A compound alignment fixture for an industrial robot

Abstract

The present application relates to the technical field of robot clamp, especially to an industrial robot composite alignment clamp, which comprises two alignment mechanisms arranged oppositely, the alignment mechanism comprises a bottom plate and a cylinder, one end of the cylinder is rotatably installed on one end of the bottom plate, the other end of the bottom plate is rotatably connected with an alignment plate, the driving end of the cylinder is fixedly connected with a driving shaft, and the end of the driving shaft away from the cylinder is movably connected with a corner of the alignment plate; a base is fixedly connected with the bottom plate through a support below the bottom plate, and a clamping block is fixedly connected with the side surface of the alignment plate; the cylinder is rotatably connected with the bottom plate through a mounting block, and the alignment plate is also rotatably connected with the bottom plate through a mounting block. The present application solves the problem of the rotation deviation of the mounting block through the anti-rotation cooperation of the D-shaped shaft and the D-shaped hole and the cooperation of the first inner hexagonal screw, greatly improves the position precision of the clamping and alignment of the clamping block, and ensures the accurate and reliable correction of the posture of the material.

Description

Technical Field

[0001] This invention relates to the field of robot clamping technology, and more particularly to a composite alignment clamp for industrial robots. Background Technology

[0002] Industrial robot grippers are core actuators in automated production lines, enabling material gripping, positioning, and transfer. They are widely used in machining, assembly, warehousing, and logistics. For gripping irregularly shaped or easily misaligned workpieces, composite grippers with alignment functions are becoming the mainstream configuration. Through adjustable gripping and alignment structures, they correct the posture of materials and stabilize them, ensuring precise positioning and consistent posture during transfer and processing. This is a key device for improving the accuracy and efficiency of industrial robot operations.

[0003] Existing industrial robot grippers mostly adopt fixed hinge or rigid connection structures. The rotational coordination of the cylinders is not precise, which leads to the positional deviation of the gripper block and large error in the alignment angle during the gripping process. It is difficult to stably correct the posture of the material. In addition, the disassembly and assembly of the parts are cumbersome and the maintenance cost is high, which cannot meet the requirements of automated production lines for high stability and high precision gripping. Summary of the Invention

[0004] The purpose of this invention is to address the following shortcomings in the prior art: existing industrial robot grippers mostly adopt fixed hinge or rigid connection structures, resulting in poor rotational coordination accuracy of the cylinders. This leads to positional deviation of the gripping blocks and large errors in the alignment angle during the gripping process, making it difficult to stably correct the material posture. Furthermore, the disassembly and assembly of components are cumbersome, and the maintenance costs are high. These shortcomings fail to meet the requirements of automated production lines for high-stability and high-precision gripping. Therefore, this invention proposes a composite alignment gripper for industrial robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An industrial robot composite alignment fixture includes two alignment mechanisms arranged opposite to each other. Each alignment mechanism includes a base plate and a cylinder. One end of the cylinder is rotatably mounted on one end of the base plate, and the other end of the base plate is rotatably connected to an alignment plate. The driving end of the cylinder is fixedly connected to a drive shaft, and the end of the drive shaft away from the cylinder is movably connected to a corner of the alignment plate.

[0007] A base is fixedly connected to the bottom of the base plate via a bracket, and a clamping block is fixedly connected to the side of the aligning plate.

[0008] The cylinder is rotatably connected to the base plate via a mounting block, and the balancing plate is also rotatably connected to the base plate via a mounting block.

[0009] Preferably, the base plate has two D-shaped holes, one end of each of the two mounting blocks is provided with a D-shaped insert shaft, and the two D-shaped insert shafts are respectively inserted into the D-shaped holes. The other end of each mounting block is provided with a connecting shaft. A first hexagon socket screw is inserted into the internal thread of each D-shaped insert shaft. Both D-shaped insert shafts are fixedly mounted on the base plate by the first hexagon socket screw. A third washer is installed between the first hexagon socket screw and the base plate. A flat opening is provided on one side of each D-shaped insert shaft, and a plane corresponding to the flat opening is provided on the inner wall of the D-shaped hole.

