CN118123881B - Clamping mechanism of industrial robot - Google Patents
Clamping mechanism of industrial robot Download PDFInfo
- Publication number
- CN118123881B CN118123881B CN202410555168.2A CN202410555168A CN118123881B CN 118123881 B CN118123881 B CN 118123881B CN 202410555168 A CN202410555168 A CN 202410555168A CN 118123881 B CN118123881 B CN 118123881B
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- box
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 14
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 9
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 9
- 241001330002 Bambuseae Species 0.000 claims description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 9
- 239000011425 bamboo Substances 0.000 claims description 9
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial robots and discloses a clamping mechanism of an industrial robot, which comprises a supporting seat, wherein the top of the supporting seat is fixedly connected with a mechanical arm, the mechanical arm is started, the power box can be moved at multiple angles, meanwhile, an air pump is started to generate suction force, the suction force enters the inside of a conversion box through an air suction pipe, the suction force enters the inside of a pneumatic sucker through the conversion box, an annular object is placed in front of the pneumatic sucker, so that the annular object is clamped pneumatically, meanwhile, the suction force enters the inside of a square box through a circular pipe, the suction force drives a first piston to move, the first piston drives a square plate to move, the square plate drives a bent rod to move, the bent rod drives an elliptical jacket to move, the two elliptical jackets are mutually close to each other, so that the annular object is clamped, the stability of the clamping is enhanced, and meanwhile, the arrangement of the elliptical jacket can prevent the annular object from causing damage to the outer surface in the clamping process, and the protection effect of the device is enhanced.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a clamping mechanism of an industrial robot.
Background
The robot gripper is a device which can imitate the actions of human arms so as to grasp and carry objects or operating tools, can effectively reduce the labor load of personnel and improve the working efficiency, is widely applied to the fields of mechanical manufacture, metallurgy, electronics and the like, has been developed along with the rapid development of modern industrial production, and is gradually used for replacing manual production by robots in factories, and is operated by holding production tools by hands when the production is carried out manually in the past, and the use of the robots requires the gripper to be used for installing the production tools and is arranged at the tail end of the robots.
The existing industrial robot clamping components are in claw shapes, objects are clamped through clamping plates on two sides, but the claw shapes are easy to fall off in the clamping process of annular objects, the annular objects are generally hollowed, the inner wall of the annular objects are not provided with clamping capacity, the annular objects are easy to fall off, the annular objects collide with the ground, and damage is caused to the annular objects.
Disclosure of Invention
The invention aims to provide a clamping mechanism of an industrial robot, which solves the problems in the background technology.
In order to solve the technical problems, the invention is realized by the following technical scheme:
The invention relates to a clamping mechanism of an industrial robot, which comprises a supporting seat, wherein a mechanical arm is fixedly connected to the top of the supporting seat, one end, far away from the supporting seat, of the mechanical arm is fixedly connected with a power box, one side of the power box is fixedly connected with a communicating cylinder, the clamping mechanism further comprises a clamping stabilizing mechanism, the clamping stabilizing mechanism comprises an air pump fixedly connected to one side of the inner wall of the power box, two ends of one side of the air pump are respectively communicated with an air suction pipe, one end, far away from the air pump, of the air suction pipe is communicated with a conversion box, the inner wall of the conversion box is sleeved and fixedly connected to the outer wall of one end of the communicating cylinder, the periphery of one side, far away from the air suction pipe, of the conversion box is respectively communicated with a plurality of pneumatic suckers, one side, far away from the air suction pipe, of the air pump is communicated with an exhaust pipe, one end of the exhaust pipe penetrates the power box and extends into the interior of the communicating cylinder, and the outer wall of the conversion box is provided with an outer clamping component.
Further, the outer clamping assembly comprises round pipes communicated with two sides of the outer wall of the conversion box, one end of each round pipe is communicated with a square box, one end of each square box is fixedly connected to one side of the outer wall of the conversion box, the inner wall of each square box is sleeved with a first piston in a sliding connection mode, one side of each first piston is fixedly connected with a square plate, and one side of each square plate, far away from each first piston, is fixedly connected with a bent rod.
Further, one end of the bent rod penetrates through the square box and extends to the outside of the square box, two ends of one side of the square plate, which is close to the bent rod, are fixedly connected with first reciprocating springs respectively, one end of each first reciprocating spring is fixedly connected to one side of the inner wall of the square box, one end, which is far away from the square plate, of the bent rod is fixedly connected with an elliptical jacket, and a sliding groove is formed in the side wall of one end, which is close to the elliptical jacket, of the bent rod.
