CN210879736U

CN210879736U - Robot clamp

Info

Publication number: CN210879736U
Application number: CN201922046802.7U
Authority: CN
Inventors: 吕刚磊; 郑喜贵; 沈华刚; 宋海涛; 陈林林
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-06-30
Anticipated expiration: 2029-11-25

Abstract

The utility model provides a robot clamp is the terminal final actuating device who installs on the robot arm, and this robot clamp can the not unidimensional cylinder part of centre gripping through two outside arc press from both sides the shell and dispose the cooperation of the anchor clamps clamping jaw in the arc press from both sides the shell to can the centre gripping firm, can not cause because of the reason of part among the messenger clamping process and relax.

Description

Robot clamp

Technical Field

The utility model relates to a waste classification device, especially a robot clamp.

Background

The robot is a most common type of equipment for production and processing at present, and therefore, the environment to which the robot can adapt and the work to be performed are various, and the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like, respectively.

The robot hand (end effector) is commonly used by many, including arc welding gun, carrying, gluing, spot welding, etc., and the handling robot is particularly common, the end effector used by the handling robot is called a clamp, and clamps some cylindrical or square parts, and the clamping method of the clamp with a cylindrical shape is as follows: firstly, carry out the centre gripping with two parallel planks, the contact mode is line contact during the centre gripping, and the centre gripping effect is not good, secondly utilizes two semicircular arc anchor clamps, but this kind of centre gripping method is subject to the size of anchor clamps, can only the part of centre gripping the same specification, compares the robot that needs flexible operation in the mill, just relatively restricted.

Therefore, a robot clamp capable of clamping cylindrical parts with different sizes and firmly clamping the cylindrical parts can not be loosened due to the parts in the clamping process, and the robot clamp is needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects of the prior art, the utility model provides a robot clamp, contact mode is the line contact when effectively having solved among the prior art centre gripping, and the centre gripping effect is not good with the size that is subject to anchor clamps, can only the part of the same specification of centre gripping, and this utility model can the not size part of centre gripping to the centre gripping is firm, can not cause because of the reason of part lax.

The solution is that the clamping device comprises a tail end shell arranged on a robot arm, wherein two arc-shaped clamping shells are matched in the tail end shell, the lower ends of the two arc-shaped clamping shells are synchronously driven by a mobile motor connected on the tail end shell, preferably, each clamping shell arc-shaped surface is provided with a plurality of clamping jaw grooves, clamp clamping jaws fixed by clamping jaw springs are arranged in the clamping jaw grooves in a sliding manner, one section of clamping groove matched with the arc-shaped clamping shell is arranged in the clamping shell, the clamping jaw is connected with two semicircular clamping jaw buckles oppositely arranged from front to back in a sliding manner at the clamping groove part, the clamping jaw buckles are connected with a limiting plate in a sliding manner for limiting the clamping jaw buckles to move only from front to back and along the axial direction of the clamping jaw, and limiting arc-shaped plates capable of sliding and moving from front to back in the clamping grooves are arranged in the, the limiting arc plate is in threaded fit with the clamping jaw buckle, an arc moving plate capable of sliding in the clamping groove is arranged in the direction, away from the clamping jaw, of the limiting arc plate, and a hinge rod is hinged to the arc moving plate, wherein the front end and the rear end of the hinge rod are respectively connected with the clamping shell and the limiting arc plate.

Preferably, the clamp jaws comprise jaw cylinders placed in the jaw grooves and jaw auxiliary plates fixedly connected to the inner sides of the jaw cylinders.

Preferably, the one end that spacing arc is close to the anchor clamps clamping jaw is opened there is the round vortex form slide, clamping jaw buckle and spacing arc contact complex one end be fixed with one with vortex form slide complex vortex form board.

Preferably, two arc-shaped moving plates in each clamping shell are connected and driven by a limiting motor connected to the clamping shell.

Preferably, two limiting arc-shaped plates in each clamping shell are connected through a limiting telescopic rod and driven by a clamping cylinder connected to the clamping shell.

The utility model has the advantages as follows:

(1) the cylindrical workpieces with different sizes can be clamped;

(2) the arc-shaped moving plate can enable the clamping jaws of the clamp to clamp a workpiece more firmly;

(3) the clamping step is simple, and the clamping device can adapt to various working environments.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a sectional view of the cartridge of the present invention.

Fig. 4 is a view showing the fitting of the present invention without a clamping case.

Fig. 5 is a view of the utility model of the motor.

Figure 6 is the utility model discloses clamping jaw snap-fit view.

Fig. 7 is a view of the hinge rod of the present invention.

Figure 8 is the utility model discloses spacing arc part view.