[0010] Preferably, the cylinder has a connector at the end away from the drive shaft. The connector is sleeved on the connecting shaft of one mounting block. The connecting shaft of the other mounting block passes through a corner of the aligning plate. A first washer is also sleeved on the connecting shaft. A slot is provided on the connecting shaft. A shaft retaining ring is engaged in the slot. The first washer rests on the side of the shaft retaining ring away from the end of the connecting shaft.

[0011] Preferably, the end of the drive shaft away from the cylinder is provided with a Y-type connector, the Y-type connector is provided with a rotating port, the aligning plate is installed in the rotating port, the Y-type connector is rotatably connected to the aligning plate by bolts, and the aligning plate is provided with two insertion holes, one of which is used for the connecting shaft to pass through, and the other of which is used for the bolt to pass through.

[0012] Preferably, the upper end of the bolt is secured with a clip, and the lower end of the bolt passes through the lower surface of the Y-type connector and is threaded with a hexagonal nut.

[0013] Preferably, the clamping block has two mounting holes, and a second hexagon socket screw is threaded into the mounting hole. The side of the balancing plate has a threaded hole corresponding to the second hexagon socket screw.

[0014] Preferably, the insertion hole located on the same side as the threaded hole is connected to the mounting block, the D-shaped hole of the mounting connector is opened at the middle section of one end of the base plate, and the D-shaped hole of the alignment plate is opened at the corner of the other end of the base plate.

[0015] Preferably, the base has multiple holes, and an external hexagonal screw is inserted into the holes. A second washer is also fitted onto the external hexagonal screw.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. This invention solves the problem of rotational offset of the mounting block by using the anti-rotation fit between the D-shaped insert shaft and the D-shaped hole, and fixing it with the first internal hexagon screw, which greatly improves the positional accuracy of the clamping and alignment of the clamping block and ensures accurate and reliable material posture correction;

[0018] 2. The cylinder, the balancing plate and the base plate of the present invention are all detachable and rotatably connected. With the help of shaft retaining rings and washers, flexible rotation and limiting are achieved, which not only ensures smooth clamping action without jamming, but also facilitates quick disassembly and maintenance of parts, significantly reducing the cost of use and maintenance of the fixture. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the alignment mechanism of a composite alignment fixture for an industrial robot proposed in this invention;

[0020] Figure 2 for Figure 1 Enlarged view of the structure at point A in the middle;

[0021] Figure 3 This is a bottom view schematic diagram of the alignment mechanism of a composite alignment fixture for an industrial robot proposed in this invention;

[0022] Figure 4 for Figure 3 Enlarged view of the structure at point B;

[0023] Figure 5 This is a top view schematic diagram of the alignment mechanism of a composite alignment fixture for an industrial robot proposed in this invention;

[0024] Figure 6 A structural diagram of the base plate, bracket, and base;

[0025] Figure 7 A structural diagram of the mounting block, D-type insert shaft, and connecting shaft;

[0026] Figure 8 This is a structural diagram of the aligning plate;

[0027] Figure 9 This is a schematic diagram of the clamping block structure;

[0028] Figure 10 This is a schematic diagram of the cross-sectional structure of the clamping block;

[0029] Figure 11 This is a schematic diagram of the connection mechanism between the industrial robot composite alignment fixture and the robot fixture beam proposed in this invention.

[0030] In the diagram: 1 Clamping block, 2 Alignment plate, 3 Mounting block, 4 Drive shaft, 5 Bracket, 6 Base, 7 Cylinder, 8 Base plate, 9 Connector, 10 Y-type connector, 11 First internal hex screw, 12 Second internal hex screw, 13 External hex screw, 14 Bolt, 15 Second washer, 16 Insertion hole, 17 Connecting shaft, 18 First washer, 19 Shaft retaining ring, 20 Hex nut, 21 Third washer, 22 Slot, 23 Mounting hole, 24 D-type insert shaft, 25 Hole, 26 D-type hole, 27 Threaded hole. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0032] In the description of the embodiments of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Reference Figures 1-5 , Figure 11 An industrial robot composite alignment fixture includes two alignment mechanisms arranged opposite to each other. The alignment mechanism includes a base plate 8 and a cylinder 7. One end of the cylinder 7 is rotatably mounted on one end of the base plate 8, and the other end of the base plate 8 is rotatably connected to an alignment plate 2. The driving end of the cylinder 7 is fixedly connected to a driving shaft 4, and the end of the driving shaft 4 away from the cylinder 7 is movably connected to a corner of the alignment plate 2.

