CN210709572U

CN210709572U - Clamping device for industrial robot

Info

Publication number: CN210709572U
Application number: CN201921395404.XU
Authority: CN
Inventors: 吴凡; 章小丽
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-06-09
Anticipated expiration: 2029-08-26

Abstract

The utility model discloses a press from both sides and get device for industrial robot, the on-line screen storage device comprises a base, one side of base is equipped with the arm, the arm passes through elevating gear and is connected with the base, and the one end clamp of arm gets the device, press from both sides and get the device including placing the frame, the fixed first pneumatic cylinder that is equipped with in inside of placing the frame, the output of first pneumatic cylinder is equipped with first hydraulic stem, the one end of first hydraulic stem is run through place frame and fixed plate fixed connection, the fixed gallows that is equipped with of one end of placing the frame, the fixed T type pole that is equipped with in one side of gallows, the fixed head rod that is equipped with in both sides of fixed plate, another of head rod is equipped with the second connecting rod, one side of second connecting rod is. Has the advantages that: the device has the advantages that the use range is enlarged, the adjustment of workers is avoided, the work difficulty is reduced, and meanwhile, the device is simple in structure, convenient to use and low in cost.

Description

Clamping device for industrial robot

Technical Field

The utility model relates to an industrial robot tongs design field particularly, relates to a press from both sides and get device for industrial robot.

Background

The robot gripper is a device capable of simulating the actions of a hand and an arm of a human body to realize the gripping and carrying of objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, and is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like. With the rapid development of modern industrial production, various specifications and types of robot grippers are developed in the industry. However, the existing gripper has the problems of complex structure and large cost investment; in addition, the selection and assembly of the driving device are greatly limited by space, which is inconvenient for grabbing and transporting the object, and the use is inconvenient, and the difficulty of the work is increased, so that it is necessary to provide a clamping device for an industrial robot to solve the existing problems.

An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a press from both sides and get device for industrial robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a clamping device for an industrial robot comprises a base, wherein a mechanical arm is arranged on one side of the base, the mechanical arm is connected with the base through a lifting device, one end of the mechanical arm is provided with a clamping device, the clamping device comprises a placing frame, a first hydraulic cylinder is fixedly arranged in the placing frame, a first hydraulic rod is arranged at the output end of the first hydraulic cylinder, one end of the first hydraulic rod penetrates through the placing frame and is fixedly connected with the fixing plate, one end of the placing frame is fixedly provided with a hanging bracket, a T-shaped rod is fixedly arranged on one side of the hanger, first connecting rods are fixedly arranged on two sides of the fixed plate, the other end of the first connecting rod is provided with a second connecting rod, one side of the second connecting rod is provided with a clamping plate, the clamping plate is connected with the second connecting rod through a movable hinge, and the middle of the second connecting rod is movably connected with the T-shaped rod through a first movable bolt.

Furthermore, both ends of the first connecting rod are movably connected with the fixed plate and the second connecting rod respectively through second movable bolts.

Furthermore, one side of the clamping plate, which is far away from the movable hinge, is provided with anti-skid grains.

Further, elevating gear is including fixed case, the inside of fixed case is equipped with the second pneumatic cylinder, the output of second pneumatic cylinder is equipped with the second hydraulic rod, the other end of second hydraulic rod runs through fixed case and shock attenuation board fixed connection, one side of shock attenuation board with arm fixed connection, one side of arm is equipped with slider.

Further, the sliding device comprises a sleeve, one side of the sleeve is fixedly connected with the mechanical arm, the sleeve is sleeved on the sliding rod, one end of the sliding rod is fixedly connected with the base, and a limiting block is fixedly arranged at the other end of the sliding rod.

Further, be equipped with the mobile device on the arm, the mobile device includes the spout, the inside of spout is equipped with the lead screw, the one end of lead screw is connected with the output of motor, the screw thread is equipped with the nut on the lead screw.

Furthermore, one side of the nut is fixedly connected with the placing frame through an L-shaped rod.

Furthermore, one side of the base is provided with a balancing weight.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the first hydraulic cylinder is started, the first hydraulic cylinder drives the first hydraulic rod to extend out, the first hydraulic rod extends out to drive the first connecting rod and the second connecting rod to move, the first connecting rod pushes the second connecting rod to rotate around the first movable bolt, and therefore the distance between the clamping plates can be reduced;

(2) through the second activity bolt with the head rod respectively with second connecting rod and fixed plate between swing joint, increase the flexibility in the motion process, elevating gear can conveniently adjust the height of arm, thereby make the clamp get the device and place the article of getting in the height of difference with pressing from both sides, great increase the convenience, be equipped with the mobile device on the arm simultaneously, starter motor will drive the nut at the inside removal of spout simultaneously, thereby realize getting the regulation of device horizontal position to the clamp, can realize the process of transportation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in 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 for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a gripping device for an industrial robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a gripping device in the gripping device for an industrial robot according to an embodiment of the present invention.

