CN213647587U

CN213647587U - Clamping mechanism of supporting installation of robot

Info

Publication number: CN213647587U
Application number: CN202022271066.8U
Authority: CN
Inventors: 周庚平
Original assignee: Hainan Jiashuo Pharmaceutical Technology Co ltd; Shanghai Jiashuo Pharmaceutical Technology Co ltd
Current assignee: Hainan Jiashuo Pharmaceutical Technology Co ltd; Shanghai Jiashuo Pharmaceutical Technology Co ltd
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-07-09
Anticipated expiration: 2030-10-13

Abstract

The utility model discloses a fixture of supporting installation of robot, including robotic arm, robotic arm's end fixed mounting has fixture, fixture's installation cover seat bottom fixedly connected with rotating turret, the rotation of symmetry is connected with two sets of centre gripping arms on the rotating turret, it has electronic telescoping cylinder to lie in fixed mounting between two sets of centre gripping arms on the rotating turret, it is connected with a set of connecting axle all to rotate on the corresponding face of two sets of centre gripping arms, the connecting axle other end rotates to be connected on pushing away the drawing piece, the end fixed connection of electronic telescoping cylinder is on pushing away the drawing piece, be close to its end gomphosis on the corresponding face of centre gripping arm and install pressure sensor. The utility model has the advantages of simple structure, use simple to operate, be convenient for maintain the maintenance, adjustable centre gripping dynamics, its mainly used carries out the centre gripping to the object.

Description

Clamping mechanism of supporting installation of robot

Technical Field

The utility model relates to a robot art field, specific fixture of supporting installation of robot that says so.

Background

Along with the continuous development of society, robotic arm has gone deep into in each big engineering to accelerate production efficiency, generally all can install fixture on the robotic arm of inside the mill, in order to realize the centre gripping transport to the object, but its structure of current fixture is all very complicated, makes installation use and later maintenance all very inconvenient, and current fixture can't carry out the regulation of centre gripping dynamics according to the type of object, thereby can damage the object.

Disclosure of Invention

To the above-mentioned weak point that exists among the prior art, the utility model aims at providing a simple structure, use simple to operate, be convenient for maintain the fixture of maintenance, adjustable centre gripping dynamics.

The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is: a clamping mechanism matched with a robot for installation comprises a mechanical arm, wherein an installation block is arranged at the end of the mechanical arm, a clamping mechanism is fixedly installed on the installation block and comprises an installation sleeve seat, a rotating frame, clamping arms and an electric telescopic cylinder, the bottom of the installation sleeve seat is fixedly connected with the rotating frame, the rotating frame is symmetrically and rotatably connected with two groups of the clamping arms, the electric telescopic cylinder is fixedly installed between the two groups of the clamping arms on the rotating frame, the surfaces corresponding to the two groups of the clamping arms are both rotatably connected with a group of connecting shafts, the other end of each connecting shaft is rotatably connected to a push-pull block, the end of the electric telescopic cylinder is fixedly connected to the push-pull block, a pressure sensor is installed on the surface corresponding to the clamping arm close to the end of the electric telescopic cylinder in an embedded mode, and a control console is matched with the mechanical arm, the control console is internally provided with a single chip microcomputer, the control console is provided with a setting button, and the pressure sensor and the setting button are in signal connection with the single chip microcomputer.

The mounting sleeve seat is provided with a plurality of groups of first mounting holes, each group of first mounting holes is arranged on the corresponding mounting block, a group of first mounting screw holes are formed in the corresponding first mounting holes, the mounting sleeve seat is sleeved on the corresponding mounting block, and a first mounting bolt is arranged to penetrate through the corresponding first mounting holes and is in threaded connection with the corresponding first mounting screw holes.

The rotating frame is provided with a first groove, one end of the clamping arm is fixedly connected with a first rotating shaft, and the first rotating shaft is rotatably connected to two side walls of the first groove.

Two sets of the symmetry is provided with the second recess on the face that the centre gripping arm corresponds, connecting axle one end fixedly connected with second pivot, the second pivot is rotated and is connected on the both sides wall of second recess.

The other end of the connecting shaft is fixedly connected with a shaft collar, a third rotating shaft is fixedly connected to the push-pull block, and the shaft collar is rotatably connected to the third rotating shaft.

The utility model discloses a telescopic cylinder installation structure, including installation cover seat, telescopic cylinder installation cover, rotating turret, electric telescopic cylinder's tail end fixedly connected with mount table, be provided with multiunit second installation screw on the lateral wall of mount table, the electric telescopic cylinder tail end passes the rotating turret is located in the telescopic cylinder installation cover, correspond every group on the telescopic cylinder installation cover second installation screw is provided with a set of second mounting hole to be provided with second construction bolt and pass the second mounting hole with second installation screw threaded connection.