Further, the inner wall of spout is provided with auxiliary assembly, and auxiliary assembly includes sliding connection at the slide bar of spout inner wall, and the both ends outer wall of slide bar is overlapped respectively and is established and is rotated and be connected with the rubber elastic plate, and oval inner wall one side both ends of pressing from both sides are fixedly connected with first bar gasbag respectively, and one side both ends of rubber elastic plate are fixedly connected with connecting rod respectively.
Further, one end fixedly connected with sliding plate of rubber elastic plate is kept away from to the connecting rod, and sliding connection is established and sliding connection is in the one end outer wall department of bent lever to the inner wall cover of sliding plate, and outer wall one side fixedly connected with L template of sliding plate, the inner wall one side fixedly connected with second bar gasbag of L template, and the one end fixedly connected with arc screw board of sliding plate is kept away from to L template.
Further, the inner wall of the communicating tube is provided with a reciprocating assembly, the reciprocating assembly comprises a fixed plate fixedly connected to the middle end of the inner wall of the communicating tube, one side of the fixed plate is fixedly connected with a second reciprocating spring, one end of the second reciprocating spring, far away from the fixed plate, is fixedly connected with a circular plate, and one side of the circular plate, far away from the second reciprocating spring, is fixedly connected with a second piston.
Further, one side of the circular plate, which is close to the second reciprocating spring, is fixedly connected with a circular rod, one end of the circular rod penetrates through the fixed plate and extends to the outside of the fixed plate, a plurality of bent pipes are respectively communicated with the periphery of the rear end of the outer wall of the communicating cylinder, and the front ends of the bent pipes are communicated with the front end of the outer wall of the communicating cylinder.
Further, one end of the round rod is provided with an inner clamping assembly, the inner clamping assembly comprises a cylinder fixedly connected to one end of the round rod, a slotted hole is formed in the top of one end of the cylinder, a rotating ball is sleeved on and contacted with the inner wall of the slotted hole, and elastic ropes are fixedly connected to two sides of the rotating ball respectively.
Further, the both ends of inner wall one side of a intercommunication section of thick bamboo are fixedly connected with gag lever post respectively, and the rotation is established to the pot head in the outer wall of gag lever post and is connected with the rotor plate, and one end fixedly connected with rubber ball of outer wall one side and the bullet rope of rotor plate, the one end fixedly connected with rubber ring of a intercommunication section of thick bamboo keeping away from the headstock.
The invention has the following beneficial effects:
(1) According to the invention, the mechanical arm is started to move the power box at multiple angles, the air pump is started at the same time, the air pump generates suction force, the suction force enters the inside of the conversion box through the air suction pipe, the suction force enters the inside of the pneumatic suction disc through the conversion box, the annular object is placed in front of the pneumatic suction disc, so that the annular object is clamped pneumatically, meanwhile, the suction force enters the inside of the square box through the round pipe, the suction force drives the first piston to move, the first piston drives the square plate to move, the square plate drives the bent rod to move, the bent rod drives the elliptical jackets to move, the two elliptical jackets are mutually close to each other, so that the annular object is clamped, the clamping stability is enhanced, and meanwhile, the arrangement of the elliptical jackets can prevent the annular object from causing outer surface damage in the clamping process, and the protection effect of the device is enhanced.
(2) According to the invention, when the bent rod moves, the sliding groove arranged on the bent rod drives the sliding rod to move, the sliding rod drives the rubber elastic plates to move, the two rubber elastic plates are close to each other to clamp annular objects, the annular objects with different calibers can be clamped, the applicability of the device is enhanced, the rubber elastic plates deform, the connecting rods move oppositely, the connecting rods drive the sliding plates to move oppositely, the sliding plates drive the L-shaped plates to move oppositely, the L-shaped plates drive the second strip-shaped air bags to move oppositely, the probability of dropping of the annular objects can be reduced due to the arrangement of the second strip-shaped air bags, and the L-shaped plates drive the arc-shaped threaded plates to move oppositely, and because the anti-skid patterns are arranged on one sides of the arc-shaped threaded plates, the shaking of the annular objects can be reduced, and the protection effect of the device is enhanced.