Reference numerals:

1. a base; 2. a mechanical arm; 3. placing the frame; 4. a first hydraulic cylinder; 5. a first hydraulic lever; 6. a fixing plate; 7. a hanger; 8. a T-shaped rod; 9. a balancing weight; 10. a first connecting rod; 11. a second connecting rod; 12. a splint; 13. a living hinge; 14. a first movable bolt; 15. a second movable bolt; 16. anti-skid lines; 17. a fixed box; 18. a second hydraulic cylinder; 19. a second hydraulic rod; 20. a damper plate; 21. a sleeve; 22. a slide bar; 23. a chute; 24. a screw rod; 25. a motor; 26. a nut; 27. an L-shaped rod.

Detailed Description

The following, with reference to the drawings and the detailed description, further description of the present invention is made:

the first embodiment is as follows:

referring to fig. 1-2, a clamping device for an industrial robot according to an embodiment of the present invention includes a base 1, a robot arm 2 is disposed on one side of the base 1, the robot arm 2 is connected to the base 1 through a lifting device, and an end of the robot arm 2 is clamped by a clamping device, the clamping device includes a placing frame 3, a first hydraulic cylinder 4 is fixedly disposed inside the placing frame 3, an output end of the first hydraulic cylinder 4 is provided with a first hydraulic rod 5, one end of the first hydraulic rod 5 penetrates the placing frame 3 and is fixedly connected to a fixing plate 6, one end of the placing frame 3 is fixedly provided with a hanger 7, one side of the hanger 7 is fixedly provided with a T-shaped rod 8, two sides of the fixing plate 6 are fixedly provided with first connecting rods l0, the other one of the first connecting rods 10 is provided with a second connecting rod 11, one side of the second connecting rod 11 is provided with a clamping plate 12, the clamping plate 12 is connected with the second connecting rod 11 through a movable hinge 13, the middle of the second connecting rod 11 is movably connected with the T-shaped rod 8 through a first movable bolt 14, the clamping device is arranged at one end of the mechanical arm 2, the first hydraulic cylinder 4 is started to drive the first hydraulic rod 5 to extend out, the first hydraulic rod 5 extends out to drive the first connecting rod 10 and the second connecting rod 11 to move, the first connecting rod 10 pushes the second connecting rod 11 to rotate around the first movable bolt 14, so that the distance between the clamping plates 12 is reduced, meanwhile, the clamping plate 12 is connected with the second connecting rod 11 through the movable hinge 13, the shapes of different specifications can be adjusted automatically conveniently, the use range is greatly enlarged, the adjustment of workers is avoided, the working difficulty is reduced, and the device is simple in structure, the use is convenient to cause, and the investment of cost is reduced.

Example two:

referring to fig. 1-2, for a first connecting rod 10, two ends of the first connecting rod 10 are movably connected to the fixing plate 6 and the second connecting rod 11 through a second movable bolt 15, respectively; for the splint 12, the side of the splint 12 away from the movable hinge 13 is provided with an anti-slip line 16; for the lifting device, the lifting device comprises a fixed box 17, a second hydraulic cylinder 18 is arranged inside the fixed box 17, a second hydraulic rod 19 is arranged at the output end of the second hydraulic cylinder 18, the other end of the second hydraulic rod 19 penetrates through the fixed box 17 and is fixedly connected with a damping plate 20, one side of the damping plate 20 is fixedly connected with the mechanical arm 2, and one side of the mechanical arm 2 is provided with a sliding device; for the sliding device, the sliding device comprises a sleeve 21, one side of the sleeve 21 is fixedly connected with the mechanical arm 2, the sleeve 21 is sleeved on the sliding rod 22, one end of the sliding rod 22 is fixedly connected with the base 1, and the other end of the sliding rod 22 is fixedly provided with a limiting block; for the mechanical arm 2, a moving device is arranged on the mechanical arm 2, the moving device comprises a chute 23, a screw rod 24 is arranged inside the chute 23, one end of the screw rod 24 is connected with the output end of a motor 25, and a nut 26 is arranged on the screw rod 24 in a threaded manner; for the nut 26, one side of the nut 26 is fixedly connected with the placing frame 3 through an L-shaped rod 27; to base 1, one side of base 1 is equipped with balancing weight 9, through second activity bolt 15 with head rod 10 respectively with second connecting rod 11 and fixed plate between swing joint, increase the flexibility in the motion process, elevating gear can conveniently adjust the height of arm 2, thereby make the clamp get the device and place the article of getting in the height of difference, great increase the convenience, be equipped with the mobile device simultaneously on arm 2, starter motor 25 will drive nut 26 at the inside removal of spout 23 simultaneously, thereby realize getting the regulation of device horizontal position to the clamp, can realize the process of transportation.

