Multi-working-condition quick release clamping device for industrial robot

Abstract

The invention relates to the technical field of robots, in particular to an industrial robot multi-working-condition quick release clamping device which comprises a protection frame, a rotating frame, a plurality of clamping assemblies, a butt joint assembly and a rotating limiting assembly, and the limiting assembly comprises a forming limiting sleeve, an extrusion block, a clamping block and a first elastic element; the butt joint assembly comprises a connecting column, a cover plate fixed to the top of the limiting column and a plurality of slope guide blocks arranged between the connecting column and the cover plate. By means of cooperation of the butt joint assembly and the limiting assembly, the three clamping structures can be in butt joint with and detached from the equilateral triangular frame rapidly, no complex tool is needed, the time cost for replacing the clamping structures is reduced, later maintenance, overhaul or upgrading of the clamping structures is facilitated, the working efficiency of the industrial robot is improved, and the industrial robot is suitable for popularization and application. The problems that in the prior art, a clamping structure and a connecting frame mostly depend on rigid connection of bolts and the like, disassembly and assembly need special tools, steps are complex, consumed time is long, the structure replacement time cost is increased, and consequently a robot stops for a long time are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-condition quick-release clamping device for industrial robots. BACKGROUND

[0002] Industrial robots are multi-joint mechanical arms or multi-degree-of-freedom mechanical devices capable of performing automated work in industrial production environments. They can complete a series of complex and repetitive industrial tasks such as material handling, part assembly, product testing, and precision machining through preset programs, sensor feedback, or artificial intelligence technology. They are one of the core equipment for the automation and intelligent upgrading of modern manufacturing. In the work flow of industrial robots, the clamping device, as the key executive component directly contacting with materials or workpieces, undertakes the core function of "grabbing-fixing-moving", whether it is to transfer production raw materials from the warehouse to the processing equipment, or to assemble the processed parts into finished products, or to non-destructively handle fragile and precise workpieces, all of which require stable operation of the clamping device. In a sense, the performance of the clamping device directly determines the work accuracy, efficiency and application range of the industrial robot, and is an important basis for the industrial robot to adapt to diversified production needs.

[0003] However, the existing clamping device of industrial robots has some problems: 1. The existing clamping device of industrial robots is mostly designed as a single structure, i.e. a robot is equipped with only one type of clamping method. If different types and materials of workpieces need to be processed, the entire clamping device needs to be replaced, which is not only cumbersome to operate, but also greatly reduces production efficiency. Some devices have switchable clamping structures; 2. The connection of the clamping structure and the robot connecting frame mostly relies on rigid connecting pieces such as bolts and nuts, which need to be disassembled or replaced using special tools such as wrenches and screwdrivers. The operation steps are cumbersome, and it often takes several minutes or even longer to disassemble and assemble each time. This design not only increases the time cost of replacing the clamping structure, but also causes the industrial robot to wait for a long time; 3. The existing clamping device of industrial robots mostly uses clamping jaws of fixed size, which can only adapt to workpieces of specific shape and size. For workpieces with irregular surfaces or slight size differences, full adhesion cannot be achieved, resulting in small contact area and uneven force during clamping, which not only easily causes scratches on the surface of the workpiece, but also may cause the workpiece to loosen or fall during the transfer process due to insecure clamping, increasing the risk of workpiece damage. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the problem of the existing clamping device of industrial robots, which is mostly designed as a single structure and takes a long time to disassemble and assemble. The present application provides a multi-condition quick-release clamping device for industrial robots.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: a multi-condition quick-release clamping device for industrial robots, including a protective frame with a protective cavity, a rotating frame rotatably mounted on the protective frame and having an installation cavity, a plurality of clamping components, a docking component fixed on the top of the clamping components, and a limiting component rotatably mounted in the installation cavity to lock or unlock the docking components during rotation. The limiting assembly includes a limiting sleeve forming a limiting cavity, a pressing block fixed in the limiting cavity, a locking block slidably mounted on the peripheral wall of the limiting sleeve and extending into the limiting cavity, and a first elastic element for applying pressure to the locking block. The docking assembly includes a connecting post inserted into the limiting cavity, a cover plate fixed to the top of the limiting post, and several inclined guide blocks disposed between the connecting post and the cover plate. A slot is formed between two adjacent inclined guide blocks, and a circumferential positioning mechanism is provided between the connecting post and the mounting cavity. Initially, the extrusion block is located in the slot and contacts the inclined guide block. When the limiting sleeve is rotated, the extrusion block moves along the inclined guide block and gradually compresses the first elastic element. When it passes the current inclined guide block, the first elastic element resets and pushes it into the slot to circumferentially lock the rotating frame and docking assembly. At the same time, the extrusion block is clamped between the connecting column and the cover plate to axially lock the rotating frame and docking assembly.