(3) According to the invention, in the starting process of the air pump, the discharged air flow enters the interior of the communicating cylinder through the exhaust pipe, the air flow pushes the second piston, the second piston drives the circular plate to move, the circular plate drives the circular rod to move, the circular rod drives the cylinder to move, the cylinder drives the rotating ball to move, the rotating ball drives the elastic rope to stretch and move, the elastic rope is limited by the limiting rod, the rotating plate is driven to rotate in the stretching process of the elastic rope, the rotating plate drives the rubber balls to rotate, the two rubber balls can be contacted with the rubber ring through rotation, so that the clamping stability of the device is enhanced, and after the discharged air flow pushes the second piston to a certain extent, the air flow enters the other end of the communicating cylinder through the bent pipe, so that the air flow jets the annular object through the opening of the communicating cylinder, the dust on the supporting seat is prevented from being attached to the outer surface of the annular object, the adsorption effect of the pneumatic sucker is enhanced, and the pneumatic clamping stability of the device is enhanced on the side.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall side structure of the present invention;
FIG. 2 is a schematic diagram of the overall semi-sectional side structure of the present invention;
FIG. 3 is a schematic view of a partial top half-section of the present invention;
FIG. 4 is an enlarged view of FIG. 3A in accordance with the present invention;
FIG. 5 is a schematic view of the internal top half-section of the present invention;
FIG. 6 is a schematic side view of an auxiliary assembly according to the present invention;
FIG. 7 is an enlarged view of B of FIG. 5 in accordance with the present invention;
fig. 8 is an enlarged view of C of fig. 6 in accordance with the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
In the figure: 1. a support base; 2. a mechanical arm; 3. a power box; 4. a communicating tube; 5. a clamping stabilizing mechanism; 51. an air pump; 52. an air suction pipe; 53. an exhaust pipe; 54. a transfer box; 55. a pneumatic chuck; 56. an outer clamping assembly; 57. an auxiliary component; 58. a reciprocating assembly; 59. an inner clamping assembly; 561. a round tube; 562. a square box; 563. a first piston; 564. a square plate; 565. bending a rod; 566. a first reciprocating spring; 567. an elliptical jacket; 568. a chute; 571. a slide bar; 572. a rubber elastic plate; 573. a first strip-shaped air bag; 574. a connecting rod; 575. a sliding plate; 576. an L-shaped plate; 577. a second strip-shaped air bag; 578. arc screw thread plate; 581. a fixing plate; 582. a second piston; 583. a circular plate; 584. a round bar; 585. a second reciprocating spring; 586. bending the pipe; 591. a cylinder; 592. a slot hole; 593. a rotating ball; 594. a rope is sprung; 595. a limit rod; 596. a rotating plate; 597. rubber balls; 598. a rubber ring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment 1, please refer to fig. 1-8, the invention is a clamping mechanism of an industrial robot, comprising a supporting seat 1, wherein the top of the supporting seat 1 is fixedly connected with a mechanical arm 2, the purpose of the arrangement is to perform multi-angle rotation, one end of the mechanical arm 2 away from the supporting seat 1 is fixedly connected with a power box 3, one side of the power box 3 is fixedly connected with a communicating cylinder 4, and the clamping mechanism further comprises;
The clamping and stabilizing mechanism 5, the clamping and stabilizing mechanism 5 includes the air pump 51 of fixed connection in driving box 3 inner wall one side, one side both ends of air pump 51 communicate respectively and have breathing pipe 52, the one end intercommunication that air pump 51 was kept away from to breathing pipe 52 has transfer case 54, transfer case 54's inner wall cover is established and fixed connection is at the one end outer wall of a intercommunication section of thick bamboo 4, transfer case 54 is kept away from one side of breathing pipe 52 and is linked together respectively all around and have a plurality of pneumatic sucking disc 55, the purpose of setting like this is to carry out pneumatic centre gripping, one side intercommunication that air pump 51 kept away from breathing pipe 52 has blast pipe 53, the one end of blast pipe 53 runs through driving box 3 and extends to the inside of a intercommunication section of thick bamboo 4, the outer wall of transfer case 54 is provided with outer clamping assembly 56.
The outer clamping assembly 56 comprises a circular tube 561 communicated with two sides of the outer wall of the conversion box 54, one end of the circular tube 561 is communicated with a square box 562, one end of the square box 562 is fixedly connected to one side of the outer wall of the conversion box 54, the inner wall of the square box 562 is sleeved with a first piston 563 in a sliding connection mode, one side of the first piston 563 is fixedly connected with a square plate 564, and one side, far away from the first piston 563, of the square plate 564 is fixedly connected with a bent rod 565.
