CN215358495U - Industrial robot's combined clamp structure and device - Google Patents
Industrial robot's combined clamp structure and device Download PDFInfo
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- CN215358495U CN215358495U CN202121669091.XU CN202121669091U CN215358495U CN 215358495 U CN215358495 U CN 215358495U CN 202121669091 U CN202121669091 U CN 202121669091U CN 215358495 U CN215358495 U CN 215358495U
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- 150000001875 compounds Chemical class 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 6
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- 239000002184 metal Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a composite clamp structure of an industrial robot and a device, wherein the composite clamp structure comprises a first driving mechanism, the first driving mechanism comprises a driving mechanism body and a supporting part, an output shaft of the driving mechanism body is connected with a lifting plate, two groups of connecting rods are arranged at the lower end of the lifting plate, the supporting part is provided with a fixed shaft, the fixed shaft is positioned below the lifting plate, the fixed shaft is rotatably connected with two crossed rotating rods, the rotating rods are provided with strip-shaped grooves, a clamping column is slidably clamped in one of the strip-shaped grooves and is connected with one group of the connecting rods, the other clamping column is slidably clamped in the other strip-shaped groove and is connected with the other group of the connecting rods, and the lower end of the rotating rod is provided with a clamping block. Through such technical scheme, compound fixture structure is ingenious, reduces manufacturing cost, reduces the assembly degree of difficulty, improves the technological effect of practicality.
Description
Technical Field
The utility model relates to the technical field of clamps, in particular to a composite clamp structure and a composite clamp device of an industrial robot.
Background
Among the prior art, the level of mechanization and automation inside the workshop is higher and higher at present, the extensive use of robot has greatly improved work efficiency to alleviate workman's intensity of labour, still have some defects in the in-process of the transportation that the robot was gone on at in-service use, for example to the metal pipe, the anchor clamps of robot can accomplish the operation, but its structure is comparatively complicated, and manufacturing cost is higher, and the assembly degree of difficulty is great, and the practicality is not high.
Simultaneously, current robot clamp is when transporting the pipe, because the length of pipe is different for robot clamp has inconveniently when fixing the pipe, and the outer terminal surface of pipe is very smooth moreover, makes the frictional force between anchor clamps and the pipe very little, makes the pipe stability at the in-process of transporting not good, follows the inside landing of anchor clamps easily.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problems that the clamp structure of the existing robot is complex, the manufacturing cost is high, the assembly difficulty is high, and the practicability is low.
The utility model is realized by the following technical scheme:
the utility model provides a composite clamp structure of an industrial robot, which comprises a first driving mechanism, wherein the first driving mechanism is a clamp block driving mechanism, the first driving mechanism comprises a driving mechanism body and a supporting part, the driving mechanism body is fixed on the supporting part, an output shaft of the driving mechanism body is connected with a lifting plate for driving the lifting plate to move up and down, the lifting plate is a transverse plate, two groups of connecting rods are arranged at the lower end of the lifting plate, a fixed shaft is arranged on the supporting part and is a transverse rod, the fixed shaft is positioned below the lifting plate, the fixed shaft is rotatably connected with two crossed rotating rods which are obliquely arranged, each rotating rod is provided with a strip-shaped groove, a clamping column is slidably clamped in one of the strip-shaped grooves, the clamping column is connected with one group of the connecting rods and is driven by the group of the connecting rods to slide in the strip-shaped groove, another card post slides and clamps in another bar groove, and this card post is connected with another group's connecting rod, drives by this group's connecting rod and slides in this bar groove, the lower extreme of dwang is equipped with the clamp splice, and two clamp splice cooperations snatch the object.
Furthermore, the number of each group of connecting rods is two, and the two connecting rods are respectively connected with the two ends of the clamping column.
Further, the supporting part is a clamp box, the lower end of the clamp box is provided with an opening, the lifting plate is positioned in the clamp box, and the output shaft of the driving mechanism body penetrates through the top plate of the clamp box to be fixedly connected with the lifting plate.
Furthermore, the inner side of the clamping block is of an arc-shaped structure, and the inner surface of the clamping block is provided with cylindrical bars which are arranged at intervals.
The utility model also provides a composite fixture device of the industrial robot, which comprises the composite fixture structure of the industrial robot and a fixing frame, wherein the first driving mechanism is in sliding clamping fit with the fixing frame, and the first driving mechanism is driven by the second driving mechanism to slide on the fixing frame.
