Clamp holder and carrying robot thereof

Abstract

The invention relates to the technical field of carrying robots, and discloses a clamp holder which comprises a frame assembly and a movable assembly, the frame assembly comprises a top plate, two connecting pieces are vertically installed on one side of the top plate, the movable assembly comprises a side plate, the side plate is connected with one end of a clamping plate through a pin rod, and the side plate is connected with the other end of the clamping plate through a limiting piece. The clamping plates in the two movable assemblies are oppositely distributed, the side plates are installed on the connecting pieces in a limiting mode, after installation, when the side plates slide along the connecting pieces and relative sliding between the connecting pieces and the side plates are achieved, the limiting pieces move along the arc-shaped channels of the connecting pieces, and the top plate and the side plates are connected through hydraulic telescopic rods. The hydraulic telescopic rods stretch or retract to drive the side plates to reciprocate along the connecting pieces. The number of the movable assemblies is two, the clamping plates in the two movable assemblies are oppositely distributed, and during work, the two clamping plates synchronously move towards the inner side, so that fast clamping of goods is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of handling robots, in particular to a clamper and a handling robot thereof. Background Art

[0002] The handling robot is a high-tech technology that has emerged in the field of modern automatic control. It can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing labor costs.

[0003] A handling robot using a claw structure gripper can only grasp rod-shaped parts and small objects during the grasping process. The claw structure cannot quickly grasp large rectangular goods. In addition, the contact surface between the existing handling gripper and the goods is small. During the clamping process, the pressure on the force point is large, which can easily cause damage to the surface of the goods. Summary of the invention

[0004] The object of the present invention is to provide a clamp to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a clamp, and the clamping structure comprises:

[0007] The frame assembly includes a top plate, and two connecting members are vertically mounted on one side of the top plate;

[0008] The movable assembly includes a side plate, one end of the side plate is connected to the clamping plate by a pin rod, and the other end of the side plate is connected to the clamping plate by a limiter. The movable assembly is provided with two groups, and the clamping plates in the two groups of movable assemblies are relatively distributed. When working, the clamping of the goods is realized by the movement of the two clamping plates;

[0009] The upper limit of the connecting member is equipped with a side plate. After installation, the side plate is moved along the connecting member. When the connecting member and the side plate slide relative to each other, the limit member moves along the arc channel of the connecting member, and the clamping plate connected to the limit member rotates around the pin rod. When the clamping plate rotates inward, the goods are clamped. The top plate and the side plate are connected by a hydraulic telescopic rod, and the side plate is driven to reciprocate along the connecting member by extending or shortening the hydraulic telescopic rod.

[0010] Furthermore, the connecting member includes a connecting surface, which is installed on the top plate by bolts. A number of mounting holes are provided on the connecting surface and one side of the top plate. The connecting surface is attached to the side of the top plate, and the mounting holes therein are distributed correspondingly. The fixed connection between the connecting surface and the top plate is achieved by bolts passing through the corresponding mounting holes.

[0011] Furthermore, a first vertical plate and a second vertical plate parallel to each other are provided on one side of the connecting surface, and a slot is formed between the first vertical plate and the second vertical plate, the second vertical plate is located on the outer side of the first vertical plate, a guide plate is installed on the outer side surface of the second vertical plate, corresponding rectangular grooves are provided on the guide plate and the second vertical plate, and a plurality of circular holes are provided on the first vertical plate and the second vertical plate.

[0012] Furthermore, the side plate includes a second plate body, a first plate body is provided on both sides of the second plate body, a waist-shaped hole and a through groove are provided on the waist-shaped hole, and mounting holes are provided on the two first plate bodies. The card slot is clamped on the outer side of the second plate body, and the connecting bolt passes through the circular hole and the waist-shaped hole, and the end of the limit member passes through the rectangular groove and the through groove.

[0013] Furthermore, the clamping plate includes a back plate, a deep groove is provided on one side surface of the back plate, a cover plate is installed in cooperation with the opening of the deep groove, a plurality of step groove holes are provided on the side surface of the cover plate, a convex ring is provided on the inner side of the step groove hole, a rubber sheet and a ring body are installed in the step groove hole, and a through hole connected to the deep groove is provided at the bottom end of the back plate.

[0014] Furthermore, a connecting seat is provided on the other side of the clamping plate, and the limiting member includes an extension rod, a movable seat is sleeved on the extension rod, and an end of the extension rod passes through the rectangular groove and the through groove and is connected to the connecting seat;

[0015] Wherein, a slide groove is provided on the extension rod, a stud bolt is installed on the movable seat, the stud bolt passes through the slide groove, a pressing block is sleeved on the stud bolt, and the pressing block is pressed on the surface of the extension rod by a nut;

[0016] Rollers are installed on both sides of the moving seat, and the rollers move along the arc-shaped channel of the guide plate.