[0006] Furthermore, the circumferential positioning mechanism includes a plurality of anti-rotation blocks protruding from the peripheral wall of the connecting column and a plurality of anti-rotation grooves recessed from the wall of the mounting cavity for the anti-rotation blocks to be engaged.

[0007] Furthermore, the number of clamping components is three, namely a rigid clamp, a suction cup clamp, and a flexible clamp.

[0008] Furthermore, the rigid clamp includes: An adjusting bracket, which is fixed to the connecting column; The gripper is movably mounted on the adjustment frame. There are two grippers that can move closer to or further away from each other. Each gripper includes a clamping box and multiple adaptive rods mounted on the clamping box. The multiple adaptive rods are arranged in an array.

[0009] Furthermore, each adaptive rod is slidably connected to the clamping box, and a second elastic element is installed between the two.

[0010] Furthermore, the rigid clamp also includes a longitudinal moving force member, an inclined plate connected to the output end of the longitudinal moving force member, and an inclined groove recessed on the adaptive rod for the inclined plate to be engaged.

[0011] Furthermore, the rotating frame has a rotating column at its center, which is connected to the output end of the rotating power component to drive the rotating frame to rotate. An anti-rotation component is provided between the rotating column and the protective frame to lock the angle of the rotating column after rotation.

[0012] Furthermore, the anti-rotation component includes a lifting power component mounted on the protective frame, a lifting positioning frame connected to the output end of the lifting power component and having multiple toothed grooves, and a toothed disc fixed to the bottom of the rotating column and having multiple teeth.

[0013] Furthermore, the card block has multiple blocks, which are connected by a drive ring, and the drive block is sleeved outside the limiting sleeve.

[0014] Furthermore, the cover plate has multiple circumferentially spaced notches for the passage of the clamping block and the pressing block.

[0015] The beneficial effects of this invention are: 1. The rotating frame design allows for flexible switching between three clamping structures: rigid clamping, flexible clamping, and suction cup clamping. Unused structures can be stored in the protective frame, effectively preventing external damage to idle structures and extending the device's lifespan. It also meets the clamping needs of different types of items, expanding the device's applicability. Furthermore, the anti-rotation component quickly locks the angle of the rotating column after the clamping structure is switched into position, preventing the device from shaking during the movement of the clamped items and ensuring the precision of the industrial robot's operation. This is especially suitable for industrial production scenarios with high clamping accuracy requirements. It solves the problem that most existing clamping devices have a single structure and only one clamping method, requiring the machine to be stopped and the entire device replaced when handling different workpieces, resulting in cumbersome operation and low efficiency. 2. Through the cooperation of the docking components and limiting components, the three clamping structures can quickly dock with and disassemble the equilateral triangle without complicated tools, reducing the time cost of changing the clamping structure and facilitating the maintenance, repair or upgrade of the clamping structure in the future, thereby improving the working efficiency of the industrial robot. This solves the problem that in the existing technology, the clamping structure and the connecting frame are mostly rigidly connected by bolts, which requires special tools for disassembly and assembly, and the steps are complicated and time-consuming, increasing the time cost of changing the structure and causing long downtime of the robot. 3. The adaptive rod in the rigid clamp can adaptively adjust according to the surface shape of the object, stably clamping irregularly shaped objects. This expands the types of objects that can be applied to the rigid clamp, ensuring maximum contact area with the object during clamping. At the same time, the adaptive rod is fixed in position by electric push rod, linkage column and inclined block to prevent the object from loosening during clamping, ensuring the stability and reliability of clamping, reducing the risk of object falling and being damaged. This solves the problems of existing clamping technologies with fixed-size clamping claws that can only fit specific workpieces, cannot fully fit irregular or differently sized workpieces, have small clamping contact area, uneven force, and are prone to scratching or causing the workpiece to loosen and fall, increasing the risk of damage. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 One of the overall structural schematic diagrams of the clamping device for industrial robots provided by the present invention; Figure 2 The second schematic diagram of the overall structure of the clamping device for industrial robots provided in this application; Figure 3 A front view of the clamping device for industrial robots provided in this application; Figure 4 A schematic diagram of the rotating column portion of the clamping device for industrial robots provided in this application; Figure 5 A schematic diagram of the rotating frame structure of the clamping device for industrial robots provided in this application; Figure 6 A schematic diagram of the connecting column portion of the clamping device for industrial robots provided in this application; Figure 7 A schematic diagram of the limiting sleeve portion of the clamping device for industrial robots provided in this application; Figure 8 Exploded view of the drive ring portion of the clamping device for industrial robots provided in this application; Figure 9 A schematic diagram of the extrusion block portion of the clamping device for industrial robots provided in this application; Figure 10 A schematic diagram of the adjustment frame portion of the clamping device for industrial robots provided in this application; Figure 11 A schematic diagram of the bidirectional screw section of the clamping device for industrial robots provided in this application; Figure 12 A schematic diagram of the internal structure of the clamping box of the clamping device for industrial robots provided in this application; Figure 13 A schematic diagram of the adaptive lever portion of the clamping device for industrial robots provided in this application; Figure 14 A schematic diagram of the inclined block portion of the clamping device for industrial robots provided in this application.

