CN211967556U - Robot clamping arm with buffering effect - Google Patents
Robot clamping arm with buffering effect Download PDFInfo
- Publication number
- CN211967556U CN211967556U CN202020011762.2U CN202020011762U CN211967556U CN 211967556 U CN211967556 U CN 211967556U CN 202020011762 U CN202020011762 U CN 202020011762U CN 211967556 U CN211967556 U CN 211967556U
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- slide bar
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Abstract
The utility model discloses a robot centre gripping arm with buffering effect, including the roof, the bottom erection column of roof, pillar bottom erection mounting panel, the top installation cylinder of mounting panel, the push rod installation connecting block of cylinder, the articulated nipper in both sides outer wall bottom of mounting panel, the articulated connecting rod in the middle of the nipper, the lateral wall of the articulated connecting block of connecting rod, install the spring between the top of connecting block and the bottom of mounting panel, the slide bar is cup jointed to the bottom of nipper, slide bar one end connection clamp plate, install buffer gear between the other end of slide bar and the outer wall of nipper. The cylinder drives the connecting block and moves, and the connecting block passes through the connecting rod push-and-pull and grabs the board, makes to grab board centre gripping article that opens and shuts, grabs when the board closes the article of grabbing gradually, and the pinch-off blades contact article surface, thereby can promote the slide bar and slide and avoid contacting with article rigidity, and cushions the shock attenuation through buffer gear in the slide bar removal, makes to grab the board slowly closed, reduces the vibrations impact to article, avoids guaranteeing to damage when article snatch.
Description
Technical Field
The utility model relates to the technical field of robot, specifically be a robot centre gripping arm with buffering effect.
Background
The robot usually uses the clamping arm as an executing component for grabbing articles, the clamping arm usually drives two grabbing plates to open and close through pneumatics or electromotions so as to clamp the articles, the grabbing plates of the existing clamping arm directly and quickly contact the surfaces of the articles when being closed, the grabbing plates lack a necessary buffer mechanism, the articles are easily impacted when the articles are grabbed, and the fragile articles such as glass are damaged.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot centre gripping arm with buffering effect 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 robot clamping arm with a buffering effect comprises a top plate, wherein a plurality of supporting columns are fixedly arranged at the bottom of the top plate, a mounting plate is fixedly arranged at the bottom of the strut, an air cylinder is fixedly arranged at the top of the mounting plate, a push rod of the air cylinder penetrates through the mounting plate in a sliding manner and is fixedly provided with a connecting block, the bottoms of the outer walls of the two sides of the mounting plate are both hinged with a grabbing plate, the middle inner wall of the grabbing plate is both hinged with one end of a connecting rod, the other end of the connecting rod is hinged with the side wall of the connecting block, a spring is arranged between the top of the connecting block and the bottom of the mounting plate, the bottom of the grabbing plate is sleeved with a sliding rod in a sliding manner, the inner wall of the bottom of the grabbing plate is provided with a clamping plate, the outer wall of the clamping plate is provided with a rotary groove, the one end fixed mounting pivot that the slide bar is close to grabs the inboard wall, the pivot rotates the joint in the turn trough, install buffer gear between the other end of slide bar and the outer wall of grabs the board.
Preferably, the top of connecting block and the equal fixed mounting in bottom of mounting panel have the guide ring, the push rod of cylinder slides and runs through the guide ring, and the both ends inner wall of spring is fixed the cover respectively and is connected on the outer wall of two guide rings.
Preferably, the rotating shaft is of a disc-shaped structure, the rotating groove is of an arc structure connected with the rotating shaft in a clamping mode, the opening angle of the rotating groove is smaller than 180 degrees, and an elastic rubber pad is fixedly installed on the outer wall of one end, far away from the sliding rod, of the clamping plate.
Preferably, buffer gear includes the seal cover, grab the outer wall bottom fixed mounting seal cover of board, the other end of slide bar stretches into in the seal cover and fixed connection piston, install the pressure spring between the blind end inner wall of piston and seal cover, open the blind end both sides outer wall of seal cover has the venthole, the one end of the outer wall fixed connection connecting pipe of venthole, the other end fixed cup joint of connecting pipe is on grabbing the board, the equal fixed connection of grabbing inboard wall of slide bar both sides is flexible, the flexible pipe outer wall dodges and is equipped with a plurality of shrink folds, and the one end intercommunication connecting pipe of flexible pipe, the equal fixed mounting in top and the bottom of clamp plate has the gasbag pad, the gasbag pad is cup jointed to the other end of flexible pipe fixedly.