[0017] Furthermore, the air inlet member comprises a valve body mounted on the inner side of the second vertical plate, and two connecting pipes are provided at both ends of the air outlet end of the valve body, and plugs are connected to the ends of the connecting pipes;

[0018] The plug is installed in the through hole.

[0019] Furthermore, the valve body comprises a shell, a passage is provided in the shell, and an air intake pipe provided on the shell is connected with a connecting pipe through the shell;

[0020] A movable column and a spring are installed in the housing, and the spring pushes the end of the movable column to extend out of the housing;

[0021] The movable column is squeezed inwardly to achieve the connection between the connecting pipe and the outside through the connecting groove, and at the same time the air intake pipe and the connecting pipe are blocked.

[0022] Furthermore, a handling robot includes a clamp and a body structure, characterized in that a slide rail structure is provided on the top of the body structure, a hydraulic lifting column is installed on the slide rail, and the telescopic end of the hydraulic lifting column is connected to the top plate of the clamping structure.

[0023] Furthermore, the clamping structures are distributed vertically.

[0024] The present invention has the following beneficial effects:

[0025] (1) The present invention has two groups of movable components, and the clamping plates in the two groups of movable components are relatively distributed. When working, the two clamping plates can move inward synchronously to achieve rapid clamping of the goods. In addition, the clamping is performed by the clamping plates, so the clamping area is large and the pressure on the clamping surface is small.

[0026] (2) In the present invention, when the clamping plates move inward, the two clamping plates change from an "eight" shape to an inverted "eight" shape. During the resetting process, the two clamping plates change from an inverted "eight" shape to an "eight" shape. When in the "eight" shape, it is easy to clamp onto the outside of the goods and also easy to remove the goods from between the two clamping plates.

[0027] (3) The present invention clamps the cargo by pushing the two clamping plates toward each other through a hydraulic telescopic rod. At the same time, the cargo after clamping drives the two clamping plates to slide downward under the action of its own weight and friction until the upper ends of the round hole and the waist-shaped hole are aligned. By utilizing the cargo's own weight, the thrust demand of the hydraulic telescopic rod is reduced, and the output of the power source can be reduced.

[0028] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 It is a schematic diagram of the clamping structure of the present invention;

[0031] Figure 2 It is a partial unfolded schematic diagram of the clamping structure of the present invention;

[0032] Figure 3 It is a schematic diagram of the active components of the present invention;

[0033] Figure 4 For the present invention Figure 3Schematic cross-section diagram of

[0034] Figure 5 This is a schematic diagram of the installation of the connecting member and the limiting member of the present invention;

[0035] Figure 6 It is a schematic diagram of the connecting piece of the present invention;

[0036] Figure 7 It is a schematic diagram of the side panel of the present invention;

[0037] Figure 8 This is a schematic diagram of the clamping plate of the present invention being expanded;

[0038] Fig. 9 It is a schematic diagram of the air intake member of the present invention;

[0039] Fig.10 It is a schematic cross-sectional view of the valve body of the present invention;

[0040] Fig.11 It is a schematic diagram of the limiting member of the present invention;

[0041] Fig.12 This is a schematic diagram of the installation of the clamping structure of the present invention;

[0042] Fig.13 It is an overall schematic diagram of the present invention;

[0043] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0044] In the figure: 1, clamping structure; 11, top plate; 12, connecting piece; 121, connecting surface; 122, first vertical plate; 123, second vertical plate; 124, slot; 125, guide plate; 126, rectangular slot; 127, round hole; 13, side plate; 131, first plate body; 132, second plate body; 133, waist-shaped hole; 134, through slot; 135, mounting hole; 14, hydraulic telescopic rod; 15, clamping plate; 151, back plate; 152, connecting seat; 153, cover plate; 154, step slot hole; 155, convex ring; 156, rubber sheet; 157, ring body; 158, through hole; 16, pin rod; 17, air intake piece; 171, valve body; 1711, shell; 1712, movable column; 1713, connecting groove; 1714, spring; 1715, channel; 172, connecting pipe; 173, plug; 18, limit piece; 181, extension rod; 182, movable seat; 183, roller; 184, pressure block; 185, stud bolt; 2, hydraulic lifting column; 3, vehicle body structure. DETAILED DESCRIPTION

[0045] 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.