[0018] In the picture: 1. Protective frame; 2. Connecting frame; 3. Rotating power component; 4. Rotating column; 5. Rotating frame; 6. Lifting power component; 7. Lifting positioning frame; 8. Rotating positioning frame; 9. Limiting sleeve; 10. Drive ring; 11. Slide groove; 12. Locking block; 13. First elastic element; 14. Pressing block; 15. Connecting column; 16. Anti-rotation block; 17. Inclined guide block; 18. Locking groove; 19. Cover plate; 20. Anti-rotation groove; 21. Adjusting frame; 22. Servo motor; 23. Bidirectional screw; 24. Guide groove; 25. Guide frame; 26. Clamping box; 27. Adaptive rod; 28. Second elastic element; 29. ​​Inclined groove; 30. Longitudinal moving force component; 31. Linkage column; 32. Inclined block; 33. Suction cup clamp; 34. Flexible clamp. Detailed Implementation

[0019] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner. Therefore, they only show the components relevant to the invention, and directions and references, such as up, down, left, right, etc., are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents. Example

[0020] like Figures 1-14 As shown, the present invention is a multi-condition quick-release clamping device for industrial robots, including a protective frame 1 with a protective cavity, a rotating frame 5 rotatably mounted on the protective frame 1 and having an installation cavity, a plurality of clamping components, a docking component fixed on the top of the clamping components, and a limiting component rotatably mounted in the installation cavity to lock or unlock the docking components during rotation. The protective cavity is a semi-open structure, and the rotating frame 5 is partially located in the protective cavity such that among the plurality of clamping components on it, the clamping components in the working state rotate out of the protective cavity, while the remaining clamping components are stored in the protective cavity. The limiting assembly includes a limiting sleeve 9 forming a limiting cavity, a pressing block 14 fixed in the limiting cavity, a locking block 12 slidably mounted on the peripheral wall of the limiting sleeve 9 and extending into the limiting cavity, and a first elastic element 13 for applying pressure to the locking block 12. The pressing block 14 and the locking block 12 are arranged adjacent to each other, and the first elastic element 13 can be a spring. The side wall of the limiting sleeve 9 is provided with a plurality of sliding grooves 11 along its circumference. Each sliding groove 11 extends longitudinally. The plurality of locking blocks 12 and the plurality of sliding grooves 11 correspond one-to-one, and each locking block 12 slides in its corresponding sliding groove 11. The first elastic element 13 is installed in the sliding groove 11 and one end abuts against the groove wall of the sliding groove 11, and the other end abuts against the locking block 12. The docking assembly includes a connecting post 15 inserted into the limiting cavity, a cover plate 19 fixed to the top of the limiting post, and a plurality of inclined guide blocks 17 disposed between the connecting post 15 and the cover plate 19. A slot 18 is formed between two adjacent inclined guide blocks 17, and a circumferential positioning mechanism is provided between the connecting post 15 and the mounting cavity. The inclined guide blocks 17 and the cover plate 19 are spaced apart, with a minimum distance of D1 between them. The thickness of the pressing block 14 is D2, and the thickness of the locking block 12 is D3, where D3 < D1 < D2. That is, the locking block 12 can pass through the inclined guide block 17 and the cover plate 19, while the pressing block 14 cannot pass through.