One end of bent rod 565 runs through square box 562 and extends to the outside of square box 562, square plate 564 is close to one side both ends of bent rod 565 and is fixedly connected with first reciprocating spring 566 respectively, the purpose that sets up like this can reset, the one end fixed connection of first reciprocating spring 566 is in the inner wall one side department of square box 562, the one end fixedly connected with oval clamp cover 567 that square plate 564 was kept away from to bent rod 565, the purpose that sets up like this is convenient laminating annular object, spout 568 has been seted up to one end lateral wall that bent rod 565 is close to oval clamp cover 567.
The inner wall of spout 568 is provided with auxiliary assembly 57, and auxiliary assembly 57 includes sliding connection at the slide bar 571 of spout 568 inner wall, and the both ends outer wall of slide bar 571 is overlapped respectively and is rotated and is connected with rubber elastic plate 572, and oval cover 567's inner wall one side both ends are fixedly connected with first bar gasbag 573 respectively, and the purpose of setting like this can block rubber elastic plate 572, prevents that rubber elastic plate 572 from moving the range too big, and one side both ends of rubber elastic plate 572 are fixedly connected with connecting rod 574 respectively.
One end fixedly connected with sliding plate 575 of rubber elastic plate 572 is kept away from to connecting rod 574, and sliding connection is established and sliding connection is in the one end outer wall department of bent lever 565 to the inner wall cover of sliding plate 575, and outer wall one side fixedly connected with L template 576 of sliding plate 575, the inner wall one side fixedly connected with second bar gasbag 577 of L template 576, and the one end fixedly connected with arc thread board 578 of sliding plate 575 is kept away from to L template 576, and the purpose that sets up like this is to reduce rocking in the annular object removal process.
Starting the mechanical arm 2, can carry out the multi-angle to the power case 3 and remove, simultaneously start the air pump 51, the air pump 51 produces the suction, the suction enters into the inside of transfer box 54 through breathing pipe 52, the suction enters into the inside of pneumatic sucking disc 55 through transfer box 54, place the annular object in front of pneumatic sucking disc 55, thereby carry out pneumatic centre gripping to the annular object, simultaneously, the suction enters into the inside of square box 562 through pipe 561, the suction drives first piston 563 and removes, first piston 563 drives square plate 564 and removes, square plate 564 drives bent rod 565 and removes, bent rod 565 drives oval clamp cover 567 and removes, two oval clamp covers 567 are close to each other, thereby carry out the centre gripping to the annular object, the stability of centre gripping has been strengthened, the setting of oval clamp cover 567 can prevent to lead to the fact the surface damage to the annular object in the centre gripping process simultaneously, the protection effect of device has been strengthened.
When the bent rod 565 moves, the sliding groove 568 arranged on the bent rod 565 drives the sliding rod 571 to move, the sliding rod 571 drives the rubber elastic plates 572 to move, the two rubber elastic plates 572 are close to each other to clamp annular objects, the annular objects with different calibers can be clamped, the applicability of the device is improved, the rubber elastic plates 572 deform, the connecting rod 574 moves reversely, the connecting rod 574 drives the sliding plate 575 to move reversely, the sliding plate 575 drives the L-shaped plate 576 to move reversely, the L-shaped plate 576 drives the second strip-shaped air bag 577 to move reversely, the second strip-shaped air bag 577 can reduce the dropping probability of the annular objects, and the L-shaped plate 576 drives the arc-shaped screw plate 578 to move reversely, and the shaking of the annular objects can be reduced due to the fact that one side of the arc-shaped screw plate 578 is provided with anti-skidding patterns, and the protection effect of the device is enhanced.
In embodiment 2, the inner wall of the communicating tube 4 is provided with the reciprocating assembly 58, the reciprocating assembly 58 includes a fixed plate 581 fixedly connected to the middle end of the inner wall of the communicating tube 4, one side of the fixed plate 581 is fixedly connected with a second reciprocating spring 585, the purpose of this arrangement is to enable resetting, one end of the second reciprocating spring 585 away from the fixed plate 581 is fixedly connected with a circular plate 583, and one side of the circular plate 583 away from the second reciprocating spring 585 is fixedly connected with a second piston 582.
