Robot tool clamping mechanism

Abstract

The present invention relates to a manipulator tool clamping mechanism, comprising a fixed seat, a hook plate, a first fixed block, a second fixed block, a clamping cylinder, a first clamping block, a second clamping block and a tool plate, wherein the hook plate and the first fixed block are arranged on both sides of the fixed seat, the second fixed block is arranged between the hook plate and the first fixed block, the clamping cylinder is arranged between the fixed seat and the second fixed block, the first clamping block and the second clamping block are connected to the output end of the clamping cylinder, the first clamping block and the second clamping block are slidably matched with the second fixed block, two first recessed parts are arranged on both sides of the tool plate corresponding to the first clamping block and the second clamping block, a gasket is arranged in the first recessed part, the upper surface of the gasket is arranged as an inclined surface, and the first clamping block and the second clamping block are adapted to the inclined surface. The manipulator tool clamping mechanism designed by the present invention has a high fault tolerance rate when the manipulator grasps the tool, and the tool is clamped in an accurate position, and the loss of the cylinder during the working process will not cause the tool to fall.

Description

Technical Field

[0001] The invention relates to the field of manipulators, and in particular to a tool clamping mechanism of a manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed procedure.

[0003] The most commonly used gripper mechanism in the robot structure is the gripper mechanism, which is used to grasp square objects. It can generally be divided into pneumatic grippers and mechanical grippers. Pneumatic grippers are relatively simple and can be clamped and released directly using double-sided translational clamping cylinders.

[0004] However, when the existing pneumatic grippers are working, if the cylinder loses air, the tool will fall, which may cause damage to the tool; at the same time, the existing pneumatic grippers allow a small error when grasping the tool, and the fault tolerance rate is not high. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention designs a robot tool clamping mechanism, which has a high fault tolerance rate when the robot grasps the tool, and the tool is clamped accurately, and the loss of the cylinder during operation will not cause the tool to fall.

[0006] The present invention provides a robot tool clamping mechanism, comprising a fixed seat, a hook plate, a first fixed block, a second fixed block, a clamping cylinder, a first clamping block, a second clamping block and a tool plate, the hook plate and the first fixed block are arranged on both sides of the fixed seat, the second fixed block is arranged between the hook plate and the first fixed block, the clamping cylinder is arranged between the fixed seat and the second fixed block, the first clamping block and the second clamping block are connected to the output end of the clamping cylinder, the first clamping block and the second clamping block are slidably matched with the second fixed block, two first recessed parts are arranged on both sides of the tool plate corresponding to the first clamping block and the second clamping block, a gasket is arranged in the first recessed part, the upper surface of the gasket is arranged as an inclined surface, and the first clamping block and the second clamping block are adapted to the inclined surface.

[0007] Preferably, the hook plate has a hook at one end away from the fixing seat, and a second recessed portion is provided on the tool plate corresponding to the hook, and the hook is matched with the second recessed portion.

[0008] Preferably, the width of the second recessed portion is greater than the width of the hook, and a thumb's mouth structure is provided at the bottom of the second recessed portion.

[0009] Preferably, the tool plate is provided with two first through holes corresponding to the first clamping block and the second clamping block in mirror image, and the first through holes are connected with the first recessed portion and the second recessed portion.

[0010] Preferably, the first clamping block and the second clamping block each include a clamping portion and a sliding portion, the clamping portion is fixed above the sliding portion; the longitudinal section of the clamping portion is Z-shaped as a whole, and the sliding portion is a flat rectangular parallelepiped; a sliding groove is provided on the bottom surface of the second fixed block corresponding to the sliding portion, the bottom surface of the sliding portion is fixedly connected to the clamping cylinder, and both sides of the sliding portion are slidably connected to the sliding groove.

[0011] Preferably, covers for limiting the sliding block from escaping from the sliding groove are provided on both sides of the bottom surface of the second fixing block.

[0012] Preferably, the second fixing block is provided with two second through holes corresponding to the first clamping block and the second clamping block in a mirror image.

[0013] Preferably, it also includes a connecting plate fixedly connected to the fixing seat, and the fixing seat is connected to the manipulator through the connecting plate.

[0014] Preferably, gaps are provided between the clamping cylinder and the fixing seat, the hook plate and the first fixing block.

[0015] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0016] The cooperation between the first clamping block and the second clamping block of the robot tool clamping mechanism of the present invention and the first recessed portion adds a gasket with an inclined surface, wherein the first clamping block and the second clamping block are adapted to the inclined surface. After the first clamping block or the second clamping block is clamped with the first recessed portion, if the clamping cylinder loses air, a friction force will be formed between the first clamping block or the second clamping block and the inclined surface to prevent the clamping block from detaching from the first recessed portion, thereby preventing the tool from falling and avoiding damage to the tool.

[0017] The present invention realizes the preliminary connection between the manipulator and the tool plate by clamping the hook of the hook plate with the second recessed portion of the tool plate, wherein the width of the second recessed portion is greater than the width of the hook, and a tiger's mouth structure is provided at the bottom of the second recessed portion. Such a setting increases the fault tolerance rate when the hook is connected with the second recess, and allows the manipulator to have position errors.

[0018] At the same time, the manipulator tool clamping mechanism of the present invention has a simple and compact structure, can save production costs, and improve production efficiency; and also has good rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of a manipulator tool clamping mechanism provided in this embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the exploded structure of a manipulator tool clamping mechanism provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of a tool board provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of assembling the second fixing block, the first clamping block and the second clamping block provided in an embodiment of the present invention;

[0023] Figure 5 A schematic structural diagram of a second clamping block provided in an embodiment of the present invention.

[0024] Figure numbers: 1-fixed seat, 2-hook plate, 3-first fixed block, 4-second fixed block, 5-clamping cylinder, 6-first clamping block, 7-second clamping block, 8-tool plate, 9-first recessed portion, 10-gasket, 11-hook, 12-second recessed portion, 13-tiger's mouth structure, 14-first through hole, 15-clamping portion, 16-slider portion, 17-slide groove, 18-cover body, 19-second through hole, 20-connecting plate. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with specific embodiments, but the present invention is not limited to these specific embodiments. Those skilled in the art should recognize that the present invention covers all possible alternatives, improvements and equivalents within the scope of the claims.

[0026] like Figure 1-5 As shown, a manipulator tool clamping mechanism is shown, including a fixed seat 1, a hook plate 2, a first fixed block 3, a second fixed block 4, a clamping cylinder 5, a first clamping block 6, a second clamping block 7 and a tool plate 8, the hook plate 2 and the first fixed block 3 are arranged on both sides of the fixed seat 1, the second fixed block 4 is arranged between the hook plate 2 and the first fixed block 3, the clamping cylinder 5 is arranged between the fixed seat 1 and the second fixed block 4, the first clamping block 6 and the second clamping block 7 are connected to the output end of the clamping cylinder 5, the first clamping block 6 and the second clamping block 7 are slidably matched with the second fixed block 4, two first recessed portions 9 are arranged on both sides of the tool plate 8 corresponding to the first clamping block 6 and the second clamping block 7, a gasket 10 is arranged in the first recessed portion 9, the upper surface of the gasket 10 is arranged with an inclined surface, and the first clamping block 6 and the second clamping block 7 are adapted to the inclined surface.

[0027] In this embodiment, the fixing seat 1, the hook plate 2, the first fixing block 3 and the second fixing block 4 are all in the shape of a flat rectangular parallelepiped. A groove is provided at the bottom of the fixing seat 1, and screws pass through the fixing seat 1 and the hook plate 2 through the groove to achieve a fixed connection between the hook plate 2 and the fixing seat 1; the first fixing block 3 is also fixedly connected to the other side of the fixing seat 1 by the same fixing method as the hook plate 2. The second fixing block 4 is arranged between the hook plate 2 and the first fixing block 3, and the two sides of the second fixing block 4 are fixedly connected to the hook plate 2 and the first fixing block 3 by screws respectively. There is an installation space for the clamping cylinder 5 between the second fixing block 4 and the fixing seat 1. The output end of the clamping cylinder 5 is arranged toward the second fixing block 4, and the first clamping block 6 and the second clamping block 7 are driven by the clamping cylinder 5 to approach or separate from each other.