[0021] The limiting sleeve 9 is rotatably engaged with the upper end of the mounting cavity, and the outer peripheral wall of the limiting sleeve 9 protrudes to form a flange. The cavity wall of the mounting cavity is recessed to form an annular groove for the flange to be inserted. The flange and the annular groove cooperate to axially limit the limiting sleeve 9 and the rotating frame 5. The connecting column 15 enters from the lower end of the mounting cavity until it enters the limiting cavity.

[0022] During installation, first align the connecting post 15 on the clamping assembly with the corresponding limiting sleeve 9 in the vertical direction, and push the connecting post 15 into the mounting cavity and into the limiting cavity. At this time, the circumferential positioning mechanism between the connecting post 15 and the mounting cavity initially prevents them from rotating. When the pressing block 14 is in the slot 18 and the locking block 12 contacts the inclined guide block 17, rotate the limiting sleeve 9. The pressing block 14 and the locking block 12 rotate synchronously. During the movement of the pressing block 14, because the inclined guide block 17 is inclined, the space between the inclined guide block 17 and the cover plate 19 becomes smaller and smaller, that is, the space for the pressing block 14 to move becomes smaller and smaller. At the same time, the locking block 12 is guided by the inclined guide. The guide block 17 slides upward and gradually squeezes the first elastic element 13. When the locking block 12 passes the current inclined guide block 17, the first elastic element 13 resets and pushes it into the slot 18 to lock the rotating frame and docking assembly circumferentially. At the same time, the squeezing block 14 clamps between the connecting column 15 and the cover plate 19 to lock the limiting assembly and the rotating frame axially. If it is necessary to release the limiting assembly from its docking assembly, it can only be released when the limiting sleeve 9 rotates. However, the locking block 12 is inserted into the slot 18, and the squeezing block 14 is inserted between the cover plate 19 and the inclined guide block 17. The double restriction prevents the limiting sleeve 9 from rotating, thus completing the firm docking of the clamping assembly and the rotating frame 5.

[0023] In some examples, the circumferential positioning mechanism includes a plurality of anti-rotation blocks 16 protruding from the peripheral wall of the connecting column 15 and a plurality of anti-rotation grooves 20 recessed from the wall of the mounting cavity for the anti-rotation blocks 16 to be engaged. The anti-rotation grooves 20 penetrate the bottom end face of the rotating frame 5 to allow the anti-rotation blocks 16 to enter. Preferably, the axial length of the anti-rotation grooves 20 is approximately equal to the axial length of the anti-rotation blocks 16 to limit the depth of the connecting column 15 entering the mounting cavity by axially limiting the connecting column 15. The cross-sectional shape of the anti-rotation grooves 20 and the anti-rotation blocks 16 can be, but is not limited to, various regular or irregular shapes such as triangles, rectangles or circles.

[0024] In some examples, the number of clamping components is three, namely a rigid clamp, a suction cup clamp 33 and a flexible clamp 34, which are distributed at intervals along the circumference of the rotating frame 5. The rotating frame 5 can be circular or triangular, etc. In this embodiment, the rotating frame 5 is an equilateral triangle structure, and the three clamping components are located at the three corners of the triangle respectively. Initially, the rigid clamp, suction cup clamp 33, and flexible clamp 34 are installed at the three corners of the rotating frame 5 via docking components. The two unused clamping components are stored inside the protective cavity. When it is necessary to switch the clamping structure, the rotating frame 5 rotates until the target clamping structure is rotated out of the protective cavity, while the other two structures remain stored inside the protective cavity.