[0046] Embodiment 1

[0047] See also Figure 1-Figure 8 and Fig.11 As shown, the present invention is a clamp, and the clamping structure 1 includes:

[0048] The frame assembly includes a top plate 11, and two connecting members 12 are vertically mounted on one side of the top plate 11;

[0049] The movable assembly includes a side plate 13, one end of the side plate 13 and the clamping plate 15 are connected by a pin rod 16, and the other end of the side plate 13 and the clamping plate 15 are connected by a limiter 18. The movable assembly is provided with two groups, and the clamping plates 15 in the two groups of movable assemblies are relatively distributed. When working, the clamping of goods is realized by the movement of the two clamping plates 15;

[0050] A side plate 13 is installed at the upper limit position of the connecting member 12. After installation, the side plate 13 is moved along the connecting member 12. When the connecting member 12 and the side plate 13 slide relatively, the limit member 18 moves along the arc channel of the connecting member 12, and the clamping plate 15 connected to the limit member 18 rotates around the pin rod 16. When the clamping plate 15 rotates inward, the cargo is clamped. The top plate 11 and the side plate 13 are connected by a hydraulic telescopic rod 14, and the side plate 13 is driven to reciprocate along the connecting member 12 by extending or shortening the hydraulic telescopic rod 14.

[0051] The connecting member 12 includes a connecting surface 121, which is installed on the top plate 11 by bolts. A plurality of mounting holes are provided on the connecting surface 121 and one side of the top plate 11. The connecting surface 121 is attached to the side surface of the top plate 11, and the mounting holes provided therein are distributed correspondingly. The fixed connection between the connecting surface 121 and the top plate 11 is achieved by bolts passing through the corresponding mounting holes.

[0052] A first vertical plate 122 and a second vertical plate 123 are provided on one side of the connecting surface 121, and a slot 124 is formed between the first vertical plate 122 and the second vertical plate 123. The second vertical plate 123 is located on the outer side of the first vertical plate 122. A guide plate 125 is installed on the outer side of the second vertical plate 123. Corresponding rectangular slots 126 are provided on the guide plate 125 and the second vertical plate 123. A plurality of circular holes 127 are provided on the first vertical plate 122 and the second vertical plate 123.

[0053] The slot 124 formed between the first vertical plate 122 and the second vertical plate 123 is a limiting structure.

[0054] The side plate 13 includes a second plate body 132, and first plates 131 are provided on both sides of the second plate body 132. The waist-shaped hole 133 is provided with a waist-shaped hole 133 and a through slot 134. The two first plates 131 are provided with mounting holes 135. The card slot 124 is clamped on the outer side of the second plate body 132. At the same time, the connecting bolt passes through the circular hole 127 and the waist-shaped hole 133, and the end of the stopper 18 passes through the rectangular slot 126 and the through slot 134.

[0055] The second plate 132 slides along the slot 124, and the slot 124 limits the movement direction of the second plate 132 and the side plate 13 as a whole, so as to ensure the stability of the movement of the side plate 13. During the movement, the waist-shaped hole 133 is always distributed correspondingly to the round hole 127, and the through slot 134 is always distributed correspondingly to the rectangular slot 126, and the movement range of the side plate 13 is limited by the length of the waist-shaped hole 133.

[0056] In addition, when the round hole 127 is aligned with the lower end of the waist-shaped hole 133 , the through groove 134 is aligned with the upper end of the rectangular groove 126 .

[0057] The clamping plate 15 includes a back plate 151, a deep groove is formed on one side of the back plate 151, a cover plate 153 is mounted on the opening of the deep groove, a plurality of step slots 154 are formed on the side of the cover plate 153, a convex ring 155 is formed on the inner side of the step slot 154, a rubber sheet 156 and a ring body 157 are mounted in the step slot 154, and a through hole 158 communicating with the deep groove is formed at the bottom end of the back plate 151;

[0058] A connecting seat 152 is provided on the other side of the clamping plate 15. The stopper 18 includes an extension rod 181. A movable seat 182 is sleeved on the extension rod 181. The end of the extension rod 181 passes through the rectangular groove 126 and the through groove 134 and is connected to the connecting seat 152.

