CN214870681U

CN214870681U - Centering clamp holder for robot

Info

Publication number: CN214870681U
Application number: CN202120154292.XU
Authority: CN
Inventors: 洪强; 魏峰
Original assignee: Suzhou Maiteng Automation Equipment Co ltd
Current assignee: Suzhou Maiteng Automation Equipment Co ltd
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-11-26
Anticipated expiration: 2031-01-20

Abstract

The utility model discloses a robot is with centering holder, including support and a plurality of clamping mechanism, the support includes the lower carriage plate, a plurality of clamping mechanism set up around the central axis equipartition and are connected in on the lower carriage plate, every clamping mechanism is including being used for pressing from both sides the clamping jaw by the cramped object tightly, the ejector pad of fixed connection clamping jaw and install on the lower carriage plate and drive the ejector pad along the first drive arrangement of the radial movement of central axis, still include anti-eccentric mechanism, anti-eccentric mechanism includes rotor plate and polylith connecting plate, the rotor plate rotates around the central axis and connects on the lower carriage plate, the polylith connecting plate rotates around eccentric axis A around the one end that the central axis equipartition set up and the connecting plate and connects on the rotor plate, the connecting plate rotates around eccentric axis B with the other end of setting of ejector pad one-to-one and connecting plate and connects on its ejector pad that corresponds. The utility model discloses can guarantee a plurality of clamping jaw subassembly synchronous motion, prevent that clamping mechanism is eccentric.

Description

Centering clamp holder for robot

Technical Field

The utility model belongs to robot transport and equipment field, concretely relates to centering holder for robot.

Background

In the present phase, the robot industry is developing more and more rapidly. A wide variety of robots may be used to replace repetitive work in low end manufacturing. The transport of traditional mill and the people of equipment are many, cause the chaotic situation in the factory building easily, and is inefficient, and the human cost is high. The inadaptation to the current faster and faster production rhythm is an important reason for limiting the improvement of the production efficiency of factories. Aiming at the situation, the mobile robot is used for carrying and assembling in a factory, the efficiency advantage of the robot is fully utilized, continuous work can be carried out without considering shift change, and the number of workers and the production cost are greatly reduced.

The prior art grippers typically include a plurality of jaw assemblies, each of which is driven by a pneumatic cylinder to perform gripping and releasing actions. Because different cylinders can have the difference of movement speed in the actual application, the eccentricity of clamping is caused, and the carriers are easy to be misplaced and damaged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot is with centering holder prevents clamping jaw subassembly decentraction.

In order to achieve the above object, the present invention provides the following technical solutions: a centering clamper for a robot comprises a bracket and a plurality of clamping mechanisms, wherein the bracket comprises a lower support plate, the clamping mechanisms are uniformly distributed around a central axis and connected to the lower support plate, each clamping mechanism comprises a clamping jaw for clamping a clamped object, a push block fixedly connected with the clamping jaw and a first driving device which is arranged on the lower support plate and drives the push block to move along the radial direction of the central axis;

the anti-eccentricity mechanism comprises a rotating plate and a plurality of connecting plates, the rotating plate is connected to the lower support plate in a rotating mode around the central axis, the plurality of connecting plates are evenly distributed around the central axis, one ends of the connecting plates are connected to the rotating plate in a rotating mode around an eccentric axis A, the connecting plates are in one-to-one correspondence with the push blocks, the other ends of the connecting plates are connected to the push blocks corresponding to the connecting plates in a rotating mode around the eccentric axis B, and the central axis, the eccentric axis A and the eccentric axis B are vertically extended and arranged in parallel in pairs.

As a further improvement, each clamping mechanism further comprises a guide assembly, the guide assembly is mounted on the lower support plate and guides the push block to move along the radial direction of the central axis, and the guide assembly comprises a slide rail and two slide blocks connected to the slide rail in a sliding manner.

As a further improvement, each of the clamping mechanisms further includes a detection assembly including a detection plate fixedly connected to the push block, a proximity sensor a for detecting the detection plate reaching the clamped position, and a proximity sensor B for detecting the detection plate reaching the unclamped position.

As a further improvement, each clamping mechanism further comprises a first nylon anti-collision plate, and the first nylon anti-collision plate is arranged on the clamping jaw and is in contact with the clamped object.

As a further improvement, the clamping jaw is provided with a positive step for supporting the clamped object.