Detailed Description

The following description will further explain embodiments of the present invention with reference to the drawings.

Example 1, comprising two arc-shaped shells 1, two shells 1 rotating around the lower end to make the upper end far away and close, the said shells 1 fitting on the end shell 2, the lower end of the shells 1 rotating around the rotation axis of the shells 1 connecting to the end shell 2, the end shell 2 having the necessary parts for the robot clamp, the end shell 2 rear end installed on the robot arm, the end shell 2 having the connection hole connecting to the various connection lines of the robot clamp driving in the end shell 2, the two said arc-shaped shells 1 lower end through the mobile motor 3 connected to the end shell 2 synchronous driving, the mobile motor 3 enabling the two shells 1 to open and close around the rotation axis of the shells 1, closing the final shape of the shells 1, the upper end of the shells 1 not contacting, when the robot clamp is installed on the robot, the mobile motor 3 connecting to the robot system, and the control is unified through a robot system.

Each arc-shaped surface of the clamp shell 1 is provided with a plurality of clamping jaw grooves 4, the number of the clamping jaw grooves 4 can be two or three or more, clamp clamping jaws 6 fixed through clamping jaw springs 5 are placed in the clamping jaw grooves 4 in a sliding mode, the axes of the clamping jaw grooves 4 are perpendicular to the arc-shaped surfaces of the arc-shaped clamp shell 1, the clamp clamping jaws 6 slide in the clamping jaw grooves 4, the outer sides of the clamp clamping jaws 6 are connected with the clamping jaw springs 5, the other ends, namely the outer side ends, of the clamping jaw springs 5 are fixed on the bottom walls of the clamping jaw grooves 4, a section of clamping groove 7 matched with the clamp shell 1 in an arc shape is arranged in the clamp shell 1, the clamping groove 7 is in the arc shape of the clamp shell 1 and is positioned in the middle of the clamp shell 1, the clamping groove 7 simultaneously penetrates through the clamping jaw grooves 4 to divide the clamping jaw grooves 4 into an inner part and an outer part, two semicircular clamping jaws, when two buckles are close to each other, can hoop anchor clamps clamping jaw 6, friction fit is big between clamping jaw buckle 8 and the anchor clamps clamping jaw 6, when clamping anchor clamps clamping jaw 6 is pressed from both sides to clamping jaw buckle 8, can give anchor clamps clamping jaw 6 a very big confining force, makes anchor clamps clamping jaw 6 unable removal.

The clamping jaw clamping structure is characterized in that a limiting plate 9 which limits the clamping jaw clamping buckle 8 to move forwards and backwards and along the axis direction of the clamping jaw 6 is connected to the clamping jaw clamping buckle 8 in a sliding mode, the limiting plate 9 is fixed to the arc side wall of the clamping groove 7 in the clamping shell 1, a limiting through hole is formed in the limiting plate 9, the clamping jaw clamping buckle 8 is a semicircular disc in the position where the clamping jaw 6 is clamped, one end, far away from the clamping jaw 6, of the disc is a clamping buckle cylinder, the clamping buckle cylinder is placed in the limiting through hole, the cylindrical surface is in contact with the side wall of the limiting through hole, the limiting plate 9 does not influence the movement of the clamping jaw clamping buckle 8 when the clamping jaw clamping buckle 8 moves up and down, and the clamping jaw.

Every the one end that the clamp clamping jaw 6 was kept away from to clamping jaw buckle 8 has the spacing arc 10 that can slide and back-and-forth movement in centre gripping recess 7 through screw-thread fit, spacing arc 10 slides and places in centre gripping recess 7 and be connected with pressing from both sides shell 1, is restricted by pressing from both sides shell 1, can not the back-and-forth movement, can only remove along the arc way of centre gripping recess 7, when spacing arc 10 slides, through the place with 8 threaded connection of clamping jaw buckle, can make clamping jaw buckle 8 along the reverse movement of 6 axes of clamp clamping jaw, if clamping jaw 6 is pressed from both sides to clamping jaw 8, will make clamping jaw buckle 8 press from both sides clamping jaw 6 and move together.

