Clamping mechanism for industrial robot

Abstract

The clamping mechanism for the industrial robot comprises a mounting plate and a hydraulic rod, the hydraulic rod is fixed to one end of the mounting plate, a baffle is fixedly mounted on the outer wall of the hydraulic rod, a rectangular plate is fixedly mounted on the outer wall of the baffle, and a mounting base is fixedly mounted on the outer wall of the hydraulic rod; the rotating mechanism is arranged on the outer wall of the mounting base, the clamping jaw mechanism is arranged below the rotating mechanism, and after the clamping position of the clamping jaw mechanism is adjusted, a hydraulic cylinder stretches out and draws back to drive a three-tooth clamping jaw fixedly connected with one end of the hydraulic cylinder to operate; the hydraulic cylinder stretches out and draws back to drive the four-tooth clamping jaw fixedly connected with one end of the hydraulic cylinder to operate, the three-tooth clamping jaw operates to drive the crank rocker rotationally connected with one end of the three-tooth clamping jaw to rotate, and the four-tooth clamping jaw operates to drive the crank rocker rotationally connected with one end of the four-tooth clamping jaw to rotate. The three-tooth clamping jaw and the four-tooth clamping jaw continuously move inwards, so that objects needing to be clamped are clamped.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot clamping, and in particular to a clamping mechanism for an industrial robot. Background Art

[0002] The gripping mechanism of an industrial robot is the end effector of the industrial robot, which is used to grasp, carry and place workpieces or items. Common types include pneumatic grippers, which use compressed air to drive the opening and closing of the grippers, and have the characteristics of fast response speed, stable and reliable gripping force, etc. According to their functional characteristics, they can be divided into parallel grippers, swing grippers and rotary grippers, etc., which can adapt to workpieces of different shapes and sizes. Hydraulic grippers use the powerful power generated by the hydraulic system to achieve precise grasping and holding. Based on the Pascal principle, the pressure transmission of hydraulic oil in a closed system drives the piston or cylinder to move, thereby causing the grippers to open and close. They are known for their outstanding gripping force and ability to adapt to heavy loads and large-size workpieces. Electric grippers use advanced servo drive technology and intelligent control systems, integrating motor drive, precision transmission and control technology, etc., to achieve fine adjustment of the gripping force and precise positioning at the millimeter level or even micrometer level, and are suitable for occasions with high requirements for accuracy and speed.

[0003] The clamping mechanisms of existing industrial robots are mostly fixed-mobile clamping devices, which move the industrial robot to a specified position and then go back to fix it. However, the clamping mechanisms of existing industrial robots cannot rotate or move freely. To solve the above problems, the present patent provides a clamping mechanism for an industrial robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide a clamping mechanism for an industrial robot, aiming to solve the above-mentioned technical problems.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A clamping mechanism for an industrial robot, comprising a mounting plate and a hydraulic rod, wherein the hydraulic rod is fixed at one end of the mounting plate, a baffle is fixedly mounted on the outer wall of the hydraulic rod, a rectangular plate is fixedly mounted on the outer wall of the baffle, and a mounting seat is fixedly mounted on the outer wall of the hydraulic rod, comprising:

[0007] A rotating mechanism, wherein the rotating mechanism is arranged on an outer wall of the mounting seat;

[0008] The clamping claw mechanism is arranged below the rotating mechanism.

[0009] Preferably, the rotating mechanism includes a power component and a rotating component.

[0010] Preferably, the power assembly comprises:

[0011] An installation box, the installation box is fixedly mounted on the outer wall of the installation seat;

[0012] A first motor, wherein the first motor is fixedly mounted on an inner wall of the mounting box;

[0013] A second motor, wherein the second motor is fixedly mounted on the inner wall of the mounting box;

[0014] A connecting shaft connected to an output end of the first motor;

[0015] A rotating plate is connected to an output end of the second motor.

[0016] Preferably, the rotating assembly comprises:

[0017] A first connecting seat, the first connecting seat is fixedly installed inside the installation box;

[0018] A rotating connecting plate, wherein the rotating connecting plate is fixedly mounted on an outer wall of the first connecting seat;

[0019] A mounting frame, the mounting frame being fixedly mounted on an outer wall of the rotating assembly;

[0020] A worm gear movably connected to the interior of the mounting frame;

[0021] A worm is fixedly mounted on one end of the first connecting seat, and the worm wheel is meshed with the worm.

