Clamping head structure for industrial robot and using method of clamping head structure
By using arc-shaped compression blocks and buffering mechanisms in the clamping head structure of industrial robots, the problem of difficulty in completely flattening the inclined annular parts during clamping is solved, horizontal compression and accurate positioning of the parts are achieved, and the efficiency and safety of the fixture are improved.
Patent Information
- Application Number
- CN202510074686.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2025-04-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the clamping process of industrial robots, inclined annular parts are difficult to completely flatten during clamping, resulting in inaccurate positioning and damage to the parts.
A clamping head structure is designed, using arc-shaped compression blocks and buffering mechanisms. Through the inclination of arc-shaped compression blocks and the squeeze pressure of rubber blocks, horizontal compression of the parts is achieved, and through the cooperation of the pneumatic rod and the inner support block, the accurate positioning and safe clamping of the parts are ensured.
It effectively avoids the inclination and inaccurate positioning problems caused by incomplete flattening of parts during clamping, reduces the risk of part damage, and improves the positioning accuracy of the fixture.
Smart Images
Figure CN119795228A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robot clamping equipment, in particular to a clamping head structure for an industrial robot and a use method thereof. Background Art
[0002] In the field of industrial robot grasping, the robot's grasping head structure is a very important component in this field. Traditional robot grasping structures usually have mechanical claws, vacuum suction cups, magnetic adsorption, and pneumatic suction cups. The robot's grasping head structure is a common grasping head structure, which is composed of multiple mechanical arms. The movement of the mechanical arms can be driven by motors, pneumatics, or hydraulics to achieve functions such as grasping and clamping. The mechanical claw has a simple structure and high reliability, and is suitable for grasping objects of various shapes.
[0003] Among them, when the robot uses internal support to clamp tilted circular parts, it often flattens the parts through the cooperation of extrusion blocks and springs when clamping. However, the clamp needs a longer moving space when flattening so that the spring can accumulate enough rebound force to flatten the parts. When clamping thinner parts, the clamp may have contacted the table where the parts are placed, but the parts have not been completely flattened, resulting in the parts being tilted when placed after being clamped and moved, resulting in inaccurate positioning. Summary of the invention
[0004] In order to solve the above technical problems, the present invention provides a clamping head structure for an industrial robot, comprising a clamping mechanism, the clamping mechanism also comprising a clamping sleeve, a plurality of arc-shaped pressing blocks are arranged on the outer wall of the clamping sleeve, and a plurality of square grooves are opened on the outer wall of the clamping sleeve;
[0005] The buffer mechanism includes a placement groove provided on the inner wall of a plurality of arc-shaped pressing blocks, the inner walls of the plurality of placement grooves are slidably connected with a push block, and the tops of the plurality of push blocks are fixedly connected with a plurality of fixing frames;
[0006] The flapping mechanism comprises an arc-shaped plate arranged on the top of a plurality of arc-shaped pressing blocks, the tops of the plurality of arc-shaped plates are fixedly connected with a plurality of connecting rods, and a plurality of sliding grooves are opened inside the plurality of arc-shaped pressing blocks.
[0007] Preferably, the clamping mechanism also includes a pneumatic rod slidably connected to the inner wall of the clamping sleeve, and a plurality of inner support blocks are slidably connected to the inner wall of the clamping sleeve. An annular groove is opened inside the clamping sleeve, and a circular ring 1 is slidably connected to the inner wall of the annular groove. A plurality of blocking springs are fixedly connected to the top of the circular ring 1, and the tops of the plurality of blocking springs are fixedly connected to the top of the inner wall of the annular groove. The arc-shaped clamping block is used to press the inclined annular part to a horizontal position, and the arc-shaped clamping block is prevented from rising before the part is horizontal. The clamping sleeve is installed on the robot, and the pneumatic rod is installed together with the cylinder on the robot. When clamping the inclined part, the robot drives the clamping sleeve to descend to allow the arc-shaped clamping block to approach the part. When one side of the arc-shaped clamping block contacts the higher end of the part, the arc-shaped clamping block rotates and tilts, so that the arc-shaped clamping block approaches the clamping sleeve.