Further, first actuating mechanism's quantity is two, the supporting part is equipped with the fixed block, the mount includes left side board and right side board, second actuating mechanism includes two-way lead screw, the one end of two-way lead screw rotates with the left side board of mount to be connected, and the other end passes behind the fixed block of two supporting parts to be connected with the right side board rotation, two sets of screw threads of two-way lead screw respectively with the fixed block threaded connection of two supporting parts, two-way lead screw is rotated by the drive of third actuating mechanism.
Further, third actuating mechanism is fixed in the right side of mount, third actuating mechanism includes driving motor, driving motor's output shaft extension is connected with the actuating lever, be equipped with the helical tooth on the actuating lever, the one end that two-way lead screw passed right side board is equipped with the worm wheel, the worm wheel meshes with the helical tooth mutually.
Further, the quantity that the supporting part was equipped with the fixed block is two, and the quantity of two-way lead screw is two, the quantity of helical tooth is two on the actuating lever, and two helical teeth mesh in the worm wheel of two-way lead screws respectively mutually.
Further, the right side of mount still is equipped with the device case, driving motor is fixed in the front side of device case, the actuating lever rotates with the front and back curb plate of device case to be connected, the worm wheel is located the device incasement.
Further, both sides all are equipped with T type piece around the supporting part, the side all is equipped with the track groove around the mount, T type piece and track groove sliding clamping cooperation.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
1. according to the composite clamp structure of the industrial robot, provided by the embodiment of the utility model, the clamping column is slidably clamped in the strip-shaped groove of the rotating rod, and the upper end of the rotating rod is rotatably connected with the fixed shaft, so that in the process that the output shaft of the driving mechanism body (electric cylinder) drives the lifting plate to move upwards, the rotating rod can do circular motion around the fixed shaft, and the clamping blocks at the lower end of the rotating rod are unfolded towards two sides, so that objects, such as round pipes with different pipe diameters, can be fixed; in the process that the output shaft of the driving mechanism body (the electric cylinder) drives the lifting plate to move downwards, the rotating rod can do circular motion around the fixed shaft, and the clamping blocks at the lower end of the rotating rod are folded, so that the object, such as a round pipe, can be fixed. Through such technical scheme, can realize that the structure is ingenious, reduce manufacturing cost, reduce the assembly degree of difficulty, improve the technical effect of practicality, it is comparatively complicated to have solved the anchor clamps structure of current robot at least, and manufacturing cost is higher, and the assembly degree of difficulty is great, the not high technical problem of practicality.
2. The composite clamp device of the industrial robot provided by the embodiment of the utility model is provided with the two sets of clamping blocks, the distance between the two sets of clamping blocks can be adjusted, so that objects with different lengths, such as round pipes, can be fixed conveniently, and the technical problem that the existing robot clamp is inconvenient to fix round pipes with different lengths when the existing robot clamp is used for transferring round pipes is solved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a composite clamping device of an industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a disassembled structure of a composite clamping device of an industrial robot, provided by an embodiment of the utility model;
fig. 3 is a schematic structural diagram of a third driving mechanism in a composite clamping device of an industrial robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first driving mechanism in a composite clamping device of an industrial robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a disassembled structure of a composite clamping device of an industrial robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a first driving mechanism in a composite clamping device of an industrial robot according to an embodiment of the present invention;
reference numbers and corresponding part names in the drawings:
1. a fixed mount; 101. a track groove; 2. a device case; 3. a drive motor; 4. a drive rod; 401. helical teeth; 5. a worm gear; 6. a bidirectional lead screw; 7. a clamp box; 701. a fixed block; 8. an electric cylinder; 9. a lifting plate; 901. a connecting rod; 902. clamping the column; 10. rotating the rod; 1001. a strip-shaped groove; 11. a clamping block; 1101. a cylindrical bar; 12. and fixing the shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the utility model. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Example one
Referring to fig. 1, 2, 4 to 6, a composite clamp structure of an industrial robot according to an embodiment of the present invention includes a first driving mechanism, the first driving mechanism is a driving mechanism of a clamping block 11, the first driving mechanism includes a driving mechanism body and a supporting portion, the driving mechanism body is fixed to the supporting portion, an output shaft of the driving mechanism body is connected to a lifting plate 9 for driving the lifting plate 9 to move up and down, the lifting plate 9 is a horizontal plate, two sets of connecting rods 901 are disposed at a lower end of the lifting plate 9, the supporting portion is provided with a fixing shaft 12, the fixing shaft 12 is a cross rod, the fixing shaft 12 is located below the lifting plate 9, the fixing shaft 12 is rotatably connected to two intersecting rotating rods 10, the rotating rods 10 are disposed in an inclined manner, the rotating rods 10 are provided with a strip-shaped groove 1001, a clamping column 902 is slidably clamped in one of the groove 1001, the clamping column 902 is connected with one group of connecting rods 901, the group of connecting rods 901 slides in the strip-shaped groove 1001, the other clamping column 902 slides and clamps in the other strip-shaped groove 1001, the clamping column 902 is connected with the other group of connecting rods 901, the group of connecting rods 901 slides in the strip-shaped groove 1001, the lower end of the rotating rod 10 is provided with the clamping blocks 11, and the two clamping blocks 11 are matched to grab an object.