One side of the circular plate 583, which is close to the second reciprocating spring 585, is fixedly connected with a circular rod 584, one end of the circular rod 584 penetrates through the fixed plate 581 and extends to the outside of the fixed plate 581, a plurality of bent pipes 586 are respectively communicated with the periphery of the rear end of the outer wall of the communicating cylinder 4, and the front ends of the bent pipes 586 are communicated with the front end of the outer wall of the communicating cylinder 4.
The one end of round bar 584 is provided with interior clamping assembly 59, and interior clamping assembly 59 includes the cylinder 591 of fixed connection in round bar 584 one end, and slotted hole 592 has been seted up at the one end top of cylinder 591, and the inner wall cover of slotted hole 592 is established and is contacted with the ball 593, and the both sides of ball 593 are fixedly connected with bullet rope 594 respectively, and the purpose that sets up like this can be stretched to become longer.
The inner wall one side both ends of feed through section of thick bamboo 4 are fixedly connected with gag lever post 595 respectively, and the outer wall middle pot head of gag lever post 595 is established and is rotated and be connected with the rotation board 596, and the outer wall one side of rotation board 596 and the one end fixedly connected with rubber ball 597 of bullet rope 594, the purpose of setting like this is to prevent that the dynamics is too big when extrudeing, causes the damage to cyclic annular object inner wall, and feed through section of thick bamboo 4 is kept away from the one end fixedly connected with rubber ring 598 of headstock 3.
During the use, in the air pump 51 start-up process, the exhaust air current enters into the inside of feed-through cylinder 4 through blast pipe 53, the air current promotes the second piston 582, the second piston 582 drives plectane 583 and removes, plectane 583 drives round bar 584 and removes, round bar 584 drives cylinder 591 and removes, cylinder 591 drives the ball 593 and removes, the ball 593 drives the bullet rope 594 and stretches and remove, receive the spacing of gag lever post 595, the ball 594 is stretched in-process and is driven the pivoted plate 596 and rotate, the pivoted plate 596 drives the rubber ball 597 and rotates, two rubber balls 597 can contact with rubber ring 598 through the rotation, thereby carry out the screens to the annular object inner wall, the clamping stability of device has been strengthened, and the exhaust air current promotes the second piston 582 and removes to the other end that the certain degree after, the air current can enter into feed-through elbow 586, thereby make the air current carry out the jet to the annular object through the opening part of feed-through cylinder 4, prevent that annular object surface from adhering to supporting seat 1 dust, the pneumatic chuck 55 adsorption effect has been strengthened, the pneumatic stability of the device has been strengthened to the side.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (3)
1. Clamping mechanism of industrial robot, including supporting seat (1), its characterized in that: the top fixedly connected with arm (2) of supporting seat (1), the one end fixedly connected with headstock (3) of supporting seat (1) is kept away from to arm (2), one side fixedly connected with intercommunication section of thick bamboo (4) of headstock (3), still include centre gripping stabilizing mean (5), centre gripping stabilizing mean (5) are including air pump (51) of fixed connection in headstock (3) inner wall one side, one side both ends of air pump (51) are linked together respectively and are had breathing pipe (52), the one end intercommunication that air pump (51) were kept away from to breathing pipe (52) has transfer case (54), the one end outer wall at intercommunication section of thick bamboo (4) is established and fixed connection to the inner wall cover of transfer case (54), one side intercommunication all around that breathing pipe (52) was kept away from to transfer case (54) has a plurality of pneumatic sucking disc (55) respectively, one side intercommunication that breathing pipe (52) were kept away from to air pump (51) has blast pipe (53), one end of blast pipe (53) runs through headstock (3) and extends to the inside of intercommunication section of thick bamboo (4), the outer wall of transfer case (54) is provided with outer clamping assembly (56);
The outer clamping assembly (56) comprises round pipes (561) communicated with two sides of the outer wall of the conversion box (54), one end of each round pipe (561) is communicated with a square box (562), one end of each square box (562) is fixedly connected to one side of the outer wall of the conversion box (54), a first piston (563) is sleeved on the inner wall of each square box (562) and is in sliding connection with the inner wall of each square box, one side of each first piston (563) is fixedly connected with a square plate (564), and one side, far away from the first piston (563), of each square plate (564) is fixedly connected with a bent rod (565);