[0022] Preferably, the clamping mechanism comprises:

[0023] A mounting base plate, wherein the mounting base plate is fixedly mounted below the rotating mechanism;

[0024] A third connecting seat, the third connecting seat is fixedly mounted on the outer wall of the mounting base plate;

[0025] A crank rocker, wherein the crank rocker is fixedly mounted on an outer wall of the third connecting seat;

[0026] A four-tooth clamping jaw connected to the free end of the crank rocker;

[0027] A three-tooth clamping jaw, wherein the three-tooth clamping jaw is movably connected to one end of the crank rocker;

[0028] A hydraulic cylinder is fixedly mounted on the outer wall of the three-tooth clamp and the four-tooth clamp.

[0029] Preferably, the outer wall of the installation frame is movably connected to a movable frame, a second connecting seat is fixedly mounted on one end of the movable frame, and an electric rotating disk is fixedly mounted on one end of the second connecting seat.

[0030] Preferably, a connecting block is fixedly mounted on the free end of the hydraulic cylinder, and the connecting block is fixedly mounted on both ends of the mounting base plate.

[0031] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0032] 1. When the equipment is in use, the first motor fixedly installed inside the installation box can drive the rotating connecting plate to rotate, and the rotating connecting plate can drive the mounting frame fixedly connected to the top of the rotating connecting plate to rotate up and down, and the mounting frame can be rotated up and down to drive the movable frame connected to the outer wall of the mounting frame to rotate, and the second connecting seat fixedly connected to the top thereof can be rotated up and down by the rotation of the movable frame, and the electric rotating disk at the top of the second connecting seat can be rotated up and down by the up and down rotation of the second connecting seat, thereby driving the clamping claw mechanism arranged at one end of the electric rotating disk to rotate up and down to adjust the clamping position, and the second motor can be operated to drive the connecting shaft fixedly connected to the output end of the second motor and the worm movably connected to one end of the connecting shaft to operate, and the worm gear meshing with the worm gear can be driven to rotate by the operation of the worm gear, and the movable frames movably connected at both ends of the turbine can be driven to rotate by the rotation of the worm gear.

[0033] 2. The movable frame is rotated to drive the electric rotating disk on the top of the second connecting seat to rotate left and right, thereby driving the clamping claw mechanism arranged at one end of the electric rotating disk to rotate up and down to adjust the clamping position. When the clamping position of the clamping claw mechanism is adjusted, the three-tooth clamping claw fixedly connected at one end is driven to operate through the extension and contraction of the hydraulic cylinder, and the four-tooth clamping claw fixedly connected at one end is driven to operate through the extension and contraction of the hydraulic cylinder. The three-tooth clamping claw is driven to rotate the crank rocker connected at one end by rotation, and the four-tooth clamping claw is driven to rotate the crank rocker connected at one end by rotation. The three-tooth clamping claw and the four-tooth clamping claw are continuously operated to move inward to clamp the items to be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0035] Figure 1 The present invention shows a structural front view of a clamping mechanism for an industrial robot.

[0036] Figure 2 A structural top view of a gripping mechanism for an industrial robot is shown.

[0037] Figure 3 A schematic diagram of a rotating mechanism of a gripping mechanism for an industrial robot is shown.

[0038] Figure 4 A schematic diagram of a clamping mechanism for a clamping mechanism of an industrial robot is shown.

[0039] Legend:

[0040] 1. Mounting plate; 2. Rectangular plate; 3. Hydraulic rod; 4. Baffle; 5. Mounting seat; 6. Rotating mechanism; 61. Power assembly; 611. Mounting box; 612. First motor; 613. Second motor; 614. Connecting shaft; 615. Rotating plate; 62. Rotating assembly; 621. First connecting seat; 622. Rotating connecting plate; 623. Mounting frame; 624. Worm gear; 625. Worm; 7. Second connecting seat; 8. Clamping mechanism; 801. Mounting base plate; 802. Third connecting seat; 803. Crank rocker; 804. Four-tooth clamping jaw; 805. Three-tooth clamping jaw; 806. Hydraulic cylinder; 9. Electric rotating disk. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] Reference Figures 1 to 4 An embodiment of a clamping mechanism for an industrial robot according to the present invention is further described.

[0046] A clamping mechanism for an industrial robot, comprising a mounting plate 1 and a hydraulic rod 3, wherein the hydraulic rod 3 is fixed to one end of the mounting plate 1, a baffle 4 is fixedly mounted on the outer wall of the hydraulic rod 3, a rectangular plate 2 is fixedly mounted on the outer wall of the baffle 4, and a mounting seat 5 is fixedly mounted on the outer wall of the hydraulic rod 3, comprising:

[0047] A rotating mechanism 6, wherein the rotating mechanism 6 is arranged on the outer wall of the mounting seat 5;

[0048] The clamping mechanism 8 is arranged below the rotating mechanism 6 .

[0049] In an optional embodiment, the rotating mechanism 6 includes a power component 61 and a rotating component 62 .

[0050] In an optional embodiment, the power assembly 61 includes:

[0051] An installation box 611, wherein the installation box 611 is fixedly installed on the outer wall of the installation seat 5;

[0052] A first motor 612, which is fixedly mounted on an inner wall of the mounting box 611;

[0053] A second motor 613, which is fixedly mounted on the inner wall of the mounting box 611;

[0054] A connecting shaft 614, wherein the connecting shaft 614 is connected to an output end of the first motor 612;

[0055] The rotating plate 615 is connected to the output end of the second motor 613 .

[0056] In an optional embodiment, the rotating assembly 62 includes:

[0057] A first connection seat 621, wherein the first connection seat 621 is fixedly installed inside the installation box 611;

[0058] A rotating connecting plate 622, wherein the rotating connecting plate 622 is fixedly mounted on an outer wall of the first connecting seat 621;

[0059] An installation frame 623, wherein the installation frame 623 is fixedly installed on the outer wall of the rotating assembly 62;

[0060] A worm gear 624, wherein the worm gear 624 is movably connected to the interior of the mounting frame 623;

[0061] The worm 625 is fixedly mounted on one end of the first connecting seat 621 , and the worm wheel 624 is meshed with the worm 625 .

[0062] It should be noted that when the device is in use, the first motor 612 fixedly installed inside the installation box 611 can be used to drive the rotating connecting plate 622 to rotate. By rotating the rotating connecting plate 622, the mounting frame 623 fixedly connected to the top of the rotating connecting plate 622 is driven to rotate up and down. By rotating the mounting frame 623 up and down, the movable frame connected to the outer wall of the mounting frame 623 is driven to rotate. The second connecting seat 7 fixedly connected to its top is driven to rotate up and down by the rotation of the movable frame. By rotating the second connecting seat 7 up and down, the electric rotating disk 9 at the top of the second connecting seat 7 is driven to rotate up and down, thereby driving the clamping claw mechanism 8 arranged at one end of the electric rotating disk 9 to rotate up and down to adjust the clamping position. The second motor 613 is operated to drive the connecting shaft 614 fixedly connected to the output end of the second motor 613 and the worm 625 movably connected to one end of the connecting shaft 614 to operate. The worm gear 624 meshing with the worm gear 625 is driven to rotate by the operation of the worm gear 625. The movable frames movably connected at both ends of the turbine are driven to rotate by the rotation of the worm gear 624.

[0063] In an optional embodiment, the clamping mechanism 8 comprises:

[0064] A mounting base plate 801, wherein the mounting base plate 801 is fixedly mounted below the rotating mechanism 6;

[0065] A third connecting seat 802, wherein the third connecting seat 802 is fixedly mounted on the outer wall of the mounting base plate 801;

[0066] A crank rocker 803, wherein the crank rocker 803 is fixedly mounted on the outer wall of the third connecting seat 802;

[0067] A four-tooth clamp 804, wherein the four-tooth clamp 804 is connected to the free end of the crank rocker 803;

[0068] A three-tooth clamp 805, wherein the three-tooth clamp 805 is movably connected to one end of the crank rocker 803;

[0069] The hydraulic cylinder 806 is fixedly mounted on the outer wall of the three-tooth clamp 805 and the four-tooth clamp 804 .