The driving mechanism body can adopt an electric cylinder 8, and the object clamped by the clamping blocks 11 can be a round pipe. Before transporting the pipe, electronic jar 8's output shaft drives lifter plate 9 upward movement, the card post 902 of connecting rod 901 lower extreme slides and clamps in the bar groove 1001 of dwang 10, lifter plate 9 upward movement's in-process can drive card post 902 upward movement, thereby drive dwang 10 and rotate, make the clamp splice 11 of dwang 10 lower extreme expand to the left and right sides, thereby be convenient for fix the pipe, when two clamp splices 11 are located the pipe both ends, electronic jar 8's output shaft drives lifter plate 9 downstream, thereby make two sets of clamp splice 11 inward movements, realize the fixed to the pipe.
According to the composite clamp structure of the industrial robot, provided by the embodiment of the utility model, the clamping column 902 is slidably clamped in the strip-shaped groove 1001 of the rotating rod 10, and the upper end of the rotating rod 10 is rotatably connected with the fixed shaft 12, so that in the process that the output shaft of the driving mechanism body (the electric cylinder 8) drives the lifting plate 9 to move upwards, the rotating rod 10 can do circular motion around the fixed shaft 12, and the clamping block 11 at the lower end of the rotating rod 10 is unfolded towards two sides, so that objects, such as circular pipes with different pipe diameters, can be fixed; in the process that the output shaft of the driving mechanism body (the electric cylinder 8) drives the lifting plate 9 to move downwards, the rotating rod 10 can do circular motion around the fixed shaft 12, and the clamping block 11 at the lower end of the rotating rod 10 is folded, so that the object, such as a round pipe, can be fixed. Through such technical scheme, can realize that the structure is ingenious, reduce manufacturing cost, reduce the assembly degree of difficulty, improve the technical effect of practicality, it is comparatively complicated to have solved the anchor clamps structure of current robot at least, and manufacturing cost is higher, and the assembly degree of difficulty is great, the not high technical problem of practicality.
As a specific embodiment, in order to enhance the structural stability, the number of each group of connecting rods 901 is two, two connecting rods 901 are respectively connected with two ends of the clamping column 902, and the connecting rods 901 may be vertically disposed.
In a specific embodiment, the supporting portion is a jig box 7, the lower end of the jig box 7 is open, the lifting plate 9 is located in the jig box 7, and the output shaft of the driving mechanism body passes through the top plate of the jig box 7 and is fixedly connected with the lifting plate 9. The stationary shaft 12 may also be located in the jig box 7, and the hiding of parts may be achieved by the jig box 7.
In a specific embodiment, the inner side of the clamping block 11 is of an arc-shaped structure, and the inner surface of the clamping block 11 is provided with cylindrical bars 1101 arranged at intervals.
In the use, the internal surface of pipe and clamp splice 11 is the arc, and frictional force between pipe and the clamp splice 11 is less, and the phenomenon of landing appears easily in the pipe when transporting the pipe, has the cylindricality strip 1101 through 11 internal surface ring arrangements of clamp splice, can increase the frictional force between pipe and the clamp splice 11, can avoid the pipe from the inside landing of clamp splice 11 to reinforcing pipe stability in the transportation.