One end of the bent rod (565) penetrates through the square box (562) and extends to the outside of the square box (562), two ends of one side of the square plate (564) close to the bent rod (565) are fixedly connected with first reciprocating springs (566) respectively, one end of each first reciprocating spring (566) is fixedly connected to one side of the inner wall of the square box (562), one end of the bent rod (565) away from the square plate (564) is fixedly connected with an elliptical jacket (567), and one side wall of one end of the bent rod (565) close to the elliptical jacket (567) is provided with a sliding groove (568);
The inner wall of the communication cylinder (4) is provided with a reciprocating assembly (58), the reciprocating assembly (58) comprises a fixed plate (581) fixedly connected to the middle end of the inner wall of the communication cylinder (4), one side of the fixed plate (581) is fixedly connected with a second reciprocating spring (585), one end, far away from the fixed plate (581), of the second reciprocating spring (585) is fixedly connected with a circular plate (583), and one side, far away from the second reciprocating spring (585), of the circular plate (583) is fixedly connected with a second piston (582);
one side of the circular plate (583) close to the second reciprocating spring (585) is fixedly connected with a circular rod (584), one end of the circular rod (584) penetrates through the fixed plate (581) and extends to the outside of the fixed plate (581), a plurality of bent pipes (586) are respectively communicated with the periphery of the rear end of the outer wall of the communicating cylinder (4), and the front ends of the bent pipes (586) are communicated with the front end of the outer wall of the communicating cylinder (4);
An inner clamping assembly (59) is arranged at one end of the round rod (584), the inner clamping assembly (59) comprises a cylinder (591) fixedly connected to one end of the round rod (584), a slot hole (592) is formed in the top of one end of the cylinder (591), a rotating ball (593) is sleeved and contacted with the inner wall of the slot hole (592), and elastic ropes (594) are fixedly connected to two sides of the rotating ball (593) respectively;
The utility model discloses a motor vehicle is characterized in that a connecting cylinder (4) is arranged on the inner wall of the motor vehicle, a limiting rod (595) is fixedly connected with two ends of one side of the inner wall of the connecting cylinder (4), a rotating plate (596) is sleeved and rotatably connected with the middle end of the outer wall of the limiting rod (595), one side of the outer wall of the rotating plate (596) is fixedly connected with one end of a spring rope (594), one end of the rotating plate (596) is fixedly connected with a rubber ball (597), and one end of the connecting cylinder (4) far away from a power box (3) is fixedly connected with a rubber ring (598).
2. The clamping mechanism of an industrial robot of claim 1, wherein: the inner wall of spout (568) is provided with auxiliary assembly (57), auxiliary assembly (57) are including sliding connection at slide bar (571) of spout (568) inner wall, the both ends outer wall of slide bar (571) is overlapped respectively and is established and is rotated and be connected with rubber elastic plate (572), the first bar gasbag (573) of inner wall one side both ends fixedly connected with respectively of oval clamp cover (567), one side both ends of rubber elastic plate (572) are fixedly connected with connecting rod (574) respectively.
3. The clamping mechanism of an industrial robot of claim 2, wherein: one end fixedly connected with sliding plate (575) of rubber elasticity board (572) is kept away from to connecting rod (574), the one end outer wall department at bent lever (565) is established and sliding connection to the inner wall cover of sliding plate (575), outer wall one side fixedly connected with L template (576) of sliding plate (575), inner wall one side fixedly connected with second bar gasbag (577) of L template (576), one end fixedly connected with arc screw plate (578) of sliding plate (575) is kept away from to L template (576).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410555168.2A CN118123881B (en) | 2024-05-07 | 2024-05-07 | Clamping mechanism of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410555168.2A CN118123881B (en) | 2024-05-07 | 2024-05-07 | Clamping mechanism of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118123881A CN118123881A (en) | 2024-06-04 |
| CN118123881B true CN118123881B (en) | 2024-07-12 |
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| CN108000542A (en) * | 2017-12-08 | 2018-05-08 | 广西瑞克工业机器人有限公司 | A kind of grabbing device for industrial robot |
| CN114102571A (en) * | 2021-11-19 | 2022-03-01 | 温州理工学院 | Industrial robot capable of carrying out position conversion on machining procedure of machined part |
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| CN108000542A (en) * | 2017-12-08 | 2018-05-08 | 广西瑞克工业机器人有限公司 | A kind of grabbing device for industrial robot |
| CN114102571A (en) * | 2021-11-19 | 2022-03-01 | 温州理工学院 | Industrial robot capable of carrying out position conversion on machining procedure of machined part |
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