[0025] In some examples, the rigid clamp includes: Adjustment bracket 21, which is fixed to connecting column 15; The gripper is movably mounted on the adjustment frame 21, and there are two of them that can be close to or far from each other. Each gripper includes a gripping box 26, a plurality of adaptive rods 27 mounted on the gripping box 26, and a drive mechanism for driving the gripper to move. The plurality of adaptive rods 27 are arranged in an array. The drive mechanism includes a servo motor 22, a bidirectional screw 23 connected to the output end of the servo motor 22, and a guide frame 25 threadedly connected to the bidirectional screw 23. The clamping box 26 is fixedly connected to the bottom of the guide frame 25. The guide frame 25 extends to form a guide portion. The adjusting frame 21 has a guide groove 24 inside for sliding to the guide portion. The two guide grooves 24 are symmetrically arranged. In some examples, each adaptive rod 27 is slidably connected to the clamping box 26, and a second elastic element 28, which is a spring, is installed between the two; the clamping box 26 has a through slot for the adaptive rod 27 to pass through, and the adaptive rod 27 can slide in the through slot; When the rigid clamp is aligned with the item to be clamped, the servo motor 22 is started. The servo motor 22 drives the bidirectional screw 23 to rotate. The bidirectional screw 23 drives the guide frame 25 to slide along the guide groove 24. The guide frame 25 drives the clamping box 26 to approach the item. The adaptive rod 27 on the clamping box 26 contacts the surface of the item. Since the surface of the item may have an irregular shape, the second elastic element 28 allows its corresponding adaptive rod 27 to move until it fully fits the surface of the item, thus achieving adaptive contact.

[0026] In some examples, the rigid clamp also includes a longitudinal moving force member 30 installed in the clamping box 26, an inclined plate connected to the output end of the longitudinal moving force member 30, and an inclined groove 29 recessed on the adaptive rod 27 for the inclined plate to be inserted into. The longitudinal moving force member 30 may be, but is not limited to, an electric push rod, a cylinder, etc. The number of longitudinal moving force members 30 in each clamping box 26 is two, and there are multiple inclined plates connected by linkage columns 31. Once the adaptive rod 27 is in contact with the surface of the object, the longitudinal moving force component 30 is activated. The output end of the longitudinal moving force component 30 pushes the linkage column 31 to slide along the clamping box 26. The inclined block 32 on the linkage column 31 cooperates with the inclined groove 29 outside the adaptive rod 27. The inclined block 32 squeezes the inclined groove 29, fixing the adaptive rod 27 in the current position, preventing the adaptive rod 27 from moving during the clamping process, and ensuring stable clamping of the object.

[0027] In some examples, the rotating frame 5 has a rotating column 4 at its center. The rotating column 4 is connected to the output end of the rotating power component 3 to drive the rotating frame 5 to rotate. An anti-rotation component is provided between the rotating column 4 and the protective frame 1 to lock the angle of the rotating column 4 after rotation. The rotating power component 3 can be a motor, which is installed through the connecting frame 2 on the top of the protective frame 1. The connecting frame 2 and the protective frame 1 are integrally formed. When the rotating power component 3 is started, the rotating power component 3 drives the rotating column 4 to rotate, and the rotating frame 5 rotates synchronously to rotate the target clamping component out of the protective cavity.

[0028] In some examples, the anti-rotation component includes a lifting power component 6 mounted on the protective frame 1, a lifting positioning frame 7 connected to the output end of the lifting power component 6 and having multiple toothed slots, and a toothed disc fixed to the bottom of the rotating column 4 and having multiple teeth. The lifting power component 6 may be, but is not limited to, a cylinder, a hydraulic cylinder, or an electric push rod, etc. Once the target clamping component reaches the designated position, the lifting power component 6 is activated. The lifting power component 6 pushes the lifting positioning frame 7 upward. The toothed groove on the lifting positioning frame 7 is nested and tightly fitted with the toothed disc of the rotating positioning frame 8, thereby locking the angle of the rotating column 4 after rotation and preventing shaking during use.

[0029] In some examples, there are multiple card blocks 12 connected by a drive ring 10. The drive block is sleeved outside the limiting sleeve 9. The drive ring 10 can drive several card blocks 12 to move synchronously. When force is applied to the drive ring 10, the drive ring 10 can drive the card blocks 12 on it to move upward against the first elastic element 13, thereby unlocking the clamping assembly.

[0030] In some examples, the cover plate 19 has a plurality of circumferentially spaced notches for the passage of the card block 12 and the pressing block 14, the notch positions corresponding to the card slot 18 positions so that the pressing block 14 enters the card slot 18.