[0059] The extension rod 181 is provided with a slide groove, and the movable seat 182 is provided with a stud bolt 185, the stud bolt 185 passes through the slide groove, and a pressing block 184 is sleeved on the stud bolt 185, and the pressing block 184 is pressed on the surface of the extension rod 181 by a nut;

[0060] Rollers 183 are installed on both sides of the moving seat 182, and the rollers 183 move along the arc-shaped channel of the guide plate 125;

[0061] When the side plate 13 slides outward under the push of the hydraulic telescopic rod 14, the through groove 134 pushes the extension rod 181 to move outward, and drives the clamping plate 15 installed on the side plate 13 to move synchronously. Since the outer side of the arc-shaped channel gradually approaches the surface of the second vertical plate 123, when the roller 183 moves outward along the arc, the roller 183 pushes the connecting end of the extension rod 181 and the clamping plate 15 to move toward the clamping plate 15, so that the extension rod 181 pushes the clamping plate 15 to rotate inward, so as to clamp the rectangular object placed between the two clamping plates 15;

[0062] When the clamping plates 15 move inward, the two clamping plates 15 change from the "eight" shape state to the inverted "eight" shape state. During the resetting process, the two clamping plates 15 change from the inverted "eight" shape state to the "eight" shape state. When in the "eight" shape state, it is convenient to clamp on the outside of the goods, and it is also convenient to unload the goods from between the two clamping plates 15.

[0063] Embodiment 2

[0064] like Figure 9-10 As shown, the difference from the first embodiment is that the air inlet member 17 includes a valve body 171 installed on the inner side of the second vertical plate 123, and two connecting pipes 172 are provided at both ends of the air outlet end of the valve body 171, and the ends of the connecting pipes 172 are connected to plugs 173;

[0065] The plug 173 is installed in the through hole 158 .

[0066] The valve body 171 includes a housing 1711, a passage 1715 is provided in the housing 1711, and an air intake pipe provided on the housing 1711 is communicated with the connecting pipe 172 through the housing 1711;

[0067] A movable column 1712 and a spring 1714 are installed in the housing 1711, and the spring 1714 pushes the end of the movable column 1712 to extend out of the housing 1711;

[0068] The movable column 1712 is squeezed inwardly, so that the connecting pipe 172 is connected to the outside through the connecting groove 1713, and the air intake pipe and the connecting pipe 172 are blocked at the same time, and the air intake pipe is connected to the air outlet pipe of the high-pressure pump, and the high-pressure gas is increased by the high-pressure pump;

[0069] When the lower end of the clamping plate 15 rotates inward, the outer side of the clamping plate 15 does not compress the movable column 1712. Under the action of the spring 1714, the end of the movable column 1712 extends out, so that the air intake pipeline connected at both ends of the shell 1711 is connected to the connecting pipe 172, so that the pressurized gas enters the interior of the back plate 151.

[0070] The high-pressure gas pushes the rubber sheet 156 to bulge inward, and the bulging rubber sheet 156 compresses the goods, thereby increasing the squeezing pressure on the goods, increasing the friction force on the goods, and improving the clamping effect;

[0071] After the clamping plate 15 shrinks and resets, the movable column 1712 is pushed to compress the spring 1714, thereby pressing the movable column 1712 into the shell 1711, thereby blocking the air intake duct and the connecting pipe 172, and at the same time connecting the connecting pipe 172 with the outside through the connecting groove 1713. The gas inside the clamping plate 15 is discharged through the connecting groove 1713, realizing the reset of the rubber sheet 156, which is convenient for unloading of goods.

[0072] Embodiment 3

[0073] like Figure 12-13 As shown, a handling robot includes a gripper and a vehicle body structure 3, characterized in that: a slide rail structure is provided on the top of the vehicle body structure 3, a hydraulic lifting column 2 is mounted on the slide rail, the telescopic end of the hydraulic lifting column 2 is connected to the top plate 11 of the clamping structure 1, the slide rail structure is driven by a ball screw, the screw is mounted on the slide rail and distributed along the length direction of the slide rail, a slider is mounted on the screw, and the slider is connected to the seat of the hydraulic lifting column 2;

[0074] When the cargo is transported, the cargo on the ground is clamped by the clamping structure 1, and the cargo is moved upward by the contraction of the hydraulic lifting column 2, and then the clamping structure 1 and the hydraulic lifting column 2 are driven to move to the inner side of the vehicle body structure 3 by the slide rail structure, so as to transport the cargo to the vehicle body structure 3;

[0075] When unloading, the hydraulic telescopic rod 14 contracts, driving the bottom end of the clamping plate 15 to rotate outward, thereby realizing the unloading of the goods.

[0076] The clamping structure 1 is distributed vertically.

[0077] When in use, the clamping structure 1 is vertically distributed, and the two clamping plates 15 are pushed closer to each other by the hydraulic telescopic rod 14 to clamp the goods. At the same time, the clamped goods drive the two clamping plates 15 to slide downward under the action of their own gravity and friction until the round hole 127 is aligned with the upper end of the waist-shaped hole 133;

[0078] By utilizing the weight of the cargo itself, the thrust requirement for the hydraulic telescopic rod 14 is reduced, and the output of the power source can be reduced.