[0070] It should be noted that, through the rotation of the movable frame, the electric rotating disk 9 at the top of the second connecting seat 7 is driven to rotate left and right, thereby driving the clamping jaw mechanism 8 arranged at one end of the electric rotating disk 9 to rotate up and down to adjust the clamping position. When the clamping position of the clamping jaw mechanism 8 is adjusted, the three-tooth clamping jaw 805 fixedly connected at one end is driven to operate through the extension and contraction of the hydraulic cylinder 806, and the four-tooth clamping jaw 804 fixedly connected at one end is driven to operate through the extension and contraction of the hydraulic cylinder 806. The operation of the three-tooth clamping jaw 805 drives the crank rocker 803 rotatably connected at one end to rotate, and the operation of the four-tooth clamping jaw 804 drives the crank rocker 803 rotatably connected at one end to rotate. The three-tooth clamping jaw 805 and the four-tooth clamping jaw 804 continuously operate to move inward to clamp the items to be clamped.

[0071] In an optional embodiment, the outer wall of the installation frame 623 is movably connected to a movable frame, a second connecting seat 7 is fixedly installed at one end of the movable frame, and an electric rotating disk 9 is fixedly installed at one end of the second connecting seat 7.

[0072] In an optional embodiment, a connecting block is fixedly mounted on the free end of the hydraulic cylinder 806 , and the connecting block is fixedly mounted on both ends of the mounting base plate 801 .

[0073] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripping mechanism for an industrial robot, comprising a mounting plate (1) and a hydraulic rod (3), wherein the hydraulic rod (3) is fixed to one end of the mounting plate (1), a baffle (4) is fixedly mounted on the outer wall of the hydraulic rod (3), a rectangular plate (2) is fixedly mounted on the outer wall of the baffle (4), and a mounting seat (5) is fixedly mounted on the outer wall of the hydraulic rod (3), characterized in that: include: A rotating mechanism (6), wherein the rotating mechanism (6) is arranged on an outer wall of the mounting seat (5); A clamping mechanism (8), wherein the clamping mechanism (8) is arranged below the rotating mechanism (6).

2. A gripping mechanism for an industrial robot according to claim 1, characterized in that: The rotating mechanism (6) comprises a power component (61) and a rotating component (62).

3. A gripping mechanism for an industrial robot according to claim 2, characterized in that: The power assembly (61) comprises: An installation box (611), wherein the installation box (611) is fixedly installed on the outer wall of the installation seat (5); A first motor (612), wherein the first motor (612) is fixedly mounted on an inner wall of the mounting box (611); A second motor (613), the second motor (613) being fixedly mounted on an inner wall of the mounting box (611); A connecting shaft (614), wherein the connecting shaft (614) is connected to an output end of the first motor (612); A rotating plate (615) is connected to an output end of the second motor (613).

4. A gripping mechanism for an industrial robot according to claim 3, characterized in that: The rotating assembly (62) comprises: A first connecting seat (621), wherein the first connecting seat (621) is fixedly installed inside the installation box (611); A rotating connecting plate (622), wherein the rotating connecting plate (622) is fixedly mounted on the outer wall of the first connecting seat (621); A mounting frame (623), wherein the mounting frame (623) is fixedly mounted on an outer wall of the rotating assembly (62); A worm gear (624), wherein the worm gear (624) is movably connected inside the mounting frame (623); A worm (625) is fixedly mounted on one end of the first connecting seat (621), and the worm wheel (624) is meshed with the worm (625).

5. The gripping mechanism for an industrial robot according to claim 1, characterized in that: The clamping jaw mechanism (8) comprises: A mounting base plate (801), wherein the mounting base plate (801) is fixedly mounted below the rotating mechanism (6); A third connecting seat (802), wherein the third connecting seat (802) is fixedly mounted on the outer wall of the mounting base plate (801); A crank rocker (803), wherein the crank rocker (803) is fixedly mounted on the outer wall of the third connecting seat (802); A four-tooth clamp (804), wherein the four-tooth clamp (804) is connected to the free end of the crank rocker (803); A three-tooth clamp (805), wherein the three-tooth clamp (805) is movably connected to one end of the crank rocker (803); A hydraulic cylinder (806) is fixedly mounted on the outer wall of the three-tooth clamp (805) and the four-tooth clamp (804).

6. A gripping mechanism for an industrial robot according to claim 4, characterized in that: The outer wall of the installation frame (623) is movably connected to a movable frame, a second connecting seat (7) is fixedly mounted on one end of the movable frame, and an electric rotating disk (9) is fixedly mounted on one end of the second connecting seat (7).

7. A gripping mechanism for an industrial robot according to claim 5, characterized in that: A connecting block is fixedly mounted on the free end of the hydraulic cylinder (806), and the connecting block is fixedly mounted on both ends of the mounting base plate (801).

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