As a further improvement, the clamping device further comprises a plurality of clamping mechanisms which are uniformly distributed around the central axis and connected to the lower support plate, and each clamping mechanism comprises a pressing block for pressing a clamped object on the alignment bench and a second driving device which is arranged on the lower support plate and drives the pressing block to ascend and descend along the extending direction of the central axis.

As a further improvement, the clamping jaw is provided with two stages of upright steps, and the pressing block is provided with two stages of inverted steps, wherein one stage of inverted step is used for pressing the clamped object on the high stage of upright step, and the other stage of inverted step is used for pressing the clamped object on the low stage of upright step.

As a further improvement, each pressing mechanism further comprises a second nylon anti-collision plate, and the second nylon anti-collision plate is mounted on the pressing block and is in contact with the clamped object.

As a further improvement, the first driving device is connected with the pushing block through a floating joint.

As a further improvement, the support further comprises an upper support plate, the upper support plate and the lower support plate are fixedly connected through a connecting rod, the upper support plate is provided with a circular truncated cone, and the circular truncated cone and the manipulator are mutually positioned.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

1) the centering clamper for the robot can ensure the synchronous motion of a plurality of clamping jaw components and prevent the eccentricity of the clamping mechanism by arranging the eccentricity prevention mechanism;

2) the utility model discloses a centering holder for robot adopts the fixing of side, bottom and upper portion three direction, and the clamping jaw subassembly is equipped with the positive bench, and after the clamping jaw subassembly centre gripping by the clamping object, radial and the bottom surface of the clamping object are all positioned, and are compressed tightly by hold-down mechanism again, can guarantee that the robot is more firm when high-speed operation;

3) the utility model discloses a centering clamper for a robot, wherein nylon anti-collision plates are arranged on the surfaces of a clamping jaw component and a pressing block component, so as to prevent the clamped object from being damaged due to the clamping;

4) the utility model discloses a centering holder for robot, support are equipped with the round platform, are convenient for control installation accuracy.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic connection diagram of a centering holder for a robot according to the present invention;

fig. 2 is a schematic structural view of the bracket disclosed by the present invention;

fig. 3 is a schematic view of the connection between the bracket and the clamping mechanism disclosed in the present invention;

fig. 4 is a schematic structural view of the clamping mechanism disclosed in the present invention;

fig. 5 is a schematic structural view of the guide rail assembly disclosed in the present invention;

fig. 6 is a schematic structural view of a first nylon bumper disclosed by the present invention;

fig. 7 is a schematic structural view of the eccentricity preventing mechanism disclosed in the present invention;

fig. 8 is a schematic structural diagram of the pressing mechanism disclosed in the present invention.

Wherein, 110, the lower support plate; 120. an upper bracket plate; 121. a circular truncated cone; 130. a connecting rod; 210. a clamping jaw; 211. righting the step; 220. a push block; 230. a first driving device; 240. a slide rail; 250. a slider; 260. detecting a plate; 270. a proximity sensor A; 280. a proximity sensor B; 290. a first nylon bumper plate; 310. a rotating plate; 320. a connecting plate; 410. briquetting; 411. inverting the steps; 420. a second driving device.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.

The following is a preferred embodiment of the present invention, but is not intended to limit the scope of the present invention.

Example one

Referring to fig. 1 to 8, as shown in the drawings, a centering gripper for a robot includes a bracket including a lower bracket plate 110 and a plurality of clamping mechanisms uniformly arranged around a central axis and connected to the lower bracket plate 110, each of the clamping mechanisms including a clamping jaw 210 for clamping an object to be clamped, a push block 220 fixedly connected to the clamping jaw 210, and a first driving device 230 mounted on the lower bracket plate 110 and driving the push block 220 to move in a radial direction of the central axis;

still include anti-eccentric mechanism, above-mentioned anti-eccentric mechanism includes rotor plate 310 and polylith connecting plate 320, rotor plate 310 rotates around the central axis and connects on lower carriage plate 110, polylith connecting plate 320 rotates around eccentric axis A around the central axis equipartition setting and the one end of connecting plate 320 and connects on rotor plate 310, the setting of connecting plate 320 and ejector pad 220 one-to-one and the other end of connecting plate 320 rotates around eccentric axis B and connects on its ejector pad 220 that corresponds, above-mentioned central axis, eccentric axis A and eccentric axis B all follow vertical extension and two liang of parallel arrangement.