[0008] Preferably, the clamping mechanism also includes a plurality of connecting rods rotatably connected to the outer wall of the circular ring, the outer walls of the plurality of connecting rods are rotatably connected to connecting rod racks, the inner walls of the plurality of connecting rod racks are rotatably connected to the side walls of the arc-shaped clamping blocks, the inner walls of the plurality of connecting rod racks are rotatably connected to the outer wall of the circular ring, and the bottoms of the plurality of arc-shaped clamping blocks are fixedly connected to a plurality of rubber blocks. When the arc-shaped clamping block moves, it will also drive the connecting rod and the connecting rod rack to move in the annular groove until the arc-shaped clamping block contacts the clamping sleeve. After the contact, the arc-shaped clamping block will stop rotating. Since the arc-shaped clamping block is tilted, the clamping sleeve will continue to be lowered at this time. The force of the arc-shaped clamping block on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove through the connecting rod, so as to prevent the connecting rod from being subjected to the vertical extrusion force to push the circular ring to rise, thereby driving the remaining arc-shaped clamping blocks to rise, so that the rubber block at the bottom of the arc-shaped clamping block in contact with the part can exert sufficient force to squeeze the inclined part horizontally, and the rubber block is used to avoid extrusion When the parts are clamped, excessive extrusion pressure will damage the parts. When the parts are horizontal, they will contact with the remaining arc-shaped clamping blocks, and then several arc-shaped clamping blocks will be subjected to uniform extrusion pressure at the same time. The clamping sleeve will continue to descend, which will cause the arc-shaped clamping block to rise, driving the circular ring to rise, so as to prevent the arc-shaped clamping block from affecting the clamping of the parts by the inner support block. When the circular ring rises, it will squeeze the blocking spring, allowing the blocking spring to accumulate rebound force. When the clamping sleeve descends, after the inner support block enters the interior of the part, the pneumatic rod is extended to drive the inner support block to extend to clamp the part. By flattening the part, the annular part is prevented from tilting, resulting in the extrusion force being concentrated together, causing the circular ring part to be damaged. When the arc-shaped clamping block does not completely flatten the part, it will not rise by itself to avoid the clamped part being too thin, resulting in the clamping sleeve being in contact with the table surface where the part is placed, and the part is not completely flattened, resulting in the robot picking up and moving the part, and the placement position is also tilted, which affects subsequent processing and ensures the positioning accuracy of the fixture.
[0009] Preferably, the buffer mechanism also includes a plurality of pushing frames arranged on the top of the arc-shaped clamping block, the bottom of the pushing frame is rotatably connected to the outer wall of the fixed frame, and the inner wall of the pushing frame is rotatably connected to the outer wall of the circular ring. The arc-shaped clamping block is used to clamp the parts. When the arc-shaped clamping block extrude the inclined parts, the extrusion force is often concentrated in one place. When the extrusion force of the arc-shaped clamping block when squeezing the parts is too strong, the rubber block will be compressed, causing the parts to contact the pushing block. When the pushing block is subjected to the extrusion force, the pushing block will rise. When the pushing block rises, it will drive the fixed frame to rise, causing the pushing frame to rise.
[0010] Preferably, the buffer mechanism also includes a plurality of fixed blocks fixedly connected to the outer wall of the clamping sleeve, and the inner walls of the plurality of fixed blocks are slidably connected with a circular ring 2, and the outer walls of the circular ring 2 are slidably connected to the inner wall of the pushing frame. When the arc-shaped clamping block is tilted, the fixed frame will rotate in the pushing frame, so that the fixed frame and the pushing block will tilt together with the arc-shaped clamping block, and the pushing frame will remain vertical, so that the pushing frame provides a vertical lifting force. When the pushing frame rises, it will drive the circular ring 2 to rise, and when the circular ring 2 rises, it will drive the remaining pushing frames to rise, thereby causing the circular ring 1 to rise, driving the arc-shaped clamping block to rise for buffering. Buffering can increase the reaction time of the robot, avoid the annular parts from getting stuck, resulting in the inability to flatten, and avoid the extrusion force being too strong, resulting in damage to the parts or the arc-shaped clamping blocks.
[0011] Preferably, the slapping mechanism also includes a sliding rod slidably connected to the inner wall of the sliding groove, a plurality of sliding rods are fixedly connected to the outer walls of the plurality of sliding rods, the tops and bottoms of the plurality of fixing rings are fixedly connected to vibration springs, the tops of the plurality of sliding rods are fixedly connected to the bottom of the arc plate, and the bottoms of the plurality of sliding rods are fixedly connected to slapping blocks, and the force of the rising push block is utilized, when the push block rises, it will squeeze the plurality of vibration springs located at the bottom, and after the push block rises, the arc-shaped clamping block will also rise, stretching the plurality of vibration springs located at the top, so that the fixing ring is simultaneously affected by the rebound force of the two vibration springs and rises, driving the arc plate and the slapping block to rise, and when the arc plate rises, it will cause the connecting rod to rise, and when the rebound force of the vibration spring is released, it will cause the rebound force of the vibration springs at the top and bottom to counteract each other, thereby causing the fixing ring to vibrate, driving the connecting rod and the slapping block to vibrate.
[0012] Preferably, the flapping mechanism also includes several fixed sleeves fixedly connected to the bottom of the arc-shaped clamping block, the inner walls of the several fixed sleeves are fixedly connected with connecting sleeves, the inner walls of the connecting sleeves are slidably connected with a spring telescopic rod, the side walls of the several fixed sleeves are fixedly connected with connecting rings, the outer walls of the several spring telescopic rods are slidably connected to the inner wall of the connecting ring, and the inner walls of the several rubber blocks are provided with air inlet holes. By utilizing the rising force of the flapping block, when the arc-shaped clamping block is completely fitted with the part and squeezed, the squeezing force exerted on the rubber block will gradually increase until the part contacts the pushing block, allowing the pushing block to rise and drive the flapping block to rise. When the flapping block rises and contacts the spring telescopic rod, since the contact surface between the spring telescopic rod and the flapping block is an inclined surface, the flapping block of the flapping mechanism will smoothly squeeze the spring telescopic rod, allowing the spring telescopic rod to move, compressing the gas in the connecting ring, and allowing the gas to enter the rubber block to provide supporting force, thereby avoiding frequent compression of the rubber block, which causes the rubber block to be easily damaged and affects the clamping of the parts.