The direction of the limiting arc plate 10 far away from the clamp clamping jaw 6 is matched with an arc moving plate 11 which can slide in the clamping groove 7, the arc moving plate 11 is arranged in the clamping groove 7 in a sliding manner, is connected with the clamping shell 1, is limited by the clamping shell 1, cannot move back and forth and can only move along the arc path of the clamping groove 7, the arc moving plate 11 is hinged with a hinge rod 12 which is connected with the clamping shell 1 and the limiting arc plate 10 at the front end and the rear end, the front end of the hinge rod 12 is hinged with the clamping shell 1, is arranged in a groove of the hinge rod 12 when being connected with the clamping shell 1 and can move back and forth in a groove of the hinge rod 12 and cannot move towards other directions, the rear end is hinged with the limiting arc plate 10, but because the hinge rod 12 is hinged with the arc moving plate 11 and a hinge through hole is arranged on the arc moving plate 11, when the arc limiting arc plate moves, the front end of the hinge rod 12 slides in a, and the hinge 12 rear end is the contact with spacing arc 10 junction, can support spacing arc 10, when the arc limiting plate does not move, hinge 12 has the angle, when the arc moving plate 11 removed in centre gripping recess 7, make hinge 12 straighten and the spacing arc 10 of mortgage backward, two spacing arcs 10 simultaneously the pressure centre gripping buckle around, make two centre gripping buckle stirrup anchor clamps clamping jaws 6, it is spacing for anchor clamps clamping jaw 6, do not let anchor clamps clamping jaw 6 self remove.

Specifically, the clamping shell 1 is in an open state when not working, the clamping jaw spring 5 is in a loose state, part of the clamping jaw 6 is abutted to the clamp and extends out of the clamping jaw groove 4, when a cylindrical workpiece needs to be clamped, the clamping shell 1 is moved to the workpiece, the workpiece is positioned inside the clamping shell 1, the moving motor 3 works to enable the clamping shell 1 to be folded, when the inner side of the clamping jaw 6 contacts the workpiece, the clamping jaw 6 can be abutted to the clamping jaw spring 5 under the action of the clamping jaw spring 5, and when the clamping shell 1 is completely folded, all the clamping jaws 6 can abut to press the workpiece.

Embodiment 2, based on embodiment 1, the shape of the pod 1 may be a semicircle, and when the pod 1 is in a clamping state after rotating around the moving motor 3, the upper end of the pod 1 may be closed, so that the pod 1 becomes a complete circle.

Embodiment 3 is based on embodiment 1, the inside of the clamp jaw 6 is provided with a jaw auxiliary plate 13, and the jaw auxiliary plate 13 is arc-shaped, so that when a cylindrical workpiece is clamped, the area of the jaw auxiliary plate 13 contacting the workpiece is increased, and the clamping is firmer.

Embodiment 4 is on the basis of embodiment 1, the one end that spacing arc 10 is close to anchor clamps clamping jaw 6 has round vortex form slide 14, clamping jaw buckle 8 has one section vortex form board 15 with vortex form slide 14 complex with spacing arc 10 contact complex one end, vortex form board 15 inlays in vortex form slide 14, makes clamping jaw buckle 8 can follow spacing arc 10 back-and-forth movement together, can not rock and separate, but when spacing arc 10 slided in centre gripping recess 7, just can make clamping jaw buckle 8 carry out the ascending removal of anchor clamps clamping jaw 6 side, nevertheless can not break away from with spacing arc 10.

Embodiment 5 is on embodiment 1 basis, every link to each other between two arc movable plates 11 in the double-layered shell 1, and through connecting spacing motor drive 16 on double-layered shell 1, the motor shaft through driving motor rotates, and pulling arc movable shell, when anchor clamps are installed on the robot, spacing motor connection robot system, through robot system unified control, spacing motor is connected on tip shell 2, double-layered shell 1 folds and finishes, spacing motor starts, pulling arc movable plate 11, arc movable plate 11 is drawing hinge bar 12 and is straightening, hinge bar 12 is supporting spacing arc 10, make spacing arc 10 be close to anchor clamps clamping jaw 6, make clamping jaw buckle 8 compress tightly anchor clamps clamping jaw 6, it is spacing to anchor clamps clamping jaw 6.

Embodiment 6 on the basis of embodiment 1, two limiting arc plates 10 in each clamping shell 1 are connected through a limiting telescopic rod 18 and driven by a clamping cylinder 17 connected to the clamping shell 1, when the clamp is installed on a robot, the clamping cylinder 17 is connected to a robot system, and is uniformly controlled by the robot system, when a clamping jaw 6 is clamped by a clamping jaw buckle 8, the clamping cylinder 17 works and can pull the limiting arc plates 10 to enable the limiting arc plates 10 to move a little distance or not, the main function is to enable the clamping jaw 6 to clamp a workpiece, a pretightening force is applied to the workpiece through the clamping jaw 6 by using the limiting arc plates 10, so that the clamping is firmer, the clamping cylinder 17 is connected to the robot system, a sensor is arranged in the clamping cylinder 17, and when the clamping cylinder 17 works, the cylinder is filled with gas, when the clamping jaw 6 of the clamp tightly presses the workpiece, and the mortgage force reaches a set value, the gas pressure in the cylinder reaches a fixed value, at the moment, the sensor in the clamping cylinder 17 works and transmits the work to the robot system, the clamping cylinder 17 is not inflated any more, the cylinder is sealed, the gas in the cylinder is not leaked, and the clamping jaw 6 of the clamp tightly clamps the workpiece continuously and forcibly.