The utility model has the advantages that: this device simple structure uses simple to operate, and the maintenance of being convenient for more is provided with pressure sensor when detecting centre gripping arm centre gripping object for can adjust the centre gripping dynamics according to the type of centre gripping thing, in order to avoid causing the damage to the centre gripping thing, guarantee the centre gripping effect.

Drawings

FIG. 1 is a schematic view of a structure of a clamping mechanism of the present invention;

FIG. 2 is a schematic view of the mounting structure of the clamping mechanism of the present invention;

fig. 3 is the schematic view of the exploded structure of the middle electric telescopic cylinder and the telescopic cylinder mounting sleeve of the present invention.

In the figure: the mechanical arm, the 101 installation block, the 102 control console, the 103 setting button, the 2 clamping mechanism, the 201 installation sleeve seat, the 202 rotating frame, the 203 clamping arm, the 204 electric telescopic cylinder, the 205 connecting shaft, the 206 push-pull block, the 207 pressure sensor, the 208 first installation hole, the 209 first groove, the 210 first rotating shaft, the 211 second groove, the 212 second rotating shaft, the 213 third rotating shaft, the 214 telescopic cylinder installation sleeve, the 215 second installation screw hole, the 216 second installation hole, the 217 second installation bolt and the 218 installation platform.

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. 1-3, a clamping mechanism for a robot, comprising a robot arm 1, a mounting block 101 disposed on the end of the robot arm 1, a clamping mechanism 2 fixedly mounted on the mounting block 101, the clamping mechanism 2 comprising a mounting sleeve base 201, a rotating frame 202, clamping arms 203 and an electric telescopic cylinder 204, the rotating frame 202 fixedly connected to the bottom of the mounting sleeve base 201, two sets of clamping arms 203 symmetrically and rotatably connected to the rotating frame 202, the electric telescopic cylinder 204 fixedly mounted between the two sets of clamping arms 203 on the rotating frame 202, a set of connecting shaft 205 rotatably connected to the corresponding surface of the two sets of clamping arms 203, the other end of the connecting shaft 205 rotatably connected to a push-pull block 206, the end of the electric telescopic cylinder 204 fixedly connected to the push-pull block 206, so that the two sets of clamping arms 203 can be controlled to move away from or move closer together by controlling the extension or retraction of the electric telescopic cylinder 204, with this realization to the centre gripping work of object, be close to its end gomphosis on the corresponding face of centre gripping arm 203 and install pressure sensor 207, robotic arm 1 is supporting to have control cabinet 102, be provided with the singlechip in the control cabinet 102, be provided with set button 103 on the control cabinet 102, pressure sensor 207, set button 103 all with singlechip signal connection, when carrying out the centre gripping to the object through pressure sensor 207 detectable centre gripping arm 203, produced pressure's scope when can setting for centre gripping arm 203 centre gripping through set button 103, thereby make and adjust according to the type of treating centre gripping object, in order to guarantee that the object can not damage.

More specifically, the mounting sleeve seat 201 is provided with a plurality of groups of first mounting holes 208, the mounting block 101 is provided with a group of first mounting screws corresponding to each group of first mounting holes 208, the mounting sleeve seat 201 is sleeved on the mounting block 101, and a first mounting bolt is arranged to penetrate through the first mounting holes 208 and be in threaded connection with the first mounting screws, so that the mounting sleeve seat 201 and the mounting block 101 are fixedly connected;

a first groove 209 is formed in the rotating frame 202, a first rotating shaft 210 is fixedly connected to one end of the clamping arm 203, and the first rotating shaft 210 is rotatably connected to two side walls of the first groove 209, so that the clamping arm 203 and the rotating frame 202 are rotatably connected; the corresponding surfaces of the two groups of clamping arms 203 are symmetrically provided with second grooves 211, one end of the connecting shaft 205 is fixedly connected with a second rotating shaft 212, and the second rotating shaft 212 is rotatably connected to two side walls of the second grooves 211, so that the connecting shaft 205 and the clamping arms 203 are rotatably connected; the other end of the connecting shaft 205 is fixedly connected with a shaft collar, the push-pull block 206 is fixedly connected with a third rotating shaft 213, and the shaft collar is rotatably connected to the third rotating shaft 213, so that the rotary connection between the push-pull block 206 and the connecting shaft 205 is realized;

the bottom of the mounting sleeve seat 201 is provided with a telescopic cylinder mounting sleeve 214, the telescopic cylinder mounting sleeve 214 is fixedly connected with the rotating frame 202, the tail end of the electric telescopic cylinder 204 is fixedly connected with a mounting table 218, the side wall of the mounting table 218 is provided with a plurality of groups of second mounting screw holes 215, the tail end of the electric telescopic cylinder 204 penetrates through the rotating frame 202 and is positioned in the telescopic cylinder mounting sleeve 214, a group of second mounting holes 216 are formed in the telescopic cylinder mounting sleeve 214 corresponding to each group of second mounting screw holes 215, a second mounting bolt 217 is arranged and penetrates through the second mounting holes 216 and is in threaded connection with the second mounting screw holes 215, the electric telescopic cylinder 204 is fixedly mounted through the mounting mode, and therefore when the clamping mechanism 2 is maintained and repaired at the later stage, the electric telescopic cylinder is more easily disassembled, and maintenance.

