present application includes:
the two-finger clamping device comprises two connecting joints 1, wherein one end of each connecting joint 1 is connected with a mounting frame 2, the bottom of each mounting frame 2 is rotatably provided with two-finger clamping heads 3, and each double-finger clamping head 3 is a clamping structure with two movable ends and is used for clamping massive articles;
the butt joint connecting rod 4 is arranged between the mounting frame 2 and the double-finger clamping heads 3 and comprises a turnover plate 401 hinged on opposite sides of the two mounting frames 2, the turnover plate 401 is rectangular, a limiting block 402 is constructed at the bottom of the hinged end of the turnover plate 401, a limiting sleeve 403 which is inserted and combined with the limiting block 402 is connected on the double-finger clamping heads 3, namely, a detachable inserting structure is arranged between the corner of the bottom of the turnover plate 401 and the fixed end of the double-finger clamping heads 3, a pulling piece 404 for driving the turnover plate 401 to rotate is arranged between the turnover plate 401 and the mounting frame 2, opposite ends of the two turnover plates 401 are detachably connected through an electromagnetic connecting piece 405, when the device needs to clamp a blocky article, the double-finger clamping heads 3 on the connecting joint 1 can be used for singly clamping, the double-finger clamping heads 3 are in two-point contact during clamping, the clamping stability is met, the volume of the clamping head end can be reduced, and the flexibility is increased, at this time, the overturning plates 401 can be overturned to the direction close to the connecting joint 1 through the pulling piece 404, so that the accommodating effect is achieved, the clamping operation of the double-finger clamping head 3 on the article is avoided, when the pipeline or the strip-shaped article is required to be clamped, the two overturning plates 401 can be overturned to the direction perpendicular to the fixed end of the double-finger clamping head 3 through the pulling piece 404, the limiting block 402 and the limiting sleeve 403 are used for angular positioning, then the two overturning plates 401 are butted together through the movement of the connecting joint 1, the end parts of the two overturning plates are connected through the electromagnetic connecting piece 405, so that the two double-finger clamping heads 3 form a whole, the strip-shaped article such as the pipeline is clamped in a multi-point contact mode, the clamping stability can be increased, the safety during the clamping transportation is ensured, and the inclined falling is avoided;
the auxiliary clamping plates 5 are arranged in number, two auxiliary clamping plates 5 are respectively rotatably arranged on the opposite sides of the middle parts of the two overturning plates 401 in the length direction, the two auxiliary clamping plates 5 are oppositely arranged in azimuth and are oppositely overturned, the magnetic attraction blocks 6 capable of vertically adjusting positions are respectively arranged on the opposite sides of the two auxiliary clamping plates 5, the number of the auxiliary clamping plates 5 is two, the auxiliary clamping plates are respectively arranged on the two sides of an article when clamping strip-shaped articles such as pipelines and the like, the auxiliary clamping effect is achieved by utilizing the relative movement of the auxiliary clamping plates and the articles, the contact points with the articles are increased, the clamping stability is improved, the magnetic attraction blocks 6 are permanent magnets, and the auxiliary clamping plates are used for increasing the clamping stability when clamping iron pipelines or iron strip-shaped articles.
As shown in fig. 2-3, in the first embodiment, the connection joint 1 includes an L-shaped tube 101, one end of the L-shaped tube 101 is fixedly connected with an adjusting motor 102, the mounting frame 2 is fixedly connected to an output shaft of the adjusting motor 102 and is rotatably sleeved at an end of the L-shaped tube 101, and the two-finger clamping head 3 at the bottom of the mounting frame 2 can rotate to a certain extent along with the mounting frame 2 by using the adjusting motor 102, so that flexibility of the two-finger clamping head 3 is increased, and clamping operation on a bulk article is facilitated.