[0028] When the above structure is working, the fixed seat 1 is connected to the external manipulator, and the tool plate 8 is fixedly connected to the tool. Under the action of the manipulator, the fixed seat 1 approaches the tool plate 8. The first clamping block 6 and the second clamping block 7 on the clamping mechanism extend into the tool plate 8. The first clamping block 6 and the second clamping block 7 are moved away from each other under the drive of the clamping cylinder 5, and are respectively engaged with the first recessed parts 9 on both sides of the tool plate 8. A gasket 10 with an inclined surface is provided in the first recessed part 9, and the two clamping blocks form a self-locking state with the gasket 10 under the action of the clamping cylinder 5. In the case of air loss in the clamping cylinder 5, the self-locking state of the two clamping blocks and the gasket 10 can make it difficult for the tool plate 8 and the clamping mechanism to separate, thereby preventing the tool from falling and being damaged.

[0029] Preferably, the hook plate 2 has a hook 11 at one end away from the fixing seat 1, and the tool plate 8 is provided with a second recessed portion 12 corresponding to the hook 11, and the hook 11 is adapted to the second recessed portion 12. In this embodiment, the preliminary connection between the clamping mechanism and the tool plate 8 is achieved by the cooperation between the hook 11 of the hook plate 2 and the second recessed portion 12 on the tool plate 8.

[0030] More specifically, the width of the second recessed portion 12 is greater than the width of the hook 11, and a jaw structure 13 is provided at the bottom of the second recessed portion 12. The above arrangement increases the error tolerance when the hook 11 is connected with the second recessed portion, and allows the position error of the manipulator.

[0031] Preferably, gaps are provided between the clamping cylinder 5 and the fixing seat 1, the hook plate 2 and the first fixing block 3. That is, the clamping cylinder 5 of this embodiment is connected to the second fixing block 4 and the tool plate 8 only through the first clamping block 6 and the second clamping block 7. The displacement of the clamping cylinder 5 in the length direction of the clamping cylinder 5 connected in this way is only limited by the second fixing block 4 and the two clamping blocks, so that the two clamping blocks will not be limited by the clamping cylinder 5 in the moving matching connection at the first recess, and the connection with the first recess is more flexible and precise; at the same time, it also avoids the hard friction and collision between the clamping blocks and the first recess during the moving matching connection, protects the clamping blocks and the tool plate 8, and prolongs the product life.

[0032] More specifically, the tool plate 8 is mirror-imaged with two first through holes 14 corresponding to the first clamp block 6 and the second clamp block 7, and the first through holes 14 are connected to the first recessed portion 9 and the second recessed portion 12. The clamping mechanism is driven by the manipulator, and the first clamp block 6, the second clamp block 7 and the hook 11 of the hook plate 2 extend into the first through hole 14. The hook 11 hooks the second recess to achieve a preliminary connection, and the first clamp block 6 and the second clamp block 7 move away from each other under the action of the clamping cylinder 5, and are connected with the first recessed portion 9 in cooperation.

[0033] Preferably, the first clamping block 6 and the second clamping block 7 both include a clamping portion 15 and a sliding portion 16, the clamping portion 15 is fixed above the sliding portion 16; the longitudinal section of the clamping portion 15 is Z-shaped as a whole, and the sliding portion 16 is a flat rectangular parallelepiped; a sliding groove 17 is provided on the bottom surface of the second fixed block 4 corresponding to the sliding portion 16, the bottom surface of the sliding portion 16 is fixedly connected to the clamping cylinder 5, and both sides of the sliding portion 16 are slidably connected to the sliding groove 17.

[0034] The first clamp block 6 and the second clamp block 7 of this embodiment are driven by the clamping cylinder 5 to move away from or toward each other through the cooperation of the slider 16 and the slide slot 17. When the first clamp block 6 and the second clamp block 7 move away from each other, the clamping mechanism is connected to the tool plate 8; when the first clamp block 6 and the second clamp block 7 move toward each other, the clamping mechanism puts down the tool plate 8.