The utility model discloses a theory of operation is: during the use, robotic arm 1 can drive fixture 2 and move, when needing fixture 2 to carry out the centre gripping to the object, the electronic telescoping cylinder 204 of accessible retracts, make electronic telescoping cylinder 204 pulling push-and-pull piece 206 to the direction motion of being close to rotating turret 202, thereby make connecting axle 205 drive two sets of centre gripping arms 203 and draw close each other, thereby carry out the centre gripping to the object, pressure sensor 207 can detect the produced pressure of centre gripping during the centre gripping, guarantee that the pressure range is in the within range of settlement, after robotic arm 1 drives the object and arrives suitable position, electronic telescoping cylinder 204 stretches out and makes push-and-pull piece 206 to the direction motion of keeping away from rotating turret 202, make connecting axle 205 prop two sets of centre gripping arms 203 open, put down the object.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a fixture of supporting installation of robot, includes robotic arm (1), be provided with installation piece (101) on robotic arm's (1) end, fixed mounting has fixture (2), its characterized in that on installation piece (101): the clamping mechanism (2) comprises an installation sleeve seat (201), a rotating frame (202), clamping arms (203) and an electric telescopic cylinder (204), the bottom of the installation sleeve seat (201) is fixedly connected with the rotating frame (202), the rotating frame (202) is symmetrically connected with two groups of the clamping arms (203) in a rotating way, the rotating frame (202) is positioned between the two groups of the clamping arms (203), the electric telescopic cylinder (204) is fixedly installed between the two groups of the clamping arms (203), the two groups of the clamping arms (203) are correspondingly connected with a group of connecting shafts (205) in a rotating way, the other ends of the connecting shafts (205) are connected on a push-pull block (206) in a rotating way, the end of the electric telescopic cylinder (204) is fixedly connected on the push-pull block (206), a pressure sensor (207) is installed on the corresponding surface of the clamping arms (203) close to the end in an embedded way, and a control console (102) is, the pressure sensor is characterized in that a single chip microcomputer is arranged in the console (102), a setting button (103) is arranged on the console (102), and the pressure sensor (207) and the setting button (103) are in signal connection with the single chip microcomputer.

2. The robot-mounted clamping mechanism of claim 1, wherein: be provided with first mounting hole of multiunit (208) on installation cover seat (201), correspond every group on installation piece (101) first mounting hole (208) all are provided with a set of first installation screw, installation cover seat (201) cover is in on installation piece (101) to be provided with first construction bolt and pass first mounting hole (208) with first installation screw threaded connection.

3. The robot-mounted clamping mechanism of claim 1, wherein: the clamping device is characterized in that a first groove (209) is formed in the rotating frame (202), a first rotating shaft (210) is fixedly connected to one end of the clamping arm (203), and the first rotating shaft (210) is rotatably connected to two side walls of the first groove (209).

4. The robot-mounted clamping mechanism of claim 1, wherein: two sets of be provided with second recess (211) on the corresponding face of centre gripping arm (203) symmetry, connecting axle (205) one end fixedly connected with second pivot (212), second pivot (212) rotate to be connected on the both sides wall of second recess (211).

5. The robot-mounted clamping mechanism of claim 4, wherein: the other end of the connecting shaft (205) is fixedly connected with a shaft collar, a third rotating shaft (213) is fixedly connected to the push-pull block (206), and the shaft collar is rotatably connected to the third rotating shaft (213).

6. The robot-mounted clamping mechanism of claim 1, wherein: installation cover seat (201) bottom is provided with telescoping cylinder installation cover (214), telescoping cylinder installation cover (214) with fixed connection between rotating turret (202), the tail end fixedly connected with mount table (218) of electronic telescoping cylinder (204), be provided with multiunit second installation screw (215) on the lateral wall of mount table (218), electronic telescoping cylinder (204) tail end is passed rotating turret (202) are located in telescoping cylinder installation cover (214), correspond every group on telescoping cylinder installation cover (214) second installation screw (215) are provided with a set of second mounting hole (216) to be provided with second mounting bolt (217) and pass second mounting hole (216) with second installation screw (215) threaded connection.