As shown in fig. 4, in the first embodiment, the bottom of the mounting frame 2 is configured with a U-shaped groove 201, the double-finger chuck 3 includes a connection frame 301 rotatably mounted in the U-shaped groove 201, the connection frame 301 is rotatably connected with the U-shaped groove 201 through a shaft rod, a turnover motor (not shown in the drawing) connected with one of the shaft rods can be disposed on the mounting frame 2, the connection frame 301 is driven to turn over in the U-shaped groove 201 by the motor, so as to further increase the flexibility of the double-finger chuck 3, more facilitate the multi-angle clamping operation of the block-shaped article, two oppositely disposed arc-shaped clamping claws 303 are rotatably mounted in the connection frame 301 through the shaft rods 302, the two shaft rods 302 are fixedly connected with mutually meshed post gears 304, the driving motor 305 connected with one of the shaft rods 302 is fixedly connected in the connection frame 301, the shaft rods 302 are driven to rotate by the driving motor during the clamping operation, and then the two shaft rods 302 are reversely rotated by the meshing of the two post gears 304, so that the two arc-shaped clamping claws 303 are driven to perform the relative operation, thereby facilitating the clamping or loosening of the article.
As shown in fig. 4, in the first embodiment, the opposite sides of the two arc clamping jaws 303 are configured with an arc groove 3031 for clamping a pipeline, the inner wall of the arc groove 3031 is fixedly connected with a rubber strip 3032, the arc groove 3031 is configured to increase the contact area when clamping the pipeline or the strip-shaped article, and the rubber strip 3032 is configured to increase the friction force therebetween, so that the stability when clamping the pipeline or the strip-shaped article is further improved, the falling-off condition is avoided, and the safety is increased.
Example two
As shown in fig. 5-6, this embodiment further perfects the application based on the first embodiment, considering that the turning plate 401 needs to be reciprocally turned at this time, the separate motor drives a permanent magnet slide 4043 which is not easy to lock, and can affect the stability of the subsequent clamping, in the second embodiment, the pulling member 404 includes a ramp 4041 fixedly connected to the bottom of the mounting frame 2, the ramp 4041 is obliquely upwards arranged, both ends of the ramp 4041 are fixedly connected with an electromagnetic push block 4042, the electromagnetic push block 4042 is an existing electromagnet with changeable magnetic pole direction, the direction of current is changed to change the magnetic pole direction, and the magnetic pole directions of the two electromagnetic push blocks 4042 are always opposite, the permanent magnet slide 4043 is slidably mounted in the ramp 4041, the permanent magnet slide 4043 is an existing permanent magnet, the magnetic pole direction is always kept unchanged, a connecting post 4044 is hinged between the connecting post 4044 and the permanent magnet slide 4043, when the two-finger clamp 3 is required to be singly used, the electromagnetic slide block 4042 on the ramp 4041 can be attracted by the permanent magnet slide block 4042, the permanent magnet slide block 4042 is attracted by the permanent magnet slide block 4042, the opposite to the other end of the ramp 4043 is required to be further attracted by the ramp 4043, and the other end of the ramp 4043 is required to be obliquely moved to be attached to the other end of the ramp 4043, and the electromagnetic slide 40 is required to be attracted by the other end of the ramp 4043, and the ramp 4043 is required to be turned upwards, and the other end of the ramp 4043 is required to be attached to the opposite to the slide, and the other end of the slide 40, and the slide 40 is required to be attached to the slide 43, and is a tension 43, and is used. The permanent magnet sliding block 4043 and the connecting column 4044 in the middle of the turnover plate 401 form an inclined downward angle, and the turnover plate 401 is driven to turn downwards by the elastic tension of the tension spring 4045 until the limiting block 402 on the turnover plate 401 is inserted into the limiting sleeve 403, so that the state transition of the turnover plate 401 is realized, and the motor driving is not needed, so that the resources are saved.