[0031] Working principle: Initially, the rigid clamp, suction cup clamp 33, and flexible clamp 34 are respectively installed at the three corners of the rotating frame 5 via docking components, and the two unused clamping components are stored inside the protective cavity. When it is necessary to switch clamping components, the rotating power component 3 is activated, and its output end drives the rotating column 4 to rotate. The rotating column 4 further drives the rotating frame 5 to rotate until the target clamping component rotates out of the protective cavity, while the other two structures remain stored inside the protective frame 1. When the target clamping component reaches the designated position, the lifting power component 6 in the anti-rotation component is activated. The output end of the lifting power component 6 pushes the lifting positioning frame 7 to move upward. The toothed groove on the lifting positioning frame 7 is nested and tightly fitted with the toothed disc of the rotating positioning frame 8, thereby locking the angle after the rotating column 4 rotates and preventing shaking during use. During installation, firstly, align the connecting post 15 on the clamping assembly with the corresponding limiting sleeve 9 in the vertical direction, and push the connecting post 15 into the installation cavity and into the limiting cavity. At this time, the anti-rotation block 16 on the side wall of the connecting post 15 slides into the anti-rotation groove 20 at the bottom of the rotating frame 5, achieving initial anti-rotation positioning. When the pressing block 14 is located in the slot 18 and the locking block 12 contacts the inclined guide block 17, the connecting post 15 moves to the corresponding position of the rotating frame 5. Then, rotate the limiting sleeve 9, and the pressing block 14 and the locking block 12 rotate synchronously. During the movement of the pressing block 14, since the inclined guide block 17 is inclined, the space between the inclined guide block 17 and the cover plate 19 becomes smaller and smaller, that is, the space for the pressing block 14 to move becomes smaller and smaller. Meanwhile, the locking block 12 slides upward through the guide of the inclined guide block 17 and gradually squeezes the first elastic element 13. When the locking block 12 passes the current inclined guide block 17, the first elastic element 13 resets and pushes it into the slot 18 to lock the limiting component and the docking component circumferentially. At the same time, the squeezing block 14 is clamped between the connecting column 15 and the cover plate 19 to lock the limiting component and the docking component axially. If it is necessary to release the limiting component from its docking component, it can only be released when the limiting sleeve 9 rotates. However, the locking block 12 is inserted into the slot 18 and the squeezing block 14 is clamped between the cover plate 19 and the inclined guide block 17. The double restriction prevents the limiting sleeve 9 from rotating, thus completing the firm docking of the clamping component and the rotating frame 5.

[0032] When it is necessary to disassemble the clamping assembly, the drive ring 10 pulls the locking block 12, causing the locking block 12 to move upward along the slide groove 11 and disengage from the slot 18. Then, the limiting sleeve 9 is rotated in the opposite direction, and the pressing block 14 rotates synchronously with the locking block 12. The pressing block 14 returns to the slot 18. Then, the connecting column 15 is pulled in the opposite direction, and the anti-rotation block 16 slides out from the anti-rotation groove 20. The clamping assembly can then be removed from the rotating frame 5 for quick replacement. When the rigid clamp is aligned with the item to be clamped, the servo motor 22 is started. The output of the servo motor 22 drives the bidirectional screw 23 to rotate. The bidirectional screw 23 drives the guide frame 25 to slide along the guide groove 24. The guide frame 25 drives the clamping box 26 to approach the item. The adaptive rod 27 on the clamping box 26 contacts the surface of the item. Since the surface of the item may have an irregular shape, the second elastic element 28 allows the adaptive rod 27 to be positioned until it is fully in contact with the surface of the item, thus achieving adaptive contact. Once the adaptive rod 27 is in contact with the surface of the object, the longitudinal moving force component 30 is activated. The output end of the longitudinal moving force component 30 pushes the linkage column 31 to slide along the clamping box 26. The inclined block 32 on the linkage column 31 cooperates with the inclined groove 29 outside the adaptive rod 27. The inclined block 32 squeezes the inclined groove 29, fixing the adaptive rod 27 in the current position, preventing the adaptive rod 27 from moving during the clamping process, and ensuring stable clamping of the object.