[0079] 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 clamp, characterized in that: The clamping structure (1) comprises: The frame assembly comprises a top plate (11), and two connecting members (12) are vertically mounted on one side of the top plate (11); The movable assembly comprises a side plate (13), one end of the side plate (13) and the clamping plate (15) are connected via a pin rod (16), and the other end of the side plate (13) and the clamping plate (15) are connected via a stopper (18); The upper limit of the connecting member (12) is provided with a side plate (13). When the connecting member (12) and the side plate (13) slide relative to each other, the limiting member (18) moves along the arc-shaped channel of the connecting member (12). The top plate (11) and the side plate (13) are connected via a hydraulic telescopic rod (14).

2. A clamp according to claim 1, characterized in that: The connecting member (12) comprises a connecting surface (121), and the connecting surface (121) is mounted on the top plate (11) by means of bolts.

3. A clamp according to claim 2, characterized in that: A first vertical plate (122) and a second vertical plate (123) parallel to each other are provided on one side of the connection surface (121), and a slot (124) is formed between the first vertical plate (122) and the second vertical plate (123); The second vertical plate (123) is located outside the first vertical plate (122), a guide plate (125) is installed on the outer surface of the second vertical plate (123), and corresponding rectangular grooves (126) are provided on the guide plate (125) and the second vertical plate (123); A plurality of circular holes (127) are provided on the first vertical plate (122) and the second vertical plate (123).

4. A clamp according to claim 3, characterized in that: The side plate (13) comprises a second plate body (132), and the first plate body (131) is provided on both sides of the second plate body (132); The waist-shaped hole (133) is provided with a waist-shaped hole (133) and a through groove (134); The two first plates (131) are each provided with a mounting hole (135); The clamping groove (124) is clamped on the outer side of the second plate body (132), and the connecting bolt passes through the round hole (127) and the waist-shaped hole (133), and the end of the limiting member (18) passes through the rectangular groove (126) and the through groove (134).

5. A holder according to claim 4, characterized in that: The clamping plate (15) comprises a back plate (151), a deep groove is formed on one side surface of the back plate (151), and a cover plate (153) is mounted on the opening of the deep groove; A plurality of step slots (154) are provided on the side of the cover plate (153), a convex ring (155) is provided inside the step slot (154), and a rubber sheet (156) and a ring body (157) are installed inside the step slot (154); A through hole (158) communicating with the deep groove is formed at the bottom end of the back plate (151).

6. A holder according to claim 5, characterized in that: A connecting seat (152) is provided on the other side of the clamping plate (15); The limiting member (18) comprises an extension rod (181), a movable seat (182) is sleeved on the extension rod (181), and an end of the extension rod (181) passes through the rectangular groove (126) and the through groove (134) to be connected to the connecting seat (152); The extension rod (181) is provided with a slide groove, the movable seat (182) is provided with a stud bolt (185), the stud bolt (185) passes through the slide groove, a pressing block (184) is sleeved on the stud bolt (185), and the pressing block (184) is pressed against the surface of the extension rod (181) by a nut; Rollers (183) are installed on both sides of the movable seat (182), and the rollers (183) move along the arc-shaped channel of the guide plate (125).

7. A holder according to claim 5, characterized in that: The air inlet member (17) comprises a valve body (171) mounted on the inner side of the second vertical plate (123); two connecting pipes (172) are provided at both ends of the air outlet of the valve body (171); and the ends of the connecting pipes (172) are connected to plugs (173); The plug (173) is installed in the through hole (158).

8. A holder according to claim 7, characterized in that: The valve body (171) comprises a shell (1711), a channel (1715) is provided in the shell (1711), and an air intake pipe provided on the shell (1711) is connected to the connecting pipe (172) through the shell (1711); A movable column (1712) and a spring (1714) are installed in the housing (1711), and the spring (1714) pushes the end of the movable column (1712) to extend out of the housing (1711); The movable column (1712) is pressed inwardly, so that the connecting pipe (172) is connected to the outside through the connecting groove (1713), and the air intake pipe and the connecting pipe (172) are blocked at the same time.

9. A handling robot, comprising the gripper according to any one of claims 1 to 8 and a body structure (3), characterized in that: A slide rail structure is provided on the top of the vehicle body structure (3), and a hydraulic lifting column (2) is mounted on the slide rail. The telescopic end of the hydraulic lifting column (2) is connected to the top plate (11) of the clamping structure (1).

10. A handling robot according to claim 9, characterized in that: The clamping structure (1) is distributed vertically.

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