Example two
Referring to fig. 1 to 6, the present invention further provides a composite clamping apparatus for an industrial robot, including the composite clamping structure for an industrial robot, and further including a fixing frame 1, wherein the first driving mechanism is slidably clamped and matched with the fixing frame 1, and the first driving mechanism is driven by the second driving mechanism to slide on the fixing frame 1. By this solution, the first driving mechanism can slide on the fixed frame 1 for gripping different parts of the object or for transporting the object from one place to another.
As a specific implementation mode, the number of the first driving mechanisms is two, the supporting portions are provided with fixing blocks 701, the fixing frame 1 comprises a left side plate and a right side plate, the second driving mechanism comprises a bidirectional screw 6, one end of the bidirectional screw 6 is rotatably connected with the left side plate of the fixing frame 1, the other end of the bidirectional screw passes through the fixing blocks 701 of the two supporting portions and is rotatably connected with the right side plate, two sets of threads of the bidirectional screw 6 are respectively in threaded connection with the fixing blocks 701 of the two supporting portions, and the bidirectional screw 6 is driven to rotate by the third driving mechanism.
As a specific implementation manner, the third driving mechanism is fixed to the right side of the fixing frame 1, the third driving mechanism includes a driving motor 3, an output shaft of the driving motor 3 is connected to a driving rod 4 in an extending manner, the driving rod 4 is provided with spiral teeth 401, one end of the bidirectional screw rod 6, which penetrates through the right side plate, is provided with a worm wheel, and the worm wheel 5 is meshed with the spiral teeth 401.
As a specific embodiment, the number of the fixing blocks 701 provided on the supporting portion is two, the number of the bidirectional screws 6 is two, the number of the spiral teeth 401 on the driving rod 4 is two, and the two spiral teeth 401 are respectively engaged with the worm gears of the two bidirectional screws 6.
Two clamping blocks 11 are arranged at the lower part of each clamp box 7, so that the stability of the round pipe is better when the round pipe is transferred. During the use, start driving motor 3, driving motor 3 drives the helical tooth 401 on the 4 surfaces of actuating lever and rotates, through worm wheel 5 and the setting of helical tooth 401 engaged with, make actuating lever 4 can drive the rotation of two-way lead screw 6 at the pivoted in-process, rethread two-way lead screw 6 and the setting of anchor clamps case 7 upper end fixed block 701 threaded connection, make two-way lead screw 6 can drive two sets of anchor clamps case 7 inwards or outwards move simultaneously at the pivoted in-process, thereby can adjust the distance between two sets of clamp splice 11, thereby be convenient for fix the metal pipe of different length.
According to the utility model, the worm wheel 5 is meshed with the worm, so that the driving rod 4 can drive the two-way screw 6 to rotate in the rotating process, and then the two-way screw 6 is in threaded connection with the fixing block 701 on the upper end face of the fixture box 7, so that the two-way screw 6 can drive the two sets of fixture boxes 7 to move inwards or outwards simultaneously in the rotating process, thus the distance between the two sets of clamping blocks 11 can be adjusted, the metal round pipes with different lengths can be conveniently fixed, and the universality of the device is enhanced.
As a specific embodiment, the right side of the fixing frame 1 is further provided with a device box 2, the driving motor 3 is fixed at the front side of the device box 2, the driving rod 4 is rotatably connected with the front and rear side plates of the device box 2, and the worm gear is located in the device box 2. The device case 2 is used to realize hiding of a part of components.
As a specific implementation manner, T-shaped blocks are arranged on the front side and the rear side of the supporting portion, rail grooves 101 are arranged on the front side and the rear side of the fixing frame 1, and the T-shaped blocks are in sliding clamping fit with the rail grooves 101.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A composite clamp structure of an industrial robot is characterized by comprising a first driving mechanism, wherein the first driving mechanism is a clamping block driving mechanism, the first driving mechanism comprises a driving mechanism body and a supporting part, the driving mechanism body is fixed on the supporting part, an output shaft of the driving mechanism body is connected with a lifting plate for driving the lifting plate to move up and down, the lifting plate is a transverse plate, two groups of connecting rods are arranged at the lower end of the lifting plate, a fixed shaft is arranged on the supporting part and is a transverse rod, the fixed shaft is positioned below the lifting plate, the fixed shaft is rotatably connected with two crossed rotating rods which are obliquely arranged, the rotating rods are provided with strip-shaped grooves, a clamping column is slidably clamped in one of the strip-shaped grooves, the clamping column is connected with one group of the connecting rods and is driven by the group of the connecting rods to slide in the strip-shaped grooves, another card post slides and clamps in another bar groove, and this card post is connected with another group's connecting rod, drives by this group's connecting rod and slides in this bar groove, the lower extreme of dwang is equipped with the clamp splice, and two clamp splice cooperations snatch the object.