The specific operation is as follows: the robot clamp is arranged at the tail end of the robot arm, all motors and cylinders are connected to the robot system, the robot system is used for uniformly regulating and controlling, the moving motor 3 is started to open the clamp shell 1, the limiting motor does not work, the clamping jaw buckle 8 does not contact with the clamp clamping jaw 6, the clamping cylinder 17 does not work, the clamping jaw buckle 8 does not move, the robot works to move the robot clamp to a workpiece, the workpiece is positioned in the clamp shell 1, the moving motor 3 works to close the clamp shell 1, when the inner side of the clamp clamping jaw 6 contacts the workpiece, the clamp clamping jaw 6 is pressed and the clamping jaw spring 5 is pressed under the action of the clamping jaw spring 5, when the clamp shell 1 is closed, all clamp clamping jaws 6 press the workpiece moving plate, the limiting motor works at the moment, the arc 11 is pulled, the arc 11 pulls the hinge rod 12 to stretch, the hinge rod 12 abuts against the limiting arc-shaped plate 10, the limiting arc-shaped plate 10 is close to the clamp clamping jaw 6, the clamping jaw buckle 8 is enabled to press the clamp clamping jaw 6, the clamping jaw spring 5 is not acted at the moment, after clamping is finished, the clamping cylinder 17 works, the limiting arc-shaped plate 10 is pulled, the clamp clamping jaw 6 is pre-tightened, the clamp clamping jaw 6 is enabled to clamp a workpiece more tightly and more firmly, after clamping is finished, the robot works, the workpiece is moved to a working position, the cylinder stops working, pre-tightening force to the clamp clamping jaw 6 is removed, the limiting motor works, the arc-shaped moving plate 11 is pushed, the clamping jaw buckle 8 is enabled to leave the clamp clamping jaw 6, the moving motor 3 works at the moment, the clamp shell 1 is opened to be separated from the workpiece, the robot works, the robot clamp is moved, and the robot and the.

Claims

1. A robot clamp comprises a tail end shell (2) installed on a robot arm, wherein two arc-shaped clamping shells (1) are arranged in the tail end shell (2) in a matched manner, two arc-shaped clamping shells (1) are synchronously driven by a moving motor (3) connected to the tail end shell (2) at the lower end of each arc-shaped clamping shell (1), the robot clamp is characterized in that each clamping shell (1) is provided with a plurality of clamping jaw grooves (4) on the arc-shaped surface, clamping jaws (6) fixed through clamping jaw springs (5) are arranged in the clamping jaw grooves (4) in a sliding manner, a clamping groove (7) in arc-shaped matched with the clamping shell (1) is formed in the clamping shell (1), the clamping jaws (6) are connected with two semicircular clamping jaw buckles (8) which are oppositely arranged in the front and back directions in a sliding manner at the part of the clamping groove (7), and a limiting plate (9) which limits the clamping jaw buckles (8) to move in the front and back direction along the axis direction, place a spacing arc (10) that can slide and the back-and-forth movement in centre gripping recess (7) in both ends centre gripping recess (7) around clamping jaw buckle (8), spacing arc (10) pass through screw-thread fit with clamping jaw buckle (8), be equipped with one arc movable plate (11) that can slide in centre gripping recess (7) on the direction that anchor clamps clamping jaw (6) were kept away from in spacing arc (10), articulated hinge rod (12) that have front and back both ends to connect clamp shell (1) and spacing arc (10) respectively on arc movable plate (11).

2. A robot clamp according to claim 1, characterized in that the clamp jaws (6) comprise jaw cylinders placed in the jaw recesses (4) and jaw auxiliary plates (13) fixedly attached to the inside of the jaw cylinders.

3. A robot clamp according to claim 1, characterized in that a circle of volute-shaped slideway (14) is arranged at one end of the limiting arc plate (10) close to the clamp clamping jaw (6), and a volute-shaped plate (15) matched with the volute-shaped slideway (14) is fixed at one end of the clamping jaw buckle (8) contacted and matched with the limiting arc plate (10).

4. A robotic gripper according to claim 1, characterized in that two arcuate moving plates (11) are connected within each said gripper housing (1) and are driven (16) by a limit motor connected to the gripper housing (1).

5. A robot clamp according to claim 1, characterized in that two limiting arc-shaped plates (10) in each of said clamping shells (1) are connected by a limiting telescopic rod (18) and driven by a clamping cylinder (17) connected to the clamping shell (1).