In a preferred embodiment of the present invention, each of the clamping mechanisms further includes a guiding assembly, which is mounted on the lower support plate 110 and guides the pushing block 220 to move along the radial direction of the central axis, and the guiding assembly includes a sliding rail 240 and two sliding blocks 250 slidably connected to the sliding rail 240. In other embodiments, it may also be: the guide assembly is not included or includes a slide rail and a slide or other number of slides slidably coupled to the slide rail.

In a preferred embodiment of this embodiment, each of the above-described clamping mechanisms further includes a detection assembly including a detection plate 260 fixedly coupled to the pusher block 220, a proximity sensor a270 for detecting the detection plate 260 reaching the clamped position, and a proximity sensor B270 for detecting the detection plate 260 reaching the unclamped position. In other embodiments, it may also be: no sensing component is included, or other sensors, such as contact sensors, etc., are employed.

In a preferred embodiment of the present invention, each of the clamping mechanisms further includes a first nylon anti-collision plate 290, and the first nylon anti-collision plate 290 is disposed on the clamping jaw 210 and contacts with the object to be clamped. In other embodiments, it may also be: the first nylon anti-collision plate is not arranged, or the anti-collision plate made of other materials, such as a rubber anti-collision layer, is arranged.

In a preferred embodiment of the present embodiment, the clamping jaw 210 is provided with a centering step 211 for supporting the object to be clamped. In other embodiments, it may also be: no positive step is provided or the positive step is provided separately from the clamping jaw 210.

In the preferred embodiment of the present invention, the pressing mechanism further comprises a plurality of pressing mechanisms, the pressing mechanisms are uniformly arranged around the central axis and are connected to the lower bracket plate 110, each pressing mechanism comprises a pressing block 410 for pressing the clamped object on the positioning step 211 and a second driving device 420 mounted on the lower bracket plate 110 and driving the pressing block 410 to move up and down along the extending direction of the central axis. In other embodiments, it may also be: the clamping mechanism is not included, or the clamping mechanism is driven by the elastic reset component to be pressed on the clamped object.

In the preferred embodiment of the present embodiment, the clamping jaw 210 is provided with a two-step upright step 211, and the pressing block 410 is provided with a two-step inverted step 411, wherein the one-step inverted step 411 is used for pressing the clamped object on the upper-step upright step 211, and the other-step inverted step 411 is pressed on the lower-step upright step 211. In other embodiments, it may also be: the clamping jaw is not provided with a righting step or a layer of righting steps, and correspondingly, a pressing block is not arranged, or the pressing block is provided with a pressing surface.

In a preferred embodiment of the present embodiment, each pressing mechanism further includes a second nylon anti-collision plate (not shown), which is mounted on the pressing block 410 and contacts the object to be clamped. In other embodiments, it may also be: and a second nylon anti-collision plate is not arranged, or an anti-collision plate made of other materials, such as a rubber anti-collision layer, is arranged.

In the preferred embodiment of this embodiment, the first driving device 230 is connected to the pushing block 220 through a floating joint. The floating joint is a universal joint, and a self-made joint capable of universally rotating can also be adopted.

In a preferred embodiment of this embodiment, the support further includes an upper support plate 120, the upper support plate 120 and the lower support plate 110 are fixedly connected through a connecting rod 130, the upper support plate 120 is provided with a circular truncated cone 121, and the circular truncated cone 121 and the manipulator are mutually positioned. In other embodiments, it may also be: the upper support plate is not arranged, or the upper support plate is arranged, but the round table is not arranged on the upper support plate.

In this embodiment, the clamping mechanism and the pressing mechanism are respectively provided with three sets, and the first driving device adopts a first air cylinder.

In this embodiment, the rotor plate passes through deep groove ball bearing and rotates to be connected on the lower carriage plate, and the connecting plate connects rotor plate and base respectively through different articulated shafts, prevents that the clamping jaw subassembly that the cylinder is asynchronous to cause is eccentric, through the installation connecting axle on the base of three ejector pads at three first cylinders, promotes the connecting plate, makes the rotor plate of installing on the center pin rotatory, reaches the synchronous effect of control, reaches concentric purpose.

In this embodiment, the proximity sensor signals the clamping assembly reaching the clamped and undamped positions.