[0035] A base 6 is fixedly connected to the bottom of the base plate 8 via a bracket 5, and a clamping block 1 is fixedly connected to the side of the aligning plate 2.

[0036] Cylinder 7 is rotatably connected to base plate 8 via mounting block 3, and aligning plate 2 is also rotatably connected to base plate 8 via mounting block 3.

[0037] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7The base plate 8 has two D-shaped holes 26. One end of each of the two mounting blocks 3 is provided with a D-shaped insert shaft 24, which is inserted into the D-shaped hole 26. The other end of the mounting block 3 is provided with a connecting shaft 17. The D-shaped insert shaft 24 is threaded with a first internal hexagon screw 11. Both D-shaped insert shafts 24 are fixedly mounted on the base plate 8 by the first internal hexagon screw 11. A third washer 21 is installed between the first internal hexagon screw 11 and the base plate 8. One side of the D-shaped insert shaft 24 is provided with a flat opening, and the inner wall of the D-shaped hole 26 is provided with a plane corresponding to the flat opening. The flat end and the flat end are used together. After the D-shaped insert 24 is inserted into the D-shaped hole 26, the flat end acts as a limit and is used to keep the position of the mounting block 3 stable. After the D-shaped insert 24 is inserted into the D-shaped hole 26 from the top of the base plate 8, the first internal hex screw 11 is inserted from the bottom of the base plate 8. When installing the first internal hex screw 11, the third washer 21 is put on at the same time. The third washer 21 rests on the lower surface of the base plate 8, and the head of the first internal hex screw 11 rests on the lower surface of the base plate 8 to fix the position of the D-shaped insert 24 and the mounting block 3.

[0038] A connector 9 is provided at the end of cylinder 7 away from drive shaft 4. The connector 9 is sleeved on the connecting shaft 17 of mounting block 3. The connecting shaft 17 of another mounting block 3 passes through a corner of the balancing plate 2. A first washer 18 is also sleeved on the connecting shaft 17. A slot 22 is provided on the connecting shaft 17. A shaft retaining ring 19 is engaged in the slot 22. The first washer 18 rests on the side of the shaft retaining ring 19 away from the end of the connecting shaft 17. When installing one end of the cylinder 7, the cylinder 7 is connected to the connecting shaft 17 on the mounting block 3 via the connector 9. Then, the first washer 18 is inserted into the end of the connecting shaft 17, and finally, the shaft retaining ring 19 is engaged in the slot 22. The shaft retaining ring 19 is elastic and has an opening on one side, allowing it to be engaged smoothly. Thus, the shaft retaining ring 19 holds the first washer 18 against the connector 9, and the connector 9 can then rotate freely relative to the mounting block 3. Similarly, the connecting shaft 17 on the other mounting block 3 passes through the balancing plate 2, and is connected to it via the first washer 18 and the shaft retaining ring 19, thereby enabling the balancing plate 2 to rotate freely relative to the mounting block 3.

[0039] Reference Figure 3 , Figure 4 , Figure 8A Y-type connector 10 is provided at the end of the drive shaft 4 away from the cylinder 7. The Y-type connector 10 has a rotating opening, and the leveling plate 2 is installed in the rotating opening. The Y-type connector 10 is rotatably connected to the leveling plate 2 by bolts 14. The leveling plate 2 has two insertion holes 16. One insertion hole 16 is used to pass through the connecting shaft 17, and the other insertion hole 16 is used to pass through the bolts 14. The Y-type connector 10 is rotatably connected to the leveling plate 2 by bolts 14. The Y-type connector 10 has a rotating opening, and the leveling plate 2 is installed in the rotating opening. The bolts 14 pass through both the Y-type connector 10 and the leveling plate 2, thus achieving the connection function.