As shown in fig. 5-9, in the second embodiment, the end portion of one of the turnover plates 401 is configured with a plugging slot 4011, the end portion of the other turnover plate 401 is configured with a plugging block 4012 plugged with the plugging slot 4011, the plugging connection between the plugging slot 4011 and the plugging block 4012 is utilized, the firmness of the two turnover plates 401 after being butted can be increased, the electromagnetic connector 405 comprises a fixed pipe 4051 fixedly connected to two sides of the plugging slot 4011, a clamping column 4052 is slidably mounted in the fixed pipe 4051, the clamping column 4052 is made of iron material, a connecting spring 4053 sleeved on the clamping column 4052 is connected between the clamping column 4052 and the end portion of the fixed pipe 4051, the opposite ends of the two fixed pipes 4051 are fixedly connected with electromagnetic blocks 4054, two sides of the plugging block 4012 are respectively provided with clamping holes 4055 for plugging the clamping column 4052, the electromagnetic blocks 4054 in an initial state can be in a magnetic state, the clamping column 4052 can be adsorbed to move towards the inside of the fixed pipe 4051, the connecting spring 4053 is in a stretching state, and the two turnover plates 4052 can be connected towards the opposite ends of the two opposite ends of the clamping block 403 by utilizing the magnetic force, and the clamping blocks 403 can be more conveniently connected with the clamping blocks 4052, and the two clamping blocks 403 can be clamped by the magnetic force of the clamping blocks 403 and the clamping blocks 4052 and the clamping head can be more conveniently connected with the opposite ends of the two clamping blocks 401.
As shown in fig. 5-8, in the second embodiment, the auxiliary clamping plate 5 includes a first rotating rod 501 rotatably installed in one of the rotating plates 401, a second rotating rod 502 rotatably installed in the other rotating plate 401, both the first rotating rod 501 and the second rotating rod 502 are fixedly sleeved with a stirring plate 503 movably penetrating through the side surfaces of the rotating plate 401, a driving member 504 installed on one of the rotating plates 401 is arranged between opposite ends of the first rotating rod 501 and the second rotating rod 502, the driving member 504 is used for driving the first rotating rod 501 and the second rotating rod 502 to synchronously rotate in opposite directions, and after the two rotating plates 401 are butted, the two stirring plates 503 are respectively positioned on two sides of the rotating plate 401, so as to conveniently contact with two sides of a strip-shaped article such as a pipeline, and then the driving member 504 is used for synchronously driving the first rotating rod 501 and the second rotating rod 502 to reversely rotate, so that the two stirring plates 503 can realize the mutual approaching or distant overturning, so as to conveniently clamp the pipeline or the strip-shaped article, increase the contact point with the article, and improve the clamping stability.
As shown in fig. 6, in the second embodiment, the driving member 504 includes a transmission bevel gear 5041 fixedly connected to opposite ends of the first rotating rod 501 and the second rotating rod 502, a driving motor 5042 is fixedly connected to the plug-in block 4012, a driving bevel gear 5043 rotatably mounted on the plug-in block 4012 is fixedly connected to an output shaft of the driving motor 5042, and the second rotating rod 502 is rotatably mounted in the plug-in block 4012, so that the driving bevel gear 5043 is always meshed with the transmission bevel gear 5041 on the second rotating rod 502, after the two turning plates 401 are abutted, the driving bevel gear 5043 is synchronously meshed with the two transmission bevel gears 5041, at this time, the driving bevel gear 5043 is driven to rotate by the driving motor 5042, and when the driving bevel gear 5043 rotates, the two transmission bevel gears 5041 are driven to rotate oppositely, so as to drive the turning plates 503 on the first rotating rod 501 and the second rotating rod 502 to rotate oppositely, thereby realizing the clamping or loosening operation.
Example III
As shown in fig. 10-11, this embodiment further improves the present application based on the second embodiment, considering that the plate structure is not stable enough to clamp the arc-shaped outer wall of the pipeline, in the third embodiment, the toggle plate 503 is internally configured with a T-shaped vertical slot 5031, the magnetic attraction block 6 includes a fixed magnetic rod 601 fixedly connected to the bottom of the T-shaped vertical slot 5031, one end of the T-shaped vertical slot 5031, which is communicated with the outside, is slidably inserted with a plurality of sliding magnetic rods 602 parallel to the fixed magnetic rod 601 along the length direction thereof, a scissor connecting rod 603 is disposed in the T-shaped vertical slot 5031, it should be noted that the scissor connecting rod 603 is of an existing structure, in particular, a plurality of groups of four connecting rods are hinged to each other to form a diamond shape, and each group is hinged to each other by a hinge shaft, so as to form a continuous scissor structure, the hinge shaft at the bottom of the scissor connecting rod 603 is connected with the fixed magnetic rod 601, the rest hinge shafts in the middle of the scissor connecting rod 603 are respectively connected with the sliding magnetic rod 602 in sequence, the hinge shaft at the uppermost side of the scissor connecting rod 603 is fixedly connected with an adjusting rod 604 which penetrates through the stirring plate 503 in a sliding way, when one hinge shaft in the middle of the scissor connecting rod 603 moves, the rest hinge shafts synchronously move, the distances among the hinge shafts are always the same, the stirring plate 503 is fixedly connected with an electric push rod 605 with an output end connected with the adjusting rod 604, the electric push rod 605 can drive the adjusting rod 604 and the hinge shaft at the uppermost end of the scissor connecting rod 603 to move, thereby realizing the adjustment operation of the distances among the sliding magnetic rods 602, facilitating the clamping of different strip-shaped objects, increasing the clamping contact points between the strip-shaped objects, further improving the clamping stability, the sliding magnetic rod 602 is a permanent magnet, the clamping stability of the iron object can be increased.