In this embodiment, the second driving device adopts the second cylinder, and after the clamping jaw is clamped, the three pressing blocks simultaneously act to press the product, so that the robot is prevented from generating axial movement during high-speed operation.

In this embodiment, the upper bracket plate has the round platform, can guarantee that centering holder is concentric with the manipulator.

The mechanism is applied to a robot carrying and assembling station, and the three first cylinders are loosened and clamped and the three second cylinders are loosened and pressed by controlling the electromagnetic valves through the PLC.

During actual transport, the manipulator of robot is connected with the upper bracket board, and the manipulator drives centering holder and reachs by the centre gripping thing, and first cylinder drive clamping jaw reachs clamping position, and proximity sensor A detects the pick-up plate back, and clamping jaw stop motion, second cylinder drive briquetting reachs and compresses tightly the position, realizes pressing from both sides tightly and compressing tightly by the interior circumference of centre gripping thing (annular product). The robot drives the object to be clamped to another position, the second cylinder drives the pressing block to reach the loosening position, and the first cylinder drives the clamping jaw to reach the loosening position, so that the object to be clamped is conveyed.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including by way of illustration of the disclosed embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A centering clamper for a robot comprises a bracket and a plurality of clamping mechanisms, wherein the bracket comprises a lower support plate, the clamping mechanisms are uniformly distributed around a central axis and connected to the lower support plate, each clamping mechanism comprises a clamping jaw for clamping a clamped object, a push block fixedly connected with the clamping jaw and a first driving device which is arranged on the lower support plate and drives the push block to move along the radial direction of the central axis;

the anti-eccentricity mechanism is characterized by further comprising an anti-eccentricity mechanism, the anti-eccentricity mechanism comprises a rotating plate and a plurality of connecting plates, the rotating plate is connected to the lower support plate in a rotating mode around the central axis, the connecting plates are evenly distributed around the central axis, one ends of the connecting plates are connected to the rotating plate in a rotating mode around eccentric axes A, the connecting plates are in one-to-one correspondence with the push blocks, the other ends of the connecting plates are connected to the corresponding push blocks in a rotating mode around the eccentric axes B, and the central axis, the eccentric axes A and the eccentric axes B extend vertically and are arranged in parallel in pairs.

2. A robotic centering gripper according to claim 1, wherein each of said clamping mechanisms further comprises a guide assembly mounted to said lower frame plate and guiding movement of said pusher in a radial direction along said central axis, said guide assembly comprising a slide rail and two slide blocks slidably connected to said slide rail.

3. A robotic centering gripper according to claim 1, wherein each of said clamping mechanisms further comprises a sensing assembly, said sensing assembly including a sensing plate fixedly attached to said pusher, a proximity sensor a for sensing said sensing plate reaching a clamped position, and a proximity sensor B for sensing said sensing plate reaching a released position.

4. A centering gripper for a robot according to claim 1, wherein each of said gripping mechanisms further comprises a first nylon bumper provided on said gripping jaw and contacting the object to be gripped.

5. A centering gripper for a robot according to claim 1, characterized in that said gripping jaws are provided with a positive step for supporting the object to be gripped.

6. The centering gripper for robot as claimed in claim 5, further comprising a plurality of pressing mechanisms disposed uniformly around said central axis and connected to said lower frame plate, each of said pressing mechanisms comprising a pressing block for pressing the object to be gripped against said setting step and a second driving means mounted on said lower frame plate and driving said pressing block to ascend and descend in the extending direction of said central axis.

7. A centering gripper for a robot according to claim 6, characterized in that said gripping jaws are provided with two stages of said upright steps and said pressing blocks are provided with two stages of inverted steps, one of said inverted steps being intended to press the object to be gripped against a higher stage of said upright steps and the other of said inverted steps being intended to press against a lower stage of said upright steps.

8. A centering gripper for a robot according to claim 6, wherein each of said pressing mechanisms further comprises a second nylon collision-preventing plate mounted on said pressing block and contacting the object to be gripped.

9. A centering gripper for a robot as claimed in claim 1, characterized in that said first drive means are connected to said pusher by a floating joint.

10. A centering gripper for robots according to claim 1, characterized in that said support further comprises an upper support plate, said upper support plate and said lower support plate being fixedly connected by means of a connecting rod, said upper support plate being provided with a circular truncated cone, said circular truncated cone being mutually positioned with respect to the robot arm.