CN217915358U

CN217915358U - Robot execution end fixture

Info

Publication number: CN217915358U
Application number: CN202222470682.5U
Authority: CN
Inventors: 董银银
Original assignee: Xuzhou Nuopuxin Automation Technology Co ltd
Current assignee: Xuzhou Nuopuxin Automation Technology Co ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-11-29
Anticipated expiration: 2032-09-19

Abstract

The utility model discloses a robot execution end fixture relates to fixture technical field. The utility model discloses an arm, installation sleeve and flange dish, the inside fixed mounting of installation sleeve has two mounting panels, and two mounting panels are to going up along vertical direction sliding connection with connecting block on the face to face, and the connecting block bottom mounting has the connecting piece, all articulates through the movable rod on the connecting block both sides face has the connecting rod, and the one end that the connecting rod is located the mounting panel top is fixed with the grip block, is equipped with the mounting groove on the grip block. The utility model discloses a do splint can adjust according to the appearance of the object of difference under the condition that the telescopic link drove, adapt to different work tasks, adjust the elongation according to a plurality of telescopic links of different object control for the clamping face laminating that splint are constituteed needs the appearance of centre gripping object, does not confine fixed shape to, not only has good suitability and centre gripping effect, can not appear producing the condition that drops because the centre gripping contact surface is little moreover.

Description

Robot execution end fixture

Technical Field

The utility model belongs to the technical field of fixture, especially, relate to a robot execution end fixture.

Background

The robot refers to an artificial robot device capable of automatically executing tasks, which is used for replacing or assisting human work, when the robot works, some kind of executing device must be installed at the end part of a robot wrist, the executing device is used for directly completing the work task, when the action of the device is coordinated with the movement of the robot wrist and arm, the work can be successfully completed, the device is called a clamping device for the robot, also called an end effector or a robot paw, while the existing clamping device for the robot is used, a clamp with one structure can only clamp an object with a fixed shape, has certain limitation, and is inconvenient to adjust the clamping device according to the clamped object to adapt to different clamping requirements.

The clamping mechanism for the robot execution end with the prior publication number of N216859768U comprises a mounting sleeve and a connecting rod which is rotationally pressed in the mounting sleeve, wherein a clamping block is fixedly mounted on the connecting rod, an arc-shaped clamping surface is arranged on one side end surface of the clamping block, a mounting groove is formed in the clamping block, a sliding block is slidably mounted in the mounting groove, and a telescopic piece for driving the sliding block is fixedly mounted on the clamping block; the inside fixed mounting of installation sleeve has two sets of mounting panels, and the deflector is all installed to the terminal surface that the mounting panel faced each other, is equipped with the guide way on the deflector, and the inside slidable mounting of guide way has the connecting block, and the both sides of connecting block are kept away from the one end rotation of grip block through two sets of movable rods and two sets of connecting rods respectively and are connected, and the below fixed mounting of connecting block has the connecting piece. Through the structure, the utility model discloses the state of the adjustment robot fixture that can be convenient adapts to the object of different appearances, and the object to different specifications size that can be convenient carries out the centre gripping. Above-mentioned terminal fixture of execution moves in the mounting groove through extensible member drive sliding block, and a side end face of cooperation grip block is equipped with the arc clamping face, and the appearance of the object of centre gripping as required is different to adjust the position of sliding block, can make the position of sliding block contact with the object of needs centre gripping all the time, can avoid the object of the robot arm in removal or swing in-process centre gripping from the landing between the grip block. But the adjustment and application range is limited, and the sliding block is a rigid piece, and even if the surface of the sliding block is provided with the elastic anti-slip pad, the direct contact area with the clamped object is limited in the actual use process, and the clamping is unstable.

To above-mentioned problem, this application provides robot execution end fixture, through a plurality of telescopic links at a plurality of grip blocks of the inside drive of mounting groove, carries out the centre gripping to the object from different angles, diversified, fully guarantees the stability to the object centre gripping.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot execution end fixture through a plurality of telescopic links at a plurality of splint of the inside drive of mounting groove, carries out the centre gripping to the object from different angles, diversely, and the contact surface is little when having solved current execution end fixture centre gripping object, and the centre gripping object is unstable, and can not adjust the clamping device problem according to the object of actual centre gripping.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme:

the utility model relates to a robot execution end clamping mechanism, including arm, installation sleeve and flange dish, the installation sleeve uses the bolt to pass through the flange dish to fix at the arm end, the inside fixed mounting of installation sleeve has two mounting panels, two the mounting panel is to face upward along vertical direction sliding connection with the connecting block, the connecting block bottom is fixed with the connecting piece, it has the connecting rod all to articulate through the movable rod on the connecting block both sides face, the one end that the connecting rod is located the mounting panel top is fixed with the grip block, be equipped with the mounting groove on the grip block, the mounting groove is inside to be fixed with a plurality of telescopic links, a plurality of the telescopic links set up along vertical direction equidistance in the mounting groove, and a plurality of the extension end of telescopic link all articulates there is the slider, sliding connection has the splint with mounting groove inner chamber complex on the slider;

adjacent two of a plurality of splint rotate between the connection, splint and slider sliding connection's a surface is fixed with the slide rail with slider complex.