Example IV
As shown in fig. 1, the robot disclosed in this embodiment application includes the industrial robot chuck disclosed in the first to third embodiments, and further includes a positioning seat 7, a receiving cross rod 8 is rotatably installed at the upper end of the positioning seat 7, an L-shaped joint rod one 9 is rotatably installed at two ends of the receiving cross rod 8, one end of the L-shaped joint rod one 9 far away from the receiving cross rod 8 is rotatably connected with an L-shaped joint rod two 10, the connecting joint 1 is rotatably connected at one end of the L-shaped joint rod two 10 far away from the L-shaped joint rod one 9, and it is noted that the connection between the two is all connected through an electric motor, that is, one end of the connection can be driven by the electric motor to rotate relative to the other end, so that the multi-angle change of the industrial robot is realized by using the rotational connection between the L-shaped joint rod one 9 and the L-shaped joint rod two 10 and the connecting joint 1, so as to increase the flexibility of the double-finger chuck 3.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. An industrial robot chuck, comprising:
the connecting joint (1) is two in number, one end of the connecting joint (1) is connected with a mounting frame (2), the bottom of the mounting frame (2) is rotatably provided with a double-finger chuck (3), the connecting joint (1) comprises an L-shaped pipe body (101), one end of the L-shaped pipe body (101) is fixedly connected with an adjusting motor (102), the mounting frame (2) is fixedly connected to an output shaft of the adjusting motor (102) and rotatably sleeved at the end part of the L-shaped pipe body (101), the bottom of the mounting frame (2) is provided with a U-shaped groove (201), the double-finger chuck (3) comprises a connecting frame (301) rotatably arranged in the U-shaped groove (201), two oppositely arranged arc clamping jaws (303) are rotatably arranged in the connecting frame (301) through rotating shafts (302), mutually meshed post gears (304) are fixedly connected to the two rotating shafts (302), and a driving motor (305) connected with one rotating shaft (302) is fixedly connected to the connecting frame (301);
the butt joint connecting rod (4) is arranged between the mounting frame (2) and the double-finger chuck (3), the butt joint connecting rod (4) comprises a turnover plate (401) hinged to two opposite sides of the mounting frame (2), a limiting block (402) is formed at the bottom of the hinged end of the turnover plate (401), a limiting sleeve (403) which is inserted with the limiting block (402) is connected to the double-finger chuck (3), a pulling piece (404) for driving the turnover plate (401) to rotate is arranged between the turnover plate (401) and the mounting frame (2), two opposite ends of the turnover plate (401) are detachably connected through an electromagnetic connecting piece (405), the pulling piece (404) comprises a inclined rail (4041) fixedly connected to the bottom of the mounting frame (2), electromagnetic push blocks (4042) are fixedly connected to two ends of the inclined rail (4041), permanent magnet sliding blocks (4043) are arranged in a sliding mode in the inclined rail (4041), a connecting column (4044) is formed in the middle of the turnover plate (401), a pulling piece (4044) is connected with a tension spring, the end portion of one of the turnover plate (4043) is connected with an inserting groove (401), and the end portion of the turnover plate (401) is connected with one end portion (401), the electromagnetic connecting piece (405) comprises fixed pipes (4051) fixedly connected to two sides of the plugging groove (4011), clamping columns (4052) are slidably installed in the fixed pipes (4051), connecting springs (4053) sleeved on the clamping columns (4052) are connected between the clamping columns (4052) and the end parts of the fixed pipes (4051), electromagnetic blocks (4054) are fixedly connected to opposite ends of the two fixed pipes (4051), and clamping holes (4055) for plugging the clamping columns (4052) are formed in two sides of the plugging blocks (4012);
auxiliary clamping plates (5) are arranged in number, two auxiliary clamping plates (5) are respectively rotatably arranged on the opposite sides of the middle parts of the two overturning plates (401) in the length direction, the two auxiliary clamping plates (5) are oppositely arranged in azimuth and are oppositely overturned, and the two magnetic attraction blocks (6) capable of vertically adjusting positions are respectively arranged on the opposite sides of the two auxiliary clamping plates (5).