[0040] A clip is attached to the upper end of bolt 14, and the lower end of bolt 14 passes through the lower surface of Y-joint 10 and is threaded with a hexagonal nut 20. Bolt 14 is installed by passing through Y-joint 10 and centering plate 2 from top to bottom. A clip is placed between the head of bolt 14 and Y-joint 10 to provide a gap. After bolt 14 passes through Y-joint 10, it is threaded and fixed to Y-joint 10 by hexagonal nut 20, thereby fixing bolt 14 to Y-joint 10. Centering plate 2 can rotate freely and connect relative to bolt 14.

[0041] Reference Figure 1 , Figure 8 , Figure 9 , Figure 10 The clamping block 1 has two mounting holes 23, and a second hexagon socket screw 12 is inserted into the mounting hole 23. The side of the balancing plate 2 has a threaded hole 27 corresponding to the second hexagon socket screw 12. The driving end of the drive shaft 4 operates the balancing plate 2, causing the angle of the balancing plate 2 to change, thereby changing the position of the clamping block 1. The two clamping blocks 1 cooperate with each other, and the two clamping blocks 1 together press against the material, which can clamp and release.

[0042] The insertion hole 16, located on the same side as the threaded hole 27, connects to the mounting block 3. The D-shaped hole 26 for mounting the connector 9 is located in the middle of one end of the base plate 8, and the D-shaped hole 26 for connecting the balancing plate 2 is located at one corner of the other end of the base plate 8. The two D-shaped holes 26 are located asymmetrically on the base plate 8, forming an angular offset. At the same time, one corner of the balancing plate 2 is rotatably connected to one corner of the base plate 8. The driving end of the cylinder 7 pushes and pulls the other corner of the balancing plate 2, thereby changing the angle of the entire balancing plate 2 and thus changing the position of the clamping block 1.

[0043] Reference Figure 5 , Figure 6The base 6 has multiple holes 25, through which hexagonal screws 13 are inserted. A second washer 15 is fitted onto each hexagonal screw 13. During installation, the base 6 is mounted using the hexagonal screws 13, which pass through the holes 25 and are threaded onto the robot fixture beam. The other end of each hexagonal screw 13 is secured with a nut.

[0044] During use, the two alignment mechanisms are symmetrically fixedly installed on the robot fixture beam (see reference). Figure 11 The base 6 is fixedly mounted on the robot fixture beam by external hexagonal screws 13. The external hexagonal screws 13 are threaded through the beam to achieve a fixed connection.

[0045] The material is pressed together by the clamping blocks 1 on both sides to achieve the pressing effect. When the two clamping blocks 1 separate from the material at the same time, the material is released. The two straightening mechanisms on both sides work together to effectively control the material. When the clamping blocks 1 press against the material, the material is pushed against the plate behind it to achieve the clamping effect. When released, the material can move freely and can then be taken away.

[0046] During the clamping process, the cylinder 7 extends and retracts the drive shaft 4 via the drive end. When the drive shaft 4 extends and retracts, it pulls one corner of the balancing plate 2 via the Y-type connector 10. The other corner of the balancing plate 2 is rotatably mounted on the base plate 8 via the mounting block 3. By pulling the Y-type connector 10, the balancing plate 2 can be deflected. The deflection of the balancing plate 2 will drive the clamping block 1 to move. The balancing plate 2 will rotate around the mounting block 3 as the central axis, and the movement trajectory of the clamping block 1 is circular.

[0047] When the cylinder 7 is working, the cylinder 7 is rotatably connected to the base plate 8 through the connector 9. The Y-type connector 10 is also rotatably connected to the sizing plate 2. When adjusting the angle, it can rotate adaptively to adapt to the change of angle. The sizing plate 2 is designed with an irregular shape, and the side connected to the Y-type connector 10 is narrower, so as to leave enough space for the drive shaft 4 to adjust the angle and pull.