[0035] Furthermore, both sides of the bottom surface of the second fixing block 4 are provided with a cover 18 for limiting the sliding block 16 from being separated from the slide slot 17. The cover 18 of this embodiment is used to prevent the first clamping block 6 and the second clamping block 7 from being separated from the slide slot 17.

[0036] Furthermore, the second fixing block 4 is provided with two second through holes 19 in mirror image with respect to the first clamping block 6 and the second clamping block 7. In this embodiment, the clamping parts 15 of the first clamping block 6 and the second clamping block 7 move in the second through holes 19 through the clamping cylinder 5.

[0037] Furthermore, it also includes a connecting plate 20 fixedly connected to the fixing base 1 , and the fixing base 1 is connected to the manipulator through the connecting plate 20 .

[0038] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the drawings are only examples and do not limit the present invention. The functional and structural principles of the present invention can be modified arbitrarily without departing from the principles shown above.

Claims

1. Manipulator tool clamping mechanism, Features: The invention comprises a fixing seat (1), a hook plate (2), a first fixing block (3), a second fixing block (4), a clamping cylinder (5), a first clamping block (6), a second clamping block (7) and a tool plate (8), wherein the hook plate (2) and the first fixing block (3) are arranged on both sides of the fixing seat (1), the second fixing block (4) is arranged between the hook plate (2) and the first fixing block (3), the clamping cylinder (5) is arranged between the fixing seat (1) and the second fixing block (4), and the first clamping block (6) is arranged between the fixing seat (1) and the second fixing block (4). and the second clamping block (7) are connected to the output end of the clamping cylinder (5); the first clamping block (6) and the second clamping block (7) are slidably matched with the second fixing block (4); first recessed portions (9) are respectively arranged on two sides of the tool plate (8) corresponding to the first clamping block (6) and the second clamping block (7); a gasket (10) is arranged in the first recessed portion (9); the upper surface of the gasket (10) is arranged as an inclined surface; the first clamping block (6) and the second clamping block (7) are adapted to the inclined surface; The hook plate (2) has a hook (11) at one end away from the fixing seat (1), and a second recessed portion (12) is provided on the tool plate (8) corresponding to the hook (11), and the hook (11) is adapted to fit the second recessed portion (12); thereby achieving a preliminary connection between the clamping mechanism and the tool plate (8); The first clamping block (6) and the second clamping block (7) both comprise a clamping portion (15) and a sliding block (16); the clamping portion (15) is fixed above the sliding block (16); the longitudinal section of the clamping portion (15) is in a Z-shape as a whole, and the sliding block (16) is a flat rectangular parallelepiped; a slide groove (17) is provided on the bottom surface of the second fixed block (4) corresponding to the sliding block (16); the bottom surface of the sliding block (16) is fixedly connected to the clamping cylinder (5), and both sides of the sliding block (16) are slidably connected to the slide groove (17); The width of the second recessed portion (12) is greater than the width of the hook (11), and a thumb's mouth structure (13) is provided at the bottom of the second recessed portion (12).

2. The manipulator tool clamping mechanism according to claim 1, Features: The tool plate (8) is provided with two first through holes (14) in a mirror image corresponding to the first clamping block (6) and the second clamping block (7), and the first through holes (14) are connected to the first recessed portion (9) and the second recessed portion (12).

3. The manipulator tool clamping mechanism according to claim 1, Features: Cover bodies (18) for limiting the sliding block (16) from escaping from the sliding groove (17) are provided on both sides of the bottom surface of the second fixing block (4).

4. The manipulator tool clamping mechanism according to claim 1, Features: The second fixing block (4) is provided with two second through holes (19) in a mirror-image manner corresponding to the first clamping block (6) and the second clamping block (7).

5. The manipulator tool clamping mechanism according to claim 1, Features: The manipulator tool clamping mechanism further comprises a connecting plate (20) fixedly connected to the fixing seat (1), and the fixing seat (1) is connected to the manipulator via the connecting plate (20).

6. The manipulator tool clamping mechanism according to claim 1, Features: Gaps are provided between the clamping cylinder (5) and the fixing seat (1), the hook plate (2) and the first fixing block (3).

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