[0013] A method for using a gripping head structure for an industrial robot comprises the following steps:
[0014] S1: Install the clamping sleeve on the robot, and then install the pneumatic rod and the cylinder on the robot together. When clamping the inclined parts, the robot drives the clamping sleeve down to make the arc-shaped clamping block close to the parts;
[0015] S2: When one side of the arc-shaped clamping block contacts the end of the part that is higher up, the arc-shaped clamping block will rotate and tilt, so that the arc-shaped clamping block is close to the clamping sleeve. When the arc-shaped clamping block moves, it will also drive the connecting rod and the connecting rod frame to move in the annular groove;
[0016] S3: until the arc clamping block contacts the clamping sleeve, after which the arc clamping block stops rotating. Since the arc clamping block is tilted, the clamping sleeve continues to be lowered. The force of the arc clamping block on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove through the connecting rod.
[0017] The present invention has the following beneficial effects:
[0018] (1) The present invention utilizes the arc-shaped clamping block to press the inclined annular part to a horizontal position, and avoids the arc-shaped clamping block rising before the part is horizontal. The clamping sleeve is installed on the robot, and the pneumatic rod is installed together with the cylinder on the robot. When the inclined part is clamped, the robot drives the clamping sleeve to descend to allow the arc-shaped clamping block to approach the part. When one side of the arc-shaped clamping block contacts the higher end of the part, the arc-shaped clamping block rotates and tilts, so that the arc-shaped clamping block approaches the clamping sleeve. When the arc-shaped clamping block moves , which will also drive the connecting rod and the connecting rod frame to move in the annular groove until the arc-shaped clamping block contacts the clamping sleeve. After the contact, the arc-shaped clamping block will stop rotating. Since the arc-shaped clamping block is tilted, the clamping sleeve will continue to be lowered at this time. The force of the arc-shaped clamping block on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove through the connecting rod, preventing the connecting rod from being subjected to vertical extrusion force. The circular ring will rise, driving the remaining arc-shaped clamping blocks to rise, so that the rubber block at the bottom of the arc-shaped clamping block in contact with the part can exert enough force to tilt the part. When the inclined parts are squeezed horizontally, the rubber blocks are used to avoid squeezing the parts. Excessive squeezing force will damage the parts. When the parts are horizontal, they will contact the remaining arc-shaped clamping blocks, so that several arc-shaped clamping blocks are subjected to uniform squeezing force at the same time. The clamping sleeve continues to descend, which will cause the arc-shaped clamping blocks to rise, driving the circular ring to rise, so as to prevent the arc-shaped clamping blocks from affecting the clamping of the parts by the inner support blocks. When the circular ring rises, it will squeeze the blocking spring, allowing the blocking spring to accumulate rebound force. When the clamping sleeve descends, the inner support block enters the inside of the part, and then the pneumatic rod is extended to drive the inner support block to extend to clamp the part. By flattening the parts, the annular parts are prevented from tilting, resulting in the extrusion force being concentrated together, causing the circular parts to be damaged. When the arc-shaped clamping block does not completely flatten the parts, it will not rise by itself, so as to avoid the clamped parts being thin, resulting in the clamping sleeve being in contact with the table where the parts are placed, and the parts are not completely flattened, resulting in the robot picking up and moving the parts, and the placement position is also tilted, which affects the subsequent processing and ensures the positioning accuracy of the fixture.
[0019] (2) The present invention utilizes the force of the arc-shaped clamping block to clamp the parts. When the arc-shaped clamping block squeezes the inclined parts, the squeezing force is often concentrated in one place. When the squeezing force of the arc-shaped clamping block when squeezing the parts is too strong, the rubber block will be compressed, causing the parts to contact the push block. When the push block is subjected to the squeezing force, the push block will rise. When the push block rises, it will drive the fixed frame to rise, causing the push frame to rise. When the arc-shaped clamping block is tilted, the fixed frame will rotate inside the push frame, causing the fixed frame and the push block to tilt along with the arc-shaped clamping block, while the push frame will remain vertical, causing the push frame to provide a vertical lifting force. When the push frame rises, it will drive the circular ring 2 to rise. When the circular ring 2 rises, it will drive the remaining push frames to rise, thereby causing the circular ring 1 to rise, driving the arc-shaped clamping block to rise, and performing buffering. Buffering can increase the reaction time of the robot, avoid the annular parts from getting stuck, resulting in the inability to flatten, and avoid the squeezing force being too strong, causing damage to the parts or the arc-shaped clamping block.