[0048] The alignment plate 2 and the base plate 8, as well as the connector 9 and the base plate 8, are detachable connections. The lower end of the mounting block 3 is inserted into the D-shaped hole 26 of the base plate 8 via a D-shaped insert shaft 24. The cross-section of the D-shape allows the mounting block 3 to remain in a fixed position. The first internal hexagon screw 11 is inserted into the internal thread of the D-shaped insert shaft 24 from bottom to top for fixation. The mounting block 3 is fixed by the head of the first internal hexagon screw 11 and the third washer 21. Then, the connector 9 is fitted onto the connecting shaft 17. The connector 9 is limited by the first washer 18 and the shaft retaining ring 19, allowing the connector 9 to rotate freely relative to the connecting shaft 17 without disengaging. Similarly, the rotational connection between the alignment plate 2 and the base plate 8 can be achieved.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms “installation,” “connection,” “linking,” “fixing,” etc., should be interpreted broadly.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A composite alignment fixture for industrial robots, characterized in that, It includes two aligning mechanisms arranged opposite to each other. The aligning mechanism includes a base plate (8) and a cylinder (7). One end of the cylinder (7) is rotatably mounted on one end of the base plate (8). The other end of the base plate (8) is rotatably connected to an aligning plate (2). The driving end of the cylinder (7) is fixedly connected to a driving shaft (4). The end of the driving shaft (4) away from the cylinder (7) is movably connected to one corner of the aligning plate (2). A base (6) is fixedly connected to the bottom of the base plate (8) via a bracket (5), and a clamp (1) is fixedly connected to the side of the aligning plate (2). The cylinder (7) is rotatably connected to the base plate (8) via the mounting block (3), and the aligning plate (2) is also rotatably connected to the base plate (8) via the mounting block (3).

2. The industrial robot composite alignment fixture according to claim 1, characterized in that, Two D-shaped holes (26) are provided on the base plate (8). One end of the two mounting blocks (3) is provided with a D-shaped insert shaft (24). The two D-shaped insert shafts (24) are respectively inserted into the D-shaped holes (26). The other end of the mounting block (3) is provided with a connecting shaft (17). The D-shaped insert shaft (24) is threaded with a first internal hexagon screw (11). The two D-shaped insert shafts (24) are fixedly installed on the base plate (8) by the first internal hexagon screw (11). A third washer (21) is installed between the first internal hexagon screw (11) and the base plate (8). A flat opening is provided on one side of the D-shaped insert shaft (24). A plane corresponding to the flat opening is provided on the inner wall of the D-shaped hole (26).

3. The industrial robot composite alignment fixture according to claim 2, characterized in that, The cylinder (7) is provided with a connector (9) at one end away from the drive shaft (4). The connector (9) is sleeved on the connecting shaft (17) of a mounting block (3). The connecting shaft (17) of another mounting block (3) passes through one corner of the balancing plate (2). A first washer (18) is also sleeved on the connecting shaft (17). A slot (22) is provided on the connecting shaft (17). A shaft retaining ring (19) is engaged in the slot (22). The first washer (18) rests on the side of the shaft retaining ring (19) away from the end of the connecting shaft (17).

4. The industrial robot composite alignment fixture according to claim 2, characterized in that, The drive shaft (4) is provided with a Y-type connector (10) at one end away from the cylinder (7). The Y-type connector (10) is provided with a rotating port. The straightening plate (2) is installed in the rotating port. The Y-type connector (10) is rotatably connected to the straightening plate (2) by bolts (14). The straightening plate (2) has two insertion holes (16). One insertion hole (16) is used to pass through the connecting shaft (17), and the other insertion hole (16) is used to pass through the bolt (14).

5. The industrial robot composite alignment fixture according to claim 4, characterized in that, The upper end of the bolt (14) is fitted with a card, and the lower end of the bolt (14) passes through the lower surface of the Y-type connector (10) and is threaded with a hexagonal nut (20).

6. The industrial robