Precise force control mechanical clamping jaw of industrial robot

Abstract

The utility model discloses an industrial robot precision force control mechanical clamping jaw which comprises two clamping plates arranged oppositely, a sliding seat and a base, the two clamping plates are connected to the two sides of the bottom of the sliding seat in a sliding mode respectively, the sliding seat is arranged below the base, and a plurality of clamping jaw assemblies are arranged on the opposite sides of the two clamping plates. The clamping jaw assembly comprises a plurality of second electric push rods and clamping jaws, and the clamping jaws are arranged on one sides of the clamping plates. The telescopic supporting rod on the clamping jaw firstly makes contact with the surface of a material, the rubber gasket at one end of the telescopic supporting rod can play an anti-skid role during clamping, meanwhile, the rubber gasket makes soft contact with the surface of the material, the surface of the material is not prone to being clamped and abraded, and meanwhile the second spring at the other end of the telescopic supporting rod can play a further buffering role. And effective damping and shock absorption can be achieved during clamping, a pressure sensor in the clamping jaw can monitor the pressure value when the clamping jaw makes contact with materials, the motion amount of a second electric push rod is adjusted according to the monitored value, and the material clamping force is precisely controlled.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a precision force-controlled mechanical gripper of an industrial robot. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that relies on its own power and control capabilities to achieve various functions. An industrial robot for mechanical processing is often used for link finishing processing of assembly line operations such as handling, processing, and assembly. At present, many industrial robots are equipped with various grippers to clamp different workpieces. When grasping a workpiece, the motion module drives the two clamping plates on the gripper to clamp the workpiece, and drives the clamped workpiece to move, thereby completing the work of grasping the workpiece.

[0003] When a mechanical gripper clamps a workpiece, in order to ensure a firm clamping, the two ends of the workpiece need to be clamped by a motion module. However, for some precise and valuable workpieces, excessive clamping force may cause damage to the workpiece. This paper proposes an industrial robot precision force-controlled mechanical gripper that can precisely control the clamping force. Utility Model Content

[0004] The purpose of the utility model is to provide a precision force-controlled mechanical gripper for an industrial robot to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A precision force-controlled mechanical gripper for an industrial robot comprises two oppositely arranged clamping plates, a sliding seat and a base, wherein the two clamping plates are respectively slidably connected to the two sides of the bottom of the sliding seat, the sliding seat is arranged below the base, and a plurality of clamping jaw assemblies are arranged on the opposite sides of the two clamping plates, the clamping jaw assemblies comprise a plurality of second electric push rods and clamping jaws, the clamping jaws are arranged on one side of the clamping plates, and a plurality of second electric push rods are installed between the clamping jaws and the clamping plates, a plurality of telescopic support rods are slidably inserted on one side of the clamping jaw, a rubber gasket is fixed at one end of the plurality of telescopic support rods, and a plurality of pressure sensors are embedded and installed inside the clamping jaw.

[0007] As a further solution of the utility model: a plurality of lifting components are arranged between the sliding seat and the base, and the lifting components include a first electric push rod, the top end of the first electric push rod is fixedly connected to the base, the bottom end of the first electric push rod is fixed with a connecting seat, the lower part of the connecting seat is movably connected with a mounting block through a plurality of hydraulic rods, the mounting block is fixedly connected to the sliding seat, the outer sides of the plurality of hydraulic rods are all sleeved with first springs, and the two ends of the plurality of first springs are respectively fixedly connected to the connecting seat and the mounting block.

[0008] As a further solution of the utility model: a sleeve is fixed on one side of the clamp corresponding to the multiple telescopic support rods, one end of the multiple telescopic support rods is slidably inserted in the sleeve on the corresponding side, a second spring is fixed in the multiple sleeves, and one end of the multiple second springs is fixedly connected to one end of the corresponding telescopic support rod.

[0009] As a further solution of the utility model: a screw is rotatably connected to one side of the sliding seat, a driven gear is sleeved and fixed in the middle position of the screw, threads are set at both ends of the screw corresponding to the driven gear and the threads at both ends are in opposite directions, and screw sleeves are threadedly sleeved at both ends of the screw, a slider is slidably connected to one side of the bottom of the sliding seat corresponding to the two screw sleeves, the clamping plates are fixed below the two sliders, the two sliders are fixedly connected to the screw sleeves on the corresponding side by connecting blocks, and the two connecting blocks are slidably connected to the inner wall of the sliding seat.

[0010] As a further solution of the utility model: a motor is installed on a side of the sliding seat corresponding to the screw rod, a driving gear is fixed to one end of the motor output shaft, and the driving gear is meshed with the driven gear for transmission.

[0011] As a further solution of the utility model: a connecting shaft is fixed to the middle position of the top of the base through a mounting seat, and the connecting shaft is fixedly connected to one end of the motor shaft in the mechanical arm.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] 1. In the utility model, the clamping jaws are in direct contact with the material. When clamping, the telescopic support rod on the clamping jaws first contacts the surface of the material. The rubber gasket at one end of the telescopic support rod can play an anti-slip role when clamping. At the same time, the rubber gasket is in soft contact with the surface of the material, and the surface of the material is not easily worn by clamping. At the same time, the second spring at the other end of the telescopic support rod can play a further buffering role, which can effectively reduce shock and avoid vibration during clamping. The pressure sensor embedded in the clamping jaws can monitor the pressure value when the clamping jaws contact the material, and adjust the movement of the second electric push rod according to the monitored value, so as to more accurately control the strength of the clamping jaws to clamp the material;

[0014] 2. In the utility model, the lifting assembly is used to adjust the height of the clamping plate so that the clamping claw assembly can be closer to the material for easy clamping. Furthermore, a hydraulic rod and a first spring are arranged in the lifting assembly. In the process of clamping and pulling the material, the pressure caused by the material's own gravity can be buffered, and the clamping and pulling process is smoother and the device has stronger flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a front view structural schematic diagram of the utility model.

[0018] Figure 3 It is a top view of the internal structure of the sliding seat in the utility model.

[0019] Figure 4 It is a structural schematic diagram of the clamping jaw assembly in the utility model.

[0020] Figure 5 It is a top view of the internal structure of the clamping jaw assembly in the utility model.

[0021] Figure 6 It is a structural schematic diagram of the lifting component in the utility model.

[0022] Notes on figure numbers: 1-base, 2-lifting assembly, 21-first electric push rod, 22-connecting seat, 23-mounting block, 24-hydraulic rod, 25-first spring, 3-sliding seat, 31-screw, 32-screw sleeve, 33-connecting block, 34-driven gear, 35-driving gear, 36-motor, 4-slider, 5-clamp, 6-jaw assembly, 61-second electric push rod, 62-clamp, 63-telescopic support rod, 64-rubber gasket, 65-pressure sensor, 66-sleeve, 67-second spring, 7-mounting seat, 8-connecting shaft. DETAILED DESCRIPTION

[0023] The following embodiments will be combined with the accompanying drawings to describe the utility model in detail. In the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component can be enlarged or reduced. The various embodiments listed in the utility model are only used to illustrate the utility model, and are not used to limit the scope of the utility model. Any obvious modifications or changes made to the utility model do not depart from the spirit and scope of the utility model.

[0024] Example 1

[0025] See also Figure 1 In the embodiment of the utility model, an industrial robot precision force control mechanical gripper includes two relatively arranged clamping plates 5, a sliding seat 3 and a base 1, the two clamping plates 5 are respectively slidably connected to the two sides of the bottom of the sliding seat 3, the sliding seat 3 is arranged below the base 1, and a plurality of lifting components 2 are arranged between the sliding seat 3 and the base 1, and a plurality of clamping claw components 6 are arranged on the opposite sides of the two clamping plates 5. A connecting shaft 8 is fixed to the middle position of the top of the base 1 through a mounting seat 7, and the connecting shaft 8 is fixedly connected to one end of the motor shaft in the mechanical arm, and the motor in the mechanical arm drives the device to rotate to adjust the clamping direction and angle.

[0026] See also Figure 2 , Figure 3 The screw rod 31 is rotatably connected to one side of the sliding seat 3, and a driven gear 34 is sleeved and fixed in the middle position of the screw rod 31. Threads are set at both ends of the screw rod 31 corresponding to the driven gear 34, and the thread directions of the two ends are opposite. The screw sleeves 32 are threadedly sleeved at both ends of the screw rod 31. A slider 4 is slidably connected to one side of the two screw sleeves 32 at the bottom of the sliding seat 3. The two sliders 4 are fixedly connected to the screw sleeves 32 on the corresponding side through a connecting block 33. The two connecting blocks 33 are slidably connected to the inner wall of the sliding seat 3. A clamping plate 5 is fixed below the two sliders 4. A motor 36 is installed on one side of the sliding seat 3 corresponding to the screw rod 31. A driving gear 35 is fixed at one end of the output shaft of the motor 36. The driving gear 35 is meshed with the driven gear 34 for transmission. The screw rod 31 is rotated by the motor 36. At this time, the clamping plates 5 on both sides of the bottom of the sliding seat 3 are moved closer to the center (or separated outward) under the coordinated use of the screw sleeves 32 and the sliders 4, etc., to meet the clamping needs of materials of different volumes.

[0027] See also Figure 4 , Figure 5The clamping jaw assembly 6 includes a plurality of second electric push rods 61 and clamping jaws 62. The clamping jaws 62 are arranged on one side of the clamping plate 5, and the plurality of second electric push rods 61 are installed between the clamping jaws 62 and the clamping plate 5. A plurality of telescopic support rods 63 are slidably inserted on one side of the clamping jaw 62. One end of each of the plurality of telescopic support rods 63 is fixed with a rubber gasket 64. A sleeve 66 is fixed on one side of the clamping jaw 62 corresponding to the plurality of telescopic support rods 63. One end of each of the plurality of telescopic support rods 63 is slidably inserted in the sleeve 66 on the corresponding side. A second spring 67 is fixed in each of the plurality of sleeves 66. One end of each of the plurality of second springs 67 is fixedly connected with one end of the corresponding telescopic support rod 63. The interior of the clamping jaw 62 A plurality of pressure sensors 65 are embedded and installed, and the clamping jaw 62 is in direct contact with the material. When clamping, the telescopic support rod 63 on the clamping jaw first contacts with the surface of the material. The rubber gasket 64 at one end of the telescopic support rod can play an anti-slip role when clamping. At the same time, the rubber gasket is in soft contact with the surface of the material, and the surface of the material is not easily worn by clamping. The second spring 67 at the other end of the telescopic support rod plays a further buffering role, which can effectively reduce shock and avoid vibration during clamping. The pressure sensor 65 embedded and installed inside the clamping jaw 62 can monitor the pressure value when the clamping jaw contacts the material, and adjust the movement amount of the second electric push rod 61 according to the monitored value, so as to more accurately control the strength of the clamping jaw to clamp the material.

[0028] Example 2

[0029] Based on Example 1, please refer to Figure 6 The lifting assembly 2 includes a first electric push rod 21, the top of which is fixedly connected to the base 1, and a connecting seat 22 is fixedly provided at the bottom of the first electric push rod 21. A mounting block 23 is movably connected to the lower part of the connecting seat 22 through a plurality of hydraulic rods 24. The mounting block 23 is fixedly connected to the sliding seat 3. The outer parts of the plurality of hydraulic rods 24 are all sleeved with first springs 25, and the two ends of the plurality of first springs 25 are respectively fixedly connected to the connecting seat 22 and the mounting block 23. The lifting assembly 2 is used to adjust the height of the clamping plate 5 so that the clamping claw assembly 6 can be closer to the material for easy clamping. The hydraulic rod and the first spring are arranged in the lifting assembly 2. In the process of clamping and pulling the material, the pressure caused by the material's own gravity can be buffered, and the clamping and pulling process is smoother and the device has stronger flexibility.

[0030] Working principle:

[0031] The device is assembled with the mechanical arm of an industrial robot, and the output shaft of the motor in the mechanical arm is connected and fixed to the connecting shaft 8 through a coupling. After being fixed, the device can be rotated and driven by the motor in the mechanical arm. The sliding seat 3, the clamping plate 5 and the clamping claw assembly 6 can be moved to one side through the lifting component 2, so that the clamping claw assembly can be close to the material, and then the distance between the two clamping plates 5 is adjusted according to the volume of the material, so that the clamping claw assemblies 6 on one side of the two clamping plates are respectively close to the two sides of the material, and then the second electric push rod 61 is started to move the clamping claw 62 to one side of the material and squeeze it, and the pressure during squeezing is monitored by the pressure sensor 65, and the operation of the second electric push rod 61 is adjusted according to the monitoring data, so that the clamping claw 62 can clamp the material without clamping it too tightly to avoid damaging the material, thereby achieving the purpose of precise control of the clamping force.

[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An industrial robot precision force control mechanical gripper, comprising two oppositely arranged clamping plates (5), a sliding seat (3) and a base (1), wherein the two clamping plates (5) are respectively slidably connected to the two sides of the bottom of the sliding seat (3), and the sliding seat (3) is arranged below the base (1), characterized in that: A plurality of clamping jaw assemblies (6) are arranged on opposite sides of the two clamping plates (5), and the clamping jaw assemblies (6) include a plurality of second electric push rods (61) and clamping jaws (62). The clamping jaws (62) are arranged on one side of the clamping plate (5), and a plurality of the second electric push rods (61) are installed between the clamping jaws (62) and the clamping plate (5). A plurality of telescopic support rods (63) are slidably inserted on one side of the clamping jaw (62), and a rubber gasket (64) is fixed at one end of the plurality of telescopic support rods (63). A plurality of pressure sensors (65) are embedded and installed inside the clamping jaw (62).

2. The industrial robot precision force-controlled mechanical gripper according to claim 1, characterized in that: A plurality of lifting assemblies (2) are arranged between the sliding seat (3) and the base (1), and the lifting assemblies (2) include a first electric push rod (21), the top end of the first electric push rod (21) is fixedly connected to the base (1), the bottom end of the first electric push rod (21) is fixedly connected to a connecting seat (22), the lower part of the connecting seat (22) is movably connected to a mounting block (23) through a plurality of hydraulic rods (24), the mounting block (23) is fixedly connected to the sliding seat (3), the outer parts of the plurality of hydraulic rods (24) are all sleeved with first springs (25), and the two ends of the plurality of first springs (25) are respectively fixedly connected to the connecting seat (22) and the mounting block (23).

3. The industrial robot precision force-controlled mechanical gripper according to claim 1, characterized in that: A sleeve (66) is fixed on one side of the clamp (62) corresponding to the plurality of telescopic support rods (63); one end of each of the telescopic support rods (63) is slidably inserted into the sleeve (66) on the corresponding side; a second spring (67) is fixed in each of the sleeves (66); one end of each of the second springs (67) is fixedly connected to one end of the corresponding telescopic support rod (63).

4. The industrial robot precision force-controlled mechanical gripper according to claim 1, characterized in that: A screw rod (31) is rotatably connected to one side of the interior of the sliding seat (3), a driven gear (34) is sleeved and fixed in the middle of the screw rod (31), threads are arranged at both ends of the screw rod (31) corresponding to the driven gear (34), and the threads at both ends are in opposite directions, and screw sleeves (32) are threadedly sleeved at both ends of the screw rod (31), a slider (4) is slidably connected to one side of the bottom of the sliding seat (3) corresponding to the two screw sleeves (32), the clamping plates (5) are fixed below the two sliders (4), the two sliders (4) are fixedly connected to the screw sleeves (32) on the corresponding side by connecting blocks (33), and the two connecting blocks (33) are slidably connected to the inner wall of the sliding seat (3).

5. The industrial robot precision force-controlled mechanical gripper according to claim 4, characterized in that: A motor (36) is installed inside the sliding seat (3) on a side corresponding to the screw rod (31), a driving gear (35) is fixed to one end of the output shaft of the motor (36), and the driving gear (35) is meshed with the driven gear (34) for transmission.

6. The industrial robot precision force-controlled mechanical gripper according to any one of claims 1 to 5, characterized in that: A connecting shaft (8) is fixed at the middle position of the top of the base (1) via a mounting seat (7), and the connecting shaft (8) is fixedly connected to one end of a motor shaft in the mechanical arm.

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