[0020] (3) The present invention utilizes the force of the push block rising. When the push block rises, it will squeeze the several vibration springs located at the bottom. After the push block rises, the arc-shaped clamping block will also rise with it, stretching the several vibration springs located at the top, so that the fixed ring is simultaneously affected by the rebound force of the two vibration springs and rises, driving the arc plate and the slapping block to rise. When the arc plate rises, it will make the connecting rod rise. When the rebound force of the vibration spring is released, the rebound force of the vibration springs at the top and bottom will counteract each other, thereby causing the fixed ring to vibrate, driving the connecting rod and the slapping block to vibrate. When the connecting rod vibrates, it will slap the arc-shaped clamping block, and when the slapping block vibrates, it will slap the parts. By slapping the parts and the arc-shaped clamping block at the same time, the slapping can help adjust the position of the parts, especially when the parts may move due to slight changes in angle or position during the extrusion process, increasing the possibility of the parts being level.
[0021] (4) The present invention utilizes the rising force of the slapping block. When the arc-shaped clamping block is completely fitted to the part and squeezed, the squeezing force on the rubber block will gradually increase until the part contacts the push block, allowing the push block to rise and drive the slapping block to rise. When the slapping block rises and contacts the spring telescopic rod, since the contact surface between the spring telescopic rod and the slapping block is an inclined surface, the slapping block of the slapping mechanism will smoothly squeeze the spring telescopic rod, allowing the spring telescopic rod to move and compress the gas in the connecting ring. When the rubber block is squeezed and compressed, the gas in the air inlet hole will also be compressed, causing the gas to flow into the connecting ring and then be compressed back into the air inlet through the spring telescopic rod, allowing the gas to support the inside of the rubber block, thereby reducing the compressive stress on the rubber and avoiding frequent compression of the rubber block, which may cause the rubber block to be easily damaged and affect the clamping of the part. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing 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.
[0023] Figure 1 It is a schematic cross-sectional view of the overall structure of the present invention;
[0024] Figure 2 It is a cross-sectional schematic diagram of the clamping sleeve of the present invention;
[0025] Figure 3 It is a cross-sectional schematic diagram of some components of the clamping mechanism of the present invention;
[0026] Figure 4 It is an exploded schematic diagram of some components of the clamping mechanism of the present invention;
[0027] Figure 5 It is a schematic diagram of the overall structure of the present invention;
[0028] Figure 6 It is a cross-sectional schematic diagram of the arc-shaped pressing block of the present invention;
[0029] Figure 7 For the present invention Figure 6 A is an enlarged schematic diagram;
[0030] Figure 8 For the present invention Figure 6 A magnified schematic diagram of B;
[0031] Fig. 9 It is a schematic diagram of the working process of the present invention.
[0032] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0033] In the figure: 1. Clamping mechanism; 101. Clamping sleeve; 102. Arc-shaped pressing block; 103. Square groove; 104. Annular groove; 105. Pneumatic rod; 106. Inner support block; 107. Ring 1; 108. Blocking spring; 109. Connecting rod; 110. Connecting rod frame; 111. Rubber block; 2. Buffering mechanism; 201. Placement groove; 202. Push block; 203. Fixed frame; 204. Push frame; 205. Fixed block; 206. Ring 2; 3. Beating mechanism; 301. Arc plate; 302. Connecting rod; 303. Sliding groove; 304. Sliding rod; 305. Vibration spring; 306. Fixed ring; 307. Beating block; 308. Fixed sleeve; 309. Spring telescopic rod; 310. Connecting sleeve; 311. Connecting ring; 312. Air inlet. DETAILED DESCRIPTION
[0034] 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.
[0035] For example, see Figure 1 - Figure 3 The present invention is a clamping head structure for an industrial robot, comprising a clamping mechanism 1, wherein the clamping mechanism 1 further comprises a clamping sleeve 101, wherein a plurality of arc-shaped pressing blocks 102 are arranged on the outer wall of the clamping sleeve 101, and a plurality of square grooves 103 are opened on the outer wall of the clamping sleeve 101;
[0036] The buffer mechanism 2 includes a placement groove 201 provided on the inner wall of a plurality of arc-shaped pressing blocks 102, a push block 202 is slidably connected to the inner wall of the plurality of placement grooves 201, and a plurality of fixing frames 203 are fixedly connected to the top of the plurality of push blocks 202;
[0037] The flapping mechanism 3 includes an arc-shaped plate 301 arranged on the top of a plurality of arc-shaped pressing blocks 102 , the tops of the plurality of arc-shaped plates 301 are fixedly connected with a plurality of connecting rods 302 , and a plurality of sliding grooves 303 are opened inside the plurality of arc-shaped pressing blocks 102 .
[0038] The clamping mechanism 1 also includes a pneumatic rod 105 slidably connected to the inner wall of the clamping sleeve 101, and a plurality of inner support blocks 106 are slidably connected to the inner wall of the clamping sleeve 101. An annular groove 104 is provided inside the clamping sleeve 101, and a circular ring 107 is slidably connected to the inner wall of the annular groove 104. A plurality of blocking springs 108 are fixedly connected to the top of the circular ring 107. The tops of the plurality of blocking springs 108 are fixedly connected to the top of the inner wall of the annular groove 104. The arc-shaped pressing block 102 is used to hold the inclined In order to press the annular parts horizontally and avoid the arc-shaped clamping block 102 rising before the parts are horizontal, the clamping sleeve 101 is installed on the robot, and then the pneumatic rod 105 is installed together with the cylinder on the robot. When clamping the inclined parts, the robot drives the clamping sleeve 101 to descend to let the arc-shaped clamping block 102 approach the parts. When one side of the arc-shaped clamping block 102 contacts the higher end of the part, the arc-shaped clamping block 102 will rotate and tilt, so that the arc-shaped clamping block 102 is close to the clamping sleeve 101.
[0039] The clamping mechanism 1 also includes a plurality of connecting rods 109 rotatably connected to the outer wall of the ring 107, the outer walls of the plurality of connecting rods 109 are rotatably connected to connecting rod frames 110, the inner walls of the plurality of connecting rod frames 110 are rotatably connected to the side walls of the arc-shaped clamping block 102, the inner walls of the plurality of connecting rod frames 110 are rotatably connected to the outer wall of the ring 107, and the bottoms of the plurality of arc-shaped clamping blocks 102 are fixedly connected to a plurality of rubber blocks 111. When the arc-shaped clamping block 102 moves, the connecting rods 109 and the connecting rod frames 110 are also driven to move in the annular groove 104 until the arc-shaped clamping block 102 moves. The arc-shaped clamping block 102 will stop rotating after contacting with the clamping sleeve 101. Since the arc-shaped clamping block 102 is tilted, the clamping sleeve 101 will continue to be lowered at this time. The force of the arc-shaped clamping block 102 on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove 104 through the connecting rod 109, so as to prevent the connecting rod 109 from being subjected to the vertical squeezing force to push the ring 107 up, thereby driving the remaining arc-shaped clamping blocks 102 to rise, so that the rubber block 111 at the bottom of the arc-shaped clamping block 102 in contact with the part can exert enough force to squeeze the tilted part. When the parts are leveled, the rubber block 111 is used to prevent the parts from being damaged by excessive squeezing force. When the parts are leveled, they will contact with the remaining arc-shaped pressing blocks 102, so that several arc-shaped pressing blocks 102 are subjected to uniform squeezing force at the same time. The clamping sleeve 101 continues to descend, which will cause the arc-shaped pressing blocks 102 to rise, driving the ring 107 to rise, and preventing the arc-shaped pressing blocks 102 from affecting the inner support block 106 to clamp the parts. When the ring 107 rises, it will squeeze the blocking spring 108, allowing the blocking spring 108 to accumulate resilience. When the clamping sleeve 101 descends, the inner support block 106 After entering the interior of the part, 06 extends the pneumatic rod 105 to drive the inner support block 106 to extend and clamp the part. By flattening the part, the annular part is prevented from tilting, which causes the extrusion force to be concentrated and damage the annular part. When the arc-shaped clamping block 102 does not completely flatten the part, it will not rise by itself to avoid the clamped part being too thin, resulting in the clamping sleeve 101 contacting the table surface where the part is placed, and the part is not completely flattened. After the robot clamps and moves the part, the placement position is also tilted, which affects subsequent processing and ensures the positioning accuracy of the fixture.
[0040] For example 2, please refer to Figure 4 - Fig. 9The present invention is a clamping head structure for an industrial robot. On the basis of the first embodiment, the buffer mechanism 2 also includes a plurality of push racks 204 arranged on the top of the arc-shaped clamping block 102. The bottom of the push rack 204 is rotatably connected to the outer wall of the fixed frame 203, and the inner wall of the push rack 204 is rotatably connected to the outer wall of the ring 107. The arc-shaped clamping block 102 is used to clamp the parts. When the arc-shaped clamping block 102 squeezes the inclined parts, the squeezing force is often concentrated in one place. When the squeezing force of the arc-shaped clamping block 102 when squeezing the parts is too strong, the rubber block 111 will be compressed, so that the parts and the push block 202 are in contact. When the push block 202 is subjected to the squeezing force, the push block 202 will rise. When the push block 202 rises, it will drive the fixed frame 203 to rise, so that the push rack 204 rises.
[0041] The buffer mechanism 2 also includes a plurality of fixed blocks 205 fixedly connected to the outer wall of the clamping sleeve 101, and a circular ring 206 is slidably connected to the inner wall of the plurality of fixed blocks 205, and the outer wall of the circular ring 206 is slidably connected to the inner wall of the pushing frame 204. When the arc-shaped clamping block 102 is tilted, the fixed frame 203 will rotate in the pushing frame 204, so that the fixed frame 203 and the pushing block 202 are tilted together with the arc-shaped clamping block 102, and the pushing frame 204 will remain vertical, so that the pushing frame 204 provides a vertical lifting force. When the pushing frame 204 rises, the circular ring 206 will be driven to rise, and when the circular ring 206 rises, the remaining pushing frames 204 will be driven to rise, thereby causing the circular ring 107 to rise, and driving the arc-shaped clamping block 102 to rise for buffering. The buffering can increase the reaction time of the robot, avoid the annular parts from getting stuck, resulting in the inability to flatten, and avoid the extrusion force being too strong, resulting in damage to the parts or the arc-shaped clamping block 102.
[0042] The beating mechanism 3 also includes a sliding rod 304 slidably connected to the inner wall of the sliding groove 303, a plurality of sliding rods 304 are fixedly connected to the outer wall with a fixing ring 306, a plurality of fixing rings 306 are fixedly connected to the top and bottom with a vibration spring 305, a plurality of sliding rods 304 are fixedly connected to the bottom of the arc plate 301 at the top, a plurality of sliding rods 304 are fixedly connected to the bottom with a beating block 307, and the push block 202 is used to push the pushing block 202 upward. After the arc plate 301 rises, the connecting rod 302 will rise. When the rebound force of the vibration spring 305 is released, the rebound force of the vibration springs 305 at the top and the bottom will counteract each other, thereby causing the fixing ring 306 to vibrate, driving the connecting rod 302 and the flapping block 307 to vibrate.
[0043] The flapping mechanism 3 also includes a plurality of fixed sleeves 308 fixedly connected to the bottom of the arc-shaped pressing block 102, the inner walls of the plurality of fixed sleeves 308 are fixedly connected with connecting sleeves 310, the inner walls of the connecting sleeves 310 are slidably connected with spring telescopic rods 309, the side walls of the plurality of fixed sleeves 308 are fixedly connected with connecting rings 311, the outer walls of the plurality of spring telescopic rods 309 are slidably connected with the inner walls of the connecting rings 311, and the inner walls of the plurality of rubber blocks 111 are provided with air inlet holes 312. By utilizing the rising force of the flapping block 307, when the arc-shaped pressing block 102 is completely fitted to the parts and squeezed, the rubber block 111 The extrusion pressure 1 is gradually increased until the part contacts the push block 202, so that the push block 202 rises, driving the slapping block 307 to rise. When the slapping block 307 rises and contacts the spring telescopic rod 309, since the contact surface between the spring telescopic rod 309 and the slapping block 307 is an inclined surface, the slapping mechanism slapping block 307 will smoothly squeeze the spring telescopic rod 309, so that the spring telescopic rod 309 moves, compressing the gas in the connecting ring 311, allowing the gas to enter the rubber block 111 to provide support force, thereby avoiding frequent compression of the rubber block 111, which may cause the rubber block 111 to be easily damaged and affect the pressing of the part.
[0044] The method for using the gripping head structure for an industrial robot comprises the following steps:
[0045] S1: Install the clamping sleeve 101 on the robot, and then install the pneumatic rod 105 and the cylinder on the robot together. When clamping the inclined part, the robot drives the clamping sleeve 101 to descend so that the arc-shaped pressing block 102 is close to the part;
[0046] S2: When one side of the arc-shaped pressing block 102 contacts the end of the part that is tilted higher, the arc-shaped pressing block 102 will rotate and tilt, so that the arc-shaped pressing block 102 is close to the clamping sleeve 101. When the arc-shaped pressing block 102 moves, it will also drive the connecting rod 109 and the connecting rod frame 110 to move in the annular groove 104;
[0047] S3: until the arc-shaped clamping block 102 contacts the clamping sleeve 101, after which the arc-shaped clamping block 102 stops rotating. Since the arc-shaped clamping block 102 is tilted, the clamping sleeve 101 continues to be lowered. The force of the arc-shaped clamping block 102 on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove 104 through the connecting rod 109.
[0048] A specific application of this embodiment is: when the present invention is used, the arc-shaped clamping block 102 is used to press the inclined annular part to the horizontal position, and the arc-shaped clamping block 102 is prevented from rising before the part is horizontal. The clamping sleeve 101 is installed on the robot, and the pneumatic rod 105 is installed together with the cylinder on the robot. When the inclined part is clamped, the robot drives the clamping sleeve 101 to descend to allow the arc-shaped clamping block 102 to approach the part. When one side of the arc-shaped clamping block 102 contacts the higher end of the part, the arc-shaped clamping block 102 will rotate and tilt, so that the arc-shaped clamping block 102 is close to the clamping sleeve 101. When the arc-shaped clamping block 102 moves, it will also drive the connecting rod 109 and the connecting rod frame 110 to move in the annular groove 104 until the arc-shaped clamping block 102 contacts the clamping sleeve 101. After the contact, the arc-shaped clamping block 102 will stop rotating. Since the arc-shaped clamping block 102 is tilted, the clamping sleeve 101 continues to be lowered at this time. The force of the arc-shaped clamping block 102 on the side in contact with the part to squeeze the part will be transmitted to the inner wall of the annular groove 104 through the connecting rod 109, so as to prevent the connecting rod 109 from being subjected to the vertical squeezing force to push the ring 107 up, thereby driving the remaining arc-shaped clamping blocks 102 to rise, so that the arc-shaped clamping blocks in contact with the part The rubber block 111 at the bottom of 102 can exert enough force to squeeze the inclined parts horizontally, and the rubber block 111 can prevent the parts from being damaged by excessive squeezing force when squeezing the parts. When the parts are horizontal, they will contact with the remaining arc-shaped clamping blocks 102, so that several arc-shaped clamping blocks 102 are subjected to uniform squeezing force at the same time. The clamping sleeve 101 continues to descend, which will cause the arc-shaped clamping blocks 102 to rise, driving the ring 107 to rise, and preventing the arc-shaped clamping blocks 102 from affecting the clamping of the inner support block 106. When the ring 107 rises, it will squeeze the blocking spring 108, allowing the blocking spring 108 to accumulate rebound force to clamp the parts. When the sleeve 101 descends, the inner support block 106 enters the interior of the part, and then the pneumatic rod 105 is extended to drive the inner support block 106 to extend to clamp the part. By flattening the part, the annular part is prevented from tilting, which causes the extrusion force to be concentrated together and damage the annular part. When the arc-shaped clamping block 102 does not completely flatten the part, it will not rise by itself to avoid the clamped part being too thin, causing the clamping sleeve 101 to contact the table where the part is placed, and the part is not completely flattened, resulting in the robot clamping the part and moving it, and the placement position is also tilted, which affects the subsequent processing and also ensures the positioning accuracy of the fixture;
[0049] The arc-shaped pressing block 102 is used to press the parts. When the arc-shaped pressing block 102 presses the inclined parts, the pressing force is often concentrated in one place. When the pressing force of the arc-shaped pressing block 102 is too strong, the rubber block 111 is compressed, so that the parts and the push block 202 are in contact. When the push block 202 is pressed, the push block 202 rises. When the push block 202 rises, it drives the fixed frame 203 to rise, so that the push frame 204 rises. When the arc-shaped pressing block 102 is tilted, the fixed frame 203 is rotated in the push frame 204. , so that the fixed frame 203 and the push block 202 are tilted together with the arc-shaped pressing block 102, and the pushing frame 204 will remain vertical, so that the pushing frame 204 provides a vertical upward force. When the pushing frame 204 rises, it will drive the ring 206 to rise, and when the ring 206 rises, it will drive the remaining pushing frames 204 to rise, thereby making the ring 1 107 rise, driving the arc-shaped pressing block 102 to rise, and buffering can be performed. The buffering can increase the reaction time of the robot, avoid the annular parts from getting stuck, resulting in the inability to flatten, and the extrusion force is too strong, resulting in If the parts or the arc-shaped pressing block 102 are damaged, the force of the push block 202 rising will be used. When the push block 202 rises, it will squeeze the several vibration springs 305 at the bottom. After the push block 202 rises, the arc-shaped pressing block 102 will also rise, stretching the several vibration springs 305 at the top, so that the fixing ring 306 is simultaneously affected by the rebound force of the two vibration springs 305 and rises, driving the arc plate 301 and the slapping block 307 to rise. When the arc plate 301 rises, it will make the connecting rod 302 rise. When the vibration spring 305 When the rebound force is released, the rebound forces of the vibration springs 305 at the top and bottom will counteract each other, thereby causing the fixing ring 306 to vibrate, driving the connecting rod 302 and the slapping block 307 to vibrate. When the connecting rod 302 vibrates, it will slap the arc-shaped pressing block 102, and when the slapping block 307 vibrates, it will slap the parts. By slapping the parts and the arc-shaped pressing block 102 at the same time, slapping can help adjust the position of the parts, especially during the extrusion process, the parts may move due to slight changes in angle or position, increasing the possibility of the parts being level;
[0050] By utilizing the force of the slapping block 307 rising, when the arc-shaped pressing block 102 is completely fitted to the part and squeezed, the squeezing force on the rubber block 111 will gradually increase until the part contacts the push block 202, allowing the push block 202 to rise, driving the slapping block 307 to rise. When the slapping block 307 rises and contacts the spring telescopic rod 309, since the contact surface between the spring telescopic rod 309 and the slapping block 307 is an inclined surface, the slapping mechanism slapping block 307 will smoothly squeeze the spring telescopic rod 309. The spring telescopic rod 309 is moved to compress the gas in the connecting ring 311. When the rubber block 111 is squeezed and compressed, the gas in the air inlet hole 312 is also compressed, so that the gas flows into the connecting ring 311, and then the gas is compressed back into the air inlet hole 312 through the spring telescopic rod 309, so that the gas supports the inside of the rubber block 111, reduces the compressive stress on the rubber, and avoids the rubber block 111 from being frequently compressed, which makes the rubber block 111 easy to be damaged and affects the pressing of the parts.
[0051] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.