To sum up, with the aid of the above technical scheme of the utility model, for the convenient understanding the above technical scheme of the utility model, just below the utility model discloses theory of operation or the mode of operation at the actual process carry out the detailed description:

in practical application, when an article needs to be clamped, the second hydraulic cylinder 18 is started at first, the second hydraulic cylinder 18 is started to drive the second hydraulic cylinder 19 to extend out, so that the vertical height of the mechanical arm 2 can be adjusted, then when the second hydraulic cylinder 18 is started, the second hydraulic cylinder 18 is started to drive the second hydraulic cylinder 19 to extend out, the second hydraulic cylinder 19 extends out to drive the first connecting rod 10 and the second connecting rod 11 to move, and the first connecting rod 10 pushes the second connecting rod 11 to rotate around the first movable bolt 14, so that the distance between the clamping plates 12 can be reduced, the clamping plate 12 can clamp the article, after the clamping device clamps the article, the motor 25 is started to drive the clamping device to drive the article to move in the horizontal direction, so that the article is conveyed, article carry after the assigned position, then at its first pneumatic cylinder 4 of start-up, the shrink of first hydraulic stem 5 will be driven in the start-up of first pneumatic cylinder 4, can realize that head rod 10 stimulates second connecting rod 11 and centers on the rotation of first activity bolt 14, thereby realize splint 12 and to the lax of article, splint 12 is connected with second connecting rod 11 through activity hinge 13 simultaneously, can conveniently adjust by oneself the shape of different specifications, great increase the scope of use, avoid staff's regulation, the work degree of difficulty has been reduced, the device simple structure simultaneously, conveniently cause the use, reduce cost's input.

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

Claims

1. The clamping device for the industrial robot is characterized by comprising a base (1), wherein one side of the base (1) is provided with a mechanical arm (2), the mechanical arm (2) is connected with the base (1) through a lifting device, one end of the mechanical arm (2) is clamped by the clamping device, the clamping device comprises a placing frame (3), a first hydraulic cylinder (4) is fixedly arranged inside the placing frame (3), the output end of the first hydraulic cylinder (4) is provided with a first hydraulic rod (5), one end of the first hydraulic rod (5) penetrates through the placing frame (3) and is fixedly connected with a fixing plate (6), one end of the placing frame (3) is fixedly provided with a hanging bracket (7), one side of the hanging bracket (7) is fixedly provided with a T-shaped rod (8), two sides of the fixing plate (6) are fixedly provided with first connecting rods (10), the other end of each first connecting rod (10) is provided with a second connecting rod (11), one side of second connecting rod (11) is equipped with splint (12), splint (12) through activity hinge (13) with second connecting rod (11) are connected, the centre of second connecting rod (11) through first activity bolt (14) with T type pole (8) swing joint.

2. Gripping device for an industrial robot according to claim 1, characterized in that both ends of the first connecting rod (10) are movably connected to the fixed plate (6) and the second connecting rod (11), respectively, by means of a second movable bolt (15).

3. Gripping device for an industrial robot according to claim 1, characterized in that the side of the clamping plate (12) facing away from the living hinge (13) is provided with an anti-slip thread (16).

4. The gripping device for an industrial robot according to claim 1, wherein the lifting device comprises a fixed box (17), a second hydraulic cylinder (18) is arranged inside the fixed box (17), the output end of the second hydraulic cylinder (18) is provided with a second hydraulic rod (19), the other end of the second hydraulic rod (19) penetrates through the fixed box (17) and is fixedly connected with a damping plate (20), one side of the damping plate (20) is fixedly connected with the mechanical arm (2), and one side of the mechanical arm (2) is provided with a sliding device.

5. The gripping device for an industrial robot according to claim 4, wherein the sliding device comprises a sleeve (21), one side of the sleeve (21) is fixedly connected with the mechanical arm (2), the sleeve (21) is sleeved on a sliding rod (22), one end of the sliding rod (22) is fixedly connected with the base (1), and the other end of the sliding rod (22) is fixedly provided with a limit block.

6. A gripping device for an industrial robot according to claim 1, characterized in that the robot arm (2) is provided with a moving device, the moving device comprises a chute (23), the chute (23) is provided with a screw (24) inside, one end of the screw (24) is connected with the output end of a motor (25), and the screw (24) is provided with a nut (26) in a threaded manner.

7. Gripper device for an industrial robot according to claim 6, characterized in that one side of the nut (26) is fixedly connected with the placement frame (3) by means of an L-shaped bar (27).

8. Gripping device for an industrial robot according to claim 1, characterized in that the base (1) is provided with a weight (9) on one side.