2. The industrial robot chuck according to claim 1, characterized in that the opposite sides of the two arc-shaped clamping jaws (303) are configured with arc-shaped grooves (3031) for clamping a pipe, and rubber strips (3032) are fixedly connected to the inner walls of the arc-shaped grooves (3031).
3. The industrial robot chuck according to claim 1, wherein the auxiliary clamping plate (5) comprises a first rotating rod (501) rotatably mounted in one of the rotating plates (401), a second rotating rod (502) is rotatably mounted in the other rotating plate (401), a stirring plate (503) movably penetrating through the side face of the rotating plate (401) is fixedly sleeved on each of the first rotating rod (501) and the second rotating rod (502), and a driving piece (504) mounted on one of the rotating plates (401) is arranged between opposite ends of the first rotating rod (501) and the second rotating rod (502), and the driving piece (504) is used for driving the first rotating rod (501) and the second rotating rod (502) to synchronously rotate reversely.
4. The industrial robot chuck according to claim 3, wherein the driving member (504) comprises a transmission bevel gear (5041) fixedly connected to opposite ends of the first rotating rod (501) and the second rotating rod (502), the plug-in block (4012) is fixedly connected with a driving motor (5042), an output shaft of the driving motor (5042) is fixedly connected with a driving bevel gear (5043) rotatably mounted on the plug-in block (4012), and the driving bevel gear (5043) is synchronously meshed with the two transmission bevel gears (5041).
5. The industrial robot chuck according to claim 3, wherein the stirring plate (503) is internally provided with a T-shaped vertical groove (5031), the magnetic attraction block (6) comprises a fixed magnetic rod (601) fixedly connected to the bottom of the T-shaped vertical groove (5031), one end of the T-shaped vertical groove (5031) communicated with the outside is slidably inserted with a plurality of sliding magnetic rods (602) parallel to the fixed magnetic rod (601) along the length direction, the T-shaped vertical groove (5031) is internally provided with a shearing fork connecting rod (603), the hinge shaft at the bottommost part of the shearing fork connecting rod (603) is connected with the fixed magnetic rod (601), the rest hinge shafts at the middle part of the shearing fork connecting rod (603) are sequentially connected with the sliding magnetic rods (602), an adjusting rod (604) which penetrates through the stirring plate (503) in a sliding manner is fixedly connected with an output end of the stirring plate (503), and an electric push rod (605) connected with the adjusting rod (604) is fixedly connected with the stirring plate (503).
6. The industrial robot chuck according to any one of claims 1 to 5, further comprising a positioning seat (7), wherein a bearing cross rod (8) is rotatably installed at the upper end of the positioning seat (7), an L-shaped joint rod I (9) is rotatably installed at both ends of the bearing cross rod (8), an L-shaped joint rod II (10) is rotatably connected to one end, far away from the bearing cross rod (8), of the L-shaped joint rod I (9), and the connecting joint (1) is rotatably connected to one end, far away from the L-shaped joint rod I (9), of the L-shaped joint rod II (10).
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| CN202311440228.8A CN117140571B (en) | 2023-11-01 | 2023-11-01 | Industrial robot chuck and robot |
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| CN117140571A (en) | 2023-12-01 |
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