Preferably, the pressure spring is in compression state all the time, the venthole is the big little hyperbolic structure in middle of both ends, the shrink fold on the flexible pipe forms the ripple structure, the gasbag pad is the arc structure.
Compared with the prior art, the beneficial effects of the utility model are that: when the connecting block moves upwards to enable the grabbing plate to be gradually closed to grab an article, the clamping plate contacts the surface of the article firstly, at the moment, the clamping plate can rotate through the rotating shaft and the rotating groove to be attached to the surface of the article, the sliding rod can be pushed to slide to avoid rigid contact with the article, and the spring is gradually compressed when the connecting block rises to drive the grabbing plate to be closed, so that the grabbing plate is slowly closed, and the impact of the clamping plate on the article is reduced; when getting article, thereby the slide bar removes and promotes the piston, piston compression spring to cushion, the gas is impressed in flexible pipe and the gasbag pad in the seal cover for gasbag pad article department is crooked, makes gasbag pad laminating article top and bottom, thereby supplementary centre gripping article, and flexible pipe and gasbag pad inflate and make the interior gas compression of seal cover, further cushion and improve the effect.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of a partial structure of the clamping plate of the present invention;
fig. 4 is a schematic view of the state structure of the utility model when the object is gripped.
In the figure: the device comprises a top plate 1, a support column 2, a mounting plate 3, a cylinder 4, a grasping plate 5, a connecting block 6, a connecting rod 7, a spring 8, a buffer mechanism 9, a sealing sleeve 91, a pressure spring 92, a piston 93, an air outlet 94, a connecting pipe 95, a telescopic pipe 96, a contraction fold 97, an airbag cushion 98, a sliding rod 10, a rotating shaft 11, a rotating groove 12 and a clamping plate 13.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a robot clamping arm with a buffering effect comprises a top plate 1, wherein the top plate 1 is connected with an external device (such as a tower frame, a navigation vehicle and the like) through bolt holes (not shown in the figure), a plurality of supporting columns 2 are fixedly installed at the bottom of the top plate 1, a mounting plate 3 is fixedly installed at the bottom of each supporting column 2, a cylinder 4 is fixedly installed at the top of the mounting plate 3 (controlled by an external switch), a push rod of the cylinder 4 penetrates through the mounting plate 3 in a sliding mode and is fixedly installed with a connecting block 6, the bottoms of the outer walls of two sides of the mounting plate 3 are respectively hinged with a grabbing plate 5, the middle inner wall of each grabbing plate 5 is respectively hinged with one end of a connecting rod 7, the other end of each connecting rod 7 is hinged with the side wall of the connecting block 6, a spring 8 is installed between the top of the connecting block 6 and the bottom of the mounting plate 3, a sliding rod 10 is sleeved at the bottom of the grabbing plate 5, a clamping, the rotating shaft 11 is rotatably clamped in the rotating groove 12, and a buffer mechanism 9 is arranged between the other end of the sliding rod 10 and the outer wall of the grabbing plate 5.
The top plate 1 is connected with a robot through bolts and the like, the air cylinder 4 drives the connecting block 6 to move, the connecting block 6 pushes and pulls the grabbing plate 5 through the connecting rod 7, so that the grabbing plate 5 rotates to open and close to clamp objects, when the gripping plates 5 are gradually closed to grip the object, the clamping plates 13 contact the surface of the object first, at which time the clamping plates 13 can rotate through the rotating shafts 11 and the rotating grooves 12, so as to conform to the surface of the article, and can push the slide bar 10 to slide so as to avoid rigid contact with the article, thereby avoiding impacting the object, and the sliding rod 10 is buffered by the buffer mechanism 9 during moving, so that the object can not be impacted during the closing process of the grabbing plate 5, and the connecting block 6 rises to drive the grabbing plate 5 to close, and the spring 8 is gradually compressed, so that the grabbing plate 5 is slowly closed (objects are not seen on the drawing) as shown in fig. 4, the vibration impact is further reduced, and the damage to the grabbing object is avoided.
Particularly, the equal fixed mounting in top of connecting block 6 and the bottom of mounting panel 3 has the guide ring, and the push rod of cylinder 4 slides and runs through the guide ring, and the both ends inner wall of spring 8 is fixed the cup joint respectively on the outer wall of two guide rings, leads spring 8 through the guide ring, and the spring 8 of being convenient for compresses.
Particularly, pivot 11 is discoid structure, and the rotary trough 12 is the arc structure of joint pivot 11, and the opening angle of rotary trough 12 is less than 180 for clamping plate 13 can only rotate from top to bottom and adjust the angle of pitch, and the article of being convenient for laminate are got, and clamping plate 13 keeps away from the one end outer wall fixed mounting elastic rubber pad of slide bar 10.
The buffer mechanism 9 comprises a sealing sleeve 91, the sealing sleeve 91 is fixedly installed at the bottom of the outer wall of the grabbing plate 5, the other end of the sliding rod 10 extends into the sealing sleeve 91 and is fixedly connected with a piston 93, a pressure spring 92 is installed between the piston 93 and the inner wall of the closed end of the sealing sleeve 91, air outlet holes 94 are formed in the outer walls of two sides of the closed end of the sealing sleeve 91, the outer wall of the air outlet hole 94 is fixedly connected with one end of a connecting pipe 95, the other end of the connecting pipe 95 is fixedly sleeved on the grabbing plate 5, telescopic pipes 96 are fixedly connected with the inner walls of the grabbing plate 5 at two sides of the sliding rod 10, a plurality of contraction folds 97 are arranged on the outer walls of the telescopic pipes 96 in a flashing mode, one end of each telescopic pipe 96 is communicated with the connecting pipe 95, air bag cushions 98 are fixedly installed at the top and the bottom of each clamping plate 13, the air bag cushions, thereby buffering, and the gas in the sealing sleeve 91 is pressed out by the piston 93 through the vent hole 94, the gas is pressed into the expansion tube 96 and the airbag cushion 98 through the connecting tube 95, the airbag cushion 98 inflates and expands, and simultaneously the contraction fold 97 expands and contracts due to the inflation of the expansion tube 96, the expansion tube 96 pushes the airbag cushion 98, so that the article of the airbag cushion 98 is bent, so that the airbag cushion 98 is attached to the top and the bottom of the article, thereby assisting in clamping the article, and the expansion tube 96 and the airbag cushion 98 inflate to compress the gas in the sealing sleeve 91, further buffering is performed, so that the slide rod 10 moves smoothly, the clamping plate 13 is ensured to be in stable contact with the article, thereby avoiding damaging the article, when the grabbing plate 5 is opened, the compression spring 92 pushes the piston 93, so that the sealing sleeve 91 extracts the gas through the vent hole 94, the airbag cushion 98 contracts, and, so that bellows 96 pulls airbag cushion 98 and airbag cushion 98 bends toward grip panel 5 to disengage from the article, thereby lowering the article.
Specifically, the pressure spring 92 is always in a compressed state, the air outlet 94 is of a hyperbolic structure with two large ends and a small middle part, and the flow speed of the air is reduced, so that a certain buffering effect is achieved, the air in the sealing sleeve 91 can be compressed when the piston 93 compresses the pressure spring 92, the sliding rod 10 is further buffered and damped through air compression, the contraction wrinkles 97 on the expansion pipes 96 form a corrugated structure, and the air bag cushion 98 is of an arc structure.
The working principle is as follows: when the utility model is used, the top plate 1 is connected with external devices (such as a tower frame, a robot main body and the like) through bolts and the like, the cylinder 4 drives the connecting block 6 to move, the connecting block 6 pushes and pulls the grabbing plate 5 through the connecting rod 7, thereby the grabbing plate 5 rotates to open and close to clamp articles, the connecting block 6 moves upwards to enable the grabbing plate 5 to gradually close to grab articles, the clamping plate 13 firstly contacts the surface of the articles, at the moment, the clamping plate 13 can rotate through the rotating shaft 11 and the rotating groove 12 to attach the surface of the articles, and the sliding rod 10 can be pushed to slide so as to avoid rigid contact with the articles, and the spring 8 is gradually compressed when the connecting block 6 rises to drive the grabbing plate 5 to close, thereby the grabbing plate 5 is slowly closed, the impact of the clamping plate 13 on the articles is reduced, and the clamping plate 13 attaches the surface of the articles and drives, and the gas in the sealing sleeve 91 is pressed out by the piston 93 through the vent hole 94, the gas is pressed into the telescopic tube 96 and the airbag cushion 98 through the connecting tube 95, the airbag cushion 98 is inflated and expanded, meanwhile, the telescopic tube 96 expands and contracts the contraction pleat 97 due to the inflation, the telescopic tube 96 pushes the airbag cushion 98, the airbag cushion 98 bends to make the airbag cushion 98 attach to the top and the bottom of the article, so as to assist in clamping the article, and the telescopic tube 96 and the airbag cushion 98 are inflated to compress the gas in the sealing sleeve 91, further buffer, so as to make the sliding rod 10 move smoothly, ensure the stable contact between the clamping plate 13 and the article, avoid damaging the article, when the grasping plate 5 is opened, the pressure spring 92 pushes the piston 93 elastically, so that the sealing sleeve 91 extracts the gas through the vent hole 94, the airbag cushion 98 contracts, meanwhile, the telescopic tube 96 contracts and is folded through the contraction pleat 97, the airbag cushion 98 is bent toward the grip plate 5 to be easily detached from the article, thereby lowering the article.