2. The composite clamp structure of an industrial robot according to claim 1, wherein the number of each set of connecting rods is two, and the two connecting rods are connected to both ends of the clamp post, respectively.
3. The composite clamp structure of an industrial robot according to claim 1, wherein the support portion is a clamp box, the lower end of the clamp box is open, the lift plate is located in the clamp box, and the output shaft of the drive mechanism body passes through a top plate of the clamp box to be fixedly connected with the lift plate.
4. The composite clamp structure of an industrial robot according to claim 1, wherein the inner side of the clamping block is an arc-shaped structure, and the inner surface of the clamping block is provided with cylindrical bars arranged at intervals.
5. A composite gripper assembly for an industrial robot comprising a composite gripper structure for an industrial robot according to any one of claims 1 to 4, and further comprising a holder, wherein the first driving mechanism is slidably engaged with the holder, and wherein the first driving mechanism is slidably driven by the second driving mechanism.
6. The composite clamp device of the industrial robot according to claim 5, wherein the number of the first driving mechanism is two, the supporting portions are provided with fixing blocks, the fixing frame comprises a left side plate and a right side plate, the second driving mechanism comprises a bidirectional screw rod, one end of the bidirectional screw rod is rotatably connected with the left side plate of the fixing frame, the other end of the bidirectional screw rod is rotatably connected with the right side plate after passing through the fixing blocks of the two supporting portions, two sets of threads of the bidirectional screw rod are respectively in threaded connection with the fixing blocks of the two supporting portions, and the bidirectional screw rod is driven to rotate by the third driving mechanism.
7. The composite clamp device of the industrial robot according to claim 6, wherein the third driving mechanism is fixed on the right side of the fixing frame, the third driving mechanism comprises a driving motor, an output shaft of the driving motor is connected with a driving rod in an extending manner, the driving rod is provided with helical teeth, one end of the bidirectional screw rod, which penetrates through the right side plate, is provided with a worm wheel, and the worm wheel is meshed with the helical teeth.
8. The composite jig device of an industrial robot according to claim 7, wherein the number of the fixing blocks provided to the support portion is two, the number of the bidirectional screw rods is two, and the number of the helical teeth provided to the driving rod is two, the two helical teeth being engaged with the worm gears of the two bidirectional screw rods, respectively.
9. The composite jig device of an industrial robot according to claim 7, wherein a device case is further provided on a right side of the holder, the driving motor is fixed to a front side of the device case, the driving lever is rotatably connected to front and rear side plates of the device case, and the worm wheel is provided in the device case.
10. The composite clamp device of an industrial robot according to claim 5, wherein the support portion is provided with T-shaped blocks at front and rear sides thereof, the holder is provided with rail grooves at front and rear sides thereof, and the T-shaped blocks are slidably engaged with the rail grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121669091.XU CN215358495U (en) | 2021-07-21 | 2021-07-21 | Industrial robot's combined clamp structure and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121669091.XU CN215358495U (en) | 2021-07-21 | 2021-07-21 | Industrial robot's combined clamp structure and device |
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| Publication Number | Publication Date |
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| CN215358495U true CN215358495U (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121669091.XU Expired - Fee Related CN215358495U (en) | 2021-07-21 | 2021-07-21 | Industrial robot's combined clamp structure and device |
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| CN (1) | CN215358495U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116197882A (en) * | 2023-05-05 | 2023-06-02 | 广东华青建设工程有限公司 | Rectangular pipe grabbing manipulator for building engineering construction and application method thereof |
-
2021
- 2021-07-21 CN CN202121669091.XU patent/CN215358495U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116197882A (en) * | 2023-05-05 | 2023-06-02 | 广东华青建设工程有限公司 | Rectangular pipe grabbing manipulator for building engineering construction and application method thereof |
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Granted publication date: 20211231 |