As a preferred technical scheme of the utility model, two the mounting panel is seted up along vertical direction on to the opposite face with connecting block complex spout, two all set up the spacing hole of being connected with the connecting rod rotation on the mounting panel.

As a preferred technical scheme of the utility model, the connecting rod bottom rotates with the movable rod to be connected, be fixed with on a connecting rod side with spacing hole complex spacing post.

As a preferred technical scheme of the utility model, two the grip block has been to having seted up the arc clamping face on the opposite side, the mounting groove is fixed with the backup pad that is run through by the telescopic link, the telescopic link other end runs through the grip block and extends to the grip block outside from the mounting groove is inside.

As an optimized technical scheme of the utility model, the telescopic link is hydraulic stem or electric telescopic handle.

As an optimized technical scheme of the utility model, adjacent two articulated between the splint, set up flutedly on the splint side, be provided with on the splint another side with recess complex lug, rotate through the round pin axle between recess and the lug and be connected.

The utility model discloses following beneficial effect has:

the utility model discloses a plurality of splint can be according to the appearance adjustment of the object of difference under the condition that the telescopic link drove, the different job tasks of adaptation that can be convenient, adjust the elongation according to a plurality of telescopic links of different object control for the clamping face laminating that splint are constituteed needs the appearance of centre gripping object, does not confine to fixed shape, not only good suitability, and the clamp has good centre gripping effect when getting the object of different shapes in addition, can not appear because the centre gripping contact surface produces the condition that drops for a short time.

Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of the robot actuating end clamping mechanism of the present invention.

Fig. 2 is a schematic structural view of another view angle of the present invention.

Fig. 3 is a schematic structural diagram of the internal structure of the present invention.

Fig. 4 is a schematic structural view of the telescopic rod, the sliding block, the clamping plate and the sliding rail.

Fig. 5 is a schematic view of fig. 4 from another view angle.

FIG. 6 is a schematic view of the structure of the clamping block, the mounting groove and the supporting plate.

Fig. 7 is a schematic view of the overall installation structure of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-mechanical arm, 2-mounting sleeve, 3-flange plate, 4-mounting plate, 5-connecting block, 6-connecting piece, 7-movable rod, 8-connecting rod, 9-clamping block, 10-mounting groove, 11-telescopic rod, 12-sliding block, 13-clamping plate, 14-sliding rail, 15-sliding groove, 16-limiting column and 17-supporting plate.

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 efforts belong to the protection scope of the present invention.

The first embodiment is as follows:

please refer to fig. 1-7, the utility model relates to a robot execution end fixture, including arm 1, installation sleeve 2 and ring flange 3, installation sleeve 2 uses the bolt to pass through ring flange 3 to be fixed at 1 end of arm, 2 inside fixed mounting of installation sleeve have two mounting panels 4, two mounting panels 4 are to going up along vertical direction sliding connection with connecting block 5 to opposite, 5 bottom mounting of connecting block have connecting piece 6, it has connecting rod 8 all to articulate through movable rod 7 on the 5 both sides face of connecting block, connecting rod 8 is located the one end at mounting panel 4 top and is fixed with grip block 9, be equipped with mounting groove 10 on the

grip block

9, 10 inside being fixed with a plurality of telescopic links 11 of mounting groove, telescopic link 11 is hydraulic stem or electric telescopic handle, a plurality of telescopic links 11 set up along vertical direction equidistance inside mounting groove 10, the end that stretches out of a plurality of telescopic links 11 all articulates there is slider 12, sliding connection has mounting groove and 10 inner chamber complex splint 13 on slider 12. A plurality of splint 13 can be adjusted according to the appearance of object of difference under the condition that telescopic link 11 drives, the different work tasks of adaptation that can be convenient, splint 13 can hug closely one side of the object that will centre gripping all the time when the different object of centre gripping.

Adjacent two clamping plates 13 in the plurality of clamping plates 13 are rotatably connected, and a sliding rail 14 matched with the sliding block 12 is fixed on one surface of the sliding connection between the clamping plates 13 and the sliding block 12.

Two mounting panels 4 are seted up along vertical direction on to the opposite face with connecting block 5 complex spout 15, all set up on two mounting panels 4 with the connecting rod 8 spacing hole of being connected of rotating.

Two grip blocks 9 have seted up the arc clamping face to on the opposite side, and mounting groove 10 is fixed with the backup pad 17 that is run through by telescopic link 11, and the telescopic link 11 other end runs through grip block 9 and extends to the grip block 9 outside from mounting groove 10 is inside.

The two adjacent clamping plates 13 are hinged, a groove is formed in one side face of each clamping plate 13, a convex block matched with the groove is arranged on the other side face of each clamping plate 13, and the groove is rotatably connected with the convex block through a pin shaft.

One specific application of this embodiment is: when the clamping device is used, the plurality of telescopic rods 11 are controlled to adjust the elongation according to different objects, so that a clamping surface formed by the plurality of clamping plates 13 is attached to the shape of an object to be clamped, the clamping device is not limited to a fixed shape, the applicability is good, the clamping device has a good clamping effect when clamping objects in different shapes, and the phenomenon of falling off due to small clamping contact surface can be avoided; in the use, be connected connecting piece 6 with the inside flexible actuating lever of arm 1 of robot, can be convenient drive connecting block 5 through flexible actuating lever and reciprocate, can drive the below of two sets of connecting rods 8 through movable rod 7 when connecting block 5 reciprocates and be close to each other or keep away from, and two sets of grip blocks 9 of drive that can be convenient keep away from each other or are close to.

The second embodiment is as follows:

on the basis of the first embodiment, the present embodiment is different in that:

as shown in fig. 3 and 6, the bottom end of the connecting rod 8 is rotatably connected with the movable rod 7, and a limiting column 16 matched with the limiting hole is fixed on one side surface of the connecting rod 8. The device is used for installing the connecting rod 8, so that the connecting rod 8 swings around the limiting column 16 as the center of a circle under the pushing of the movable rod 7, and the deviation cannot occur.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a robot execution end fixture, includes arm (1), installation sleeve (2) and ring flange (3), installation sleeve (2) use the bolt to pass through ring flange (3) to be fixed at arm (1) end, the inside fixed mounting of installation sleeve (2) has two mounting panels (4), two mounting panel (4) have connecting block (5) to going up along vertical direction sliding connection on the opposite, connecting block (5) bottom mounting has connecting piece (6), it has connecting rod (8), its characterized in that all to articulate through movable rod (7) on connecting block (5) both sides face:

a clamping block (9) is fixed at one end, located at the top of the mounting plate (4), of the connecting rod (8), a mounting groove (10) is formed in the clamping block (9), a plurality of telescopic rods (11) are fixed inside the mounting groove (10), the telescopic rods (11) are arranged inside the mounting groove (10) at equal intervals in the vertical direction, the extending ends of the telescopic rods (11) are hinged to sliding blocks (12), and clamping plates (13) matched with the inner cavity of the mounting groove (10) are connected to the sliding blocks (12) in a sliding mode;

adjacent two of the clamping plates (13) are rotatably connected, and a sliding rail (14) matched with the sliding block (12) is fixed on one surface of the sliding connection between the clamping plates (13) and the sliding block (12).

2. The robot execution end clamping mechanism according to claim 1, wherein the two mounting plates (4) are provided with sliding grooves (15) which are matched with the connecting block (5) in the vertical direction on opposite surfaces, and the two mounting plates (4) are provided with limiting holes which are rotatably connected with the connecting rod (8).

3. The robot execution end clamping mechanism according to claim 1, characterized in that the bottom end of the connecting rod (8) is rotatably connected with the movable rod (7), and a limit post (16) matched with the limit hole is fixed on one side surface of the connecting rod (8).

4. The robot execution end clamping mechanism according to claim 1, characterized in that the opposite side surfaces of the two clamping blocks (9) are provided with arc-shaped clamping surfaces, the mounting groove (10) is fixed with a supporting plate (17) penetrated by a telescopic rod (11), and the other end of the telescopic rod (11) penetrates through the clamping blocks (9) from the inside of the mounting groove (10) and extends to the outside of the clamping blocks (9).

5. A robot actuator clamping mechanism according to claim 1, characterized in that the telescopic rod (11) is a hydraulic or electric telescopic rod.

6. The robot execution end clamping mechanism according to claim 1, wherein two adjacent clamping plates (13) are hinged to each other, a groove is formed in one side surface of each clamping plate (13), a protruding block matched with the groove is arranged on the other side surface of each clamping plate (13), and the groove and the protruding block are rotatably connected through a pin shaft.