Claims
1. A clamping head structure for an industrial robot, comprising a clamping mechanism (1), wherein the clamping mechanism (1) further comprises a clamping sleeve (101), wherein the outer wall of the clamping sleeve (101) is provided with a plurality of arc-shaped pressing blocks (102), and the outer wall of the clamping sleeve (101) is provided with a plurality of square grooves (103), wherein: Also includes: A buffer mechanism (2), the buffer mechanism (2) comprising placement grooves (201) provided on the inner walls of a plurality of arc-shaped pressing blocks (102), the inner walls of a plurality of the placement grooves (201) being slidably connected to push blocks (202), and the tops of a plurality of the push blocks (202) being fixedly connected to a plurality of fixing frames (203); The flapping mechanism (3) comprises an arc-shaped plate (301) arranged on the top of a plurality of arc-shaped pressing blocks (102), the tops of the plurality of arc-shaped plates (301) are fixedly connected with a plurality of connecting rods (302), and the interiors of the plurality of arc-shaped pressing blocks (102) are provided with a plurality of sliding grooves (303).
2. A gripping head structure for an industrial robot according to claim 1, characterized in that: The clamping mechanism (1) further comprises a pneumatic rod (105) slidably connected to the inner wall of the clamping sleeve (101); a plurality of inner support blocks (106) are slidably connected to the inner wall of the clamping sleeve (101); an annular groove (104) is provided inside the clamping sleeve (101); a circular ring (107) is slidably connected to the inner wall of the annular groove (104); a plurality of blocking springs (108) are fixedly connected to the top of the inner wall of the annular groove (104); and the tops of the plurality of blocking springs (108) are fixedly connected to the top of the inner wall of the annular groove (104).
3. A gripping head structure for an industrial robot according to claim 2, characterized in that: The clamping mechanism (1) also includes a plurality of connecting rods (109) rotatably connected to the outer wall of the circular ring (107); the outer walls of the plurality of connecting rods (109) are rotatably connected to connecting rod frames (110); the inner walls of the plurality of connecting rod frames (110) are rotatably connected to the side walls of the arc-shaped clamping block (102); the inner walls of the plurality of connecting rod frames (110) are rotatably connected to the outer wall of the circular ring (107); and the bottoms of the plurality of arc-shaped clamping blocks (102) are fixedly connected to a plurality of rubber blocks (111).
4. A gripping head structure for an industrial robot according to claim 3, characterized in that: The buffer mechanism (2) also includes a plurality of push frames (204) arranged on the top of the arc-shaped pressing block (102), the bottom of the push frame (204) being rotatably connected to the outer wall of the fixed frame (203), and the inner wall of the push frame (204) being rotatably connected to the outer wall of the circular ring (107).
5. The gripping head structure for an industrial robot according to claim 4, characterized in that: The buffer mechanism (2) further comprises a plurality of fixed blocks (205) fixedly connected to the outer wall of the clamping sleeve (101), the inner walls of the plurality of fixed blocks (205) being slidably connected to a second circular ring (206), and the outer walls of the second circular ring (206) being slidably connected to the inner wall of the pushing frame (204).
6. A gripping head structure for an industrial robot according to claim 5, characterized in that: The flapping mechanism (3) further comprises a sliding rod (304) slidably connected to the inner wall of the sliding groove (303); a plurality of the sliding rods (304) are fixedly connected to the outer walls with a fixing ring (306); a plurality of the fixing rings (306) are fixedly connected to the top and bottom with a vibration spring (305); a plurality of the sliding rods (304) are fixedly connected to the bottom of the arc plate (301); a plurality of the sliding rods (304) are fixedly connected to the bottom with a flapping block (307).
7. A gripping head structure for an industrial robot according to claim 6, characterized in that: The beating mechanism (3) further comprises a plurality of fixed sleeves (308) fixedly connected to the bottom of the arc-shaped pressing block (102); a plurality of the fixed sleeves (308) are fixedly connected to connecting sleeves (310) at their inner walls; a spring telescopic rod (309) is slidably connected to the inner wall of the connecting sleeve (310); a plurality of the fixed sleeves (308) are fixedly connected to connecting rings (311) at their side walls; a plurality of the spring telescopic rods (309) are slidably connected to the inner wall of the connecting ring (311); and an air inlet hole (312) is provided at the inner wall of a plurality of the rubber blocks (111).
8. A method for using a gripping head structure for an industrial robot, using the gripping head structure for an industrial robot as claimed in claim 7, characterized in that: The following steps are included: S1: The clamping sleeve (101) is installed on the robot, and then the pneumatic rod (105) is installed together with the cylinder on the robot. When clamping an inclined part, the robot drives the clamping sleeve (101) to descend so that the arc-shaped pressing block (102) is close to the part; S2: When one side of the arc-shaped pressing block (102) contacts the end of the part that is tilted higher, the arc-shaped pressing block (102) will rotate and tilt, so that the arc-shaped pressing block (102) is close to the clamping sleeve (101). When the arc-shaped pressing block (102) moves, it will also drive the connecting rod (109) and the connecting rod frame (110) to move in the annular groove (104); S3: until the arc-shaped pressing block (102) contacts the clamping sleeve 101, after which the arc-shaped pressing block (102) stops rotating. Since the arc-shaped pressing block (102) is tilted, the clamping sleeve (101) continues to descend. The force of the arc-shaped pressing block (102) on the side in contact with the part to squeeze the part is transmitted to the inner wall of the annular groove (104) through the connecting rod (109).