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 (5)
1. The utility model provides a robot centre gripping arm with buffering effect, includes roof (1), its characterized in that: the bottom of roof (1) fixed mounting a plurality of pillars (2), the bottom fixed mounting panel (3) of pillar (2), the top fixed mounting cylinder (4) of mounting panel (3), the push rod of cylinder (4) slides and runs through mounting panel (3) and fixed mounting connecting block (6), both sides outer wall bottom of mounting panel (3) all articulates grabs board (5), the middle inner wall of grabbing board (5) all articulates the one end of connecting rod (7), the other end of connecting rod (7) articulates the lateral wall of connecting block (6), install spring (8) between the top of connecting block (6) and the bottom of mounting panel (3), the bottom of grabbing board (5) slides and cup joints slide bar (10), grab board (5) bottom inner wall department and be equipped with clamp plate (13), the outer wall of clamp plate (13) is opened has rotary groove (12), slide bar (10) are close to one end fixed mounting pivot (11) of grabbing board (5) inner wall, pivot (11) rotate the joint in turn trough (12), install buffer gear (9) between the other end of slide bar (10) and the outer wall of grabbing board (5).
2. A robot gripping arm with a cushioning effect as claimed in claim 1, characterized in that: the top of connecting block (6) and the equal fixed mounting in bottom of mounting panel (3) have the guide ring, the push rod of cylinder (4) slides and runs through the guide ring, and the both ends inner wall of spring (8) is fixed respectively to cup joint on the outer wall of two guide rings.
3. A robot gripping arm with a cushioning effect as claimed in claim 1, characterized in that: the rotating shaft (11) is of a disc-shaped structure, the rotating groove (12) is of an arc-shaped structure connected with the rotating shaft (11) in a clamping mode, the opening angle of the rotating groove (12) is smaller than 180 degrees, and an elastic rubber pad is fixedly installed on the outer wall of one end, far away from the sliding rod (10), of the clamping plate (13).
4. A robot gripping arm with a cushioning effect as claimed in claim 1, characterized in that: the buffer mechanism (9) comprises a sealing sleeve (91), the bottom of the outer wall of the gripping plate (5) is fixedly provided with the sealing sleeve (91), the other end of the sliding rod (10) extends into the sealing sleeve (91) and is fixedly connected with a piston (93), a pressure spring (92) is arranged between the piston (93) and the inner wall of the closed end of the sealing sleeve (91), the outer walls of the two sides of the closed end of the sealing sleeve (91) are provided with air outlet holes (94), the outer wall of each air outlet hole (94) is fixedly connected with one end of a connecting pipe (95), the other end of each connecting pipe (95) is fixedly sleeved on the gripping plate (5), the inner walls of the gripping plates (5) at the two sides of the sliding rod (10) are fixedly connected with telescopic pipes (96), the outer wall of each telescopic pipe (96) is provided with a plurality of contraction folds (97), one end of each telescopic pipe (96) is communicated with the connecting pipe (, the other end of the telescopic pipe (96) is fixedly sleeved with an airbag cushion (98).
5. A robot gripping arm with a cushioning effect as claimed in claim 4, characterized in that: pressure spring (92) are in compression state all the time, venthole (94) are the little hyperbolic structure in the big centre in both ends, shrink fold (97) on flexible pipe (96) form ripple texture, gasbag pad (98) are the arc structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020011762.2U CN211967556U (en) | 2020-01-04 | 2020-01-04 | Robot clamping arm with buffering effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020011762.2U CN211967556U (en) | 2020-01-04 | 2020-01-04 | Robot clamping arm with buffering effect |
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| Publication Number | Publication Date |
|---|---|
| CN211967556U true CN211967556U (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020011762.2U Expired - Fee Related CN211967556U (en) | 2020-01-04 | 2020-01-04 | Robot clamping arm with buffering effect |
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| CN (1) | CN211967556U (en) |
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| CN117644304B (en) * | 2024-01-29 | 2024-04-16 | 烟台德越精密机械有限公司 | Cutting clamp for special-shaped part laser cutting table |
| CN117644304A (en) * | 2024-01-29 | 2024-03-05 | 烟台德越精密机械有限公司 | Cutting clamp for special-shaped part laser cutting table |
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