[0033] The above description, based on the preferred embodiments of the present invention, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. An industrial robot multi-condition quick-release clamping device, characterized in that: The protective frame (1) is provided with a protective cavity, the rotating frame (5) is rotatably installed on the protective frame (1) and is provided with a mounting cavity, a plurality of clamping assemblies, an abutting assembly fixed on the top of the clamping assembly and a limiting assembly rotatably installed in the mounting cavity to lock or unlock the abutting assembly during rotation. The limiting assembly comprises a limiting sleeve (9) forming a limiting cavity, an extrusion block (14) fixed in the limiting cavity, a clamping block (12) slidably installed on the peripheral wall of the limiting sleeve (9) and extending to the limiting cavity and a first elastic element (13) for pressing the clamping block (12). The abutting assembly comprises a connecting column (15) inserted into the limiting cavity, a cover plate (19) fixed on the top of the connecting column (15) and a plurality of inclined guide blocks (17) arranged between the connecting column (15) and the cover plate (19), a clamping groove (18) is formed between adjacent two inclined guide blocks (17), and a circumferential positioning mechanism is arranged between the connecting column (15) and the mounting cavity. Initially, the extrusion block (14) is located in the clamping groove (18), the clamping block (12) is in contact with the inclined guide block (17), the limiting sleeve (9) is rotated, the clamping block (12) moves along the inclined guide block (17) and gradually compresses the first elastic element (13), when it passes the current inclined guide block (17), the first elastic element (13) is reset to push it into the clamping groove (18) to circumferentially lock the rotating frame (5) and the abutting assembly, and at the same time, the extrusion block (14) is clamped between the connecting column (15) and the cover plate (19) to axially lock the rotating frame (5) and the abutting assembly.

2. The multi-condition quick-release clamping device of an industrial robot according to claim 1, characterized in that: The circumferential positioning mechanism comprises a plurality of anti-rotation blocks (16) protruding from the peripheral wall of the connecting column (15) and a plurality of anti-rotation grooves (20) recessed from the cavity wall of the mounting cavity and for the anti-rotation blocks (16) to be clamped into.

3. The multi-condition quick-release clamping device of an industrial robot according to claim 1, characterized in that: The number of clamping assemblies is three, which are rigid clamps, suction cup clamps (33) and flexible clamps (34) respectively.

4. The multi-condition quick-release clamping device of an industrial robot according to claim 3, characterized in that: The rigid clamp comprises: an adjusting frame (21) fixed with the connecting column (15); and a clamping jaw movably installed on the adjusting frame (21), the number of which is two and which can approach or move away from each other, each clamping jaw comprising a clamping box (26) and a plurality of self-adapting rods (27) installed on the clamping box (26), the plurality of self-adapting rods (27) being arrayed.

5. The multi-condition quick-release clamping device of an industrial robot according to claim 4, characterized in that: Each self-adapting rod (27) is slidably connected with the clamping box (26), and a second elastic element (28) is installed therebetween.

6. The multi-condition quick-release clamping device of an industrial robot according to claim 5, characterized in that: The rigid clamp further comprises a longitudinal moving force member (30), an inclined plate connected with the output end of the longitudinal moving force member (30) and an inclined groove (29) recessed on the self-adapting rod (27) and for the inclined plate to be clamped into.

7. The multi-condition quick-release clamping device of an industrial robot according to claim 1, characterized in that: The rotating frame (5) is provided with a rotating column (4) at the center, the rotating column (4) is connected with the output end of a rotating power member (3) to drive the rotating frame (5) to rotate, and the rotating column (4) and the protective frame (1) are provided with an anti-rotation assembly for locking the angle of the rotating column (4) after rotation.

8. The multi-condition quick-release clamping device of an industrial robot according to claim 7, characterized in that: The anti-rotation assembly comprises a lifting power element (6) mounted on the protective frame (1), a lifting positioning frame (7) connected with the output end of the lifting power element (6) and having a plurality of tooth grooves, and a tooth disc fixed at the bottom of the rotating column (4) and having a plurality of tooth portions.

9. The multi-condition quick-release clamping device of an industrial robot according to claim 1, characterized in that: The plurality of clamping blocks (12) are connected through the driving ring (10), and the driving block is sleeved outside the limiting sleeve (9).

10. The multi-condition quick-release clamping device of an industrial robot according to claim 1, characterized in that: The cover plate (19) is provided with a plurality of circumferentially spaced gaps for the clamping blocks (12) and the extrusion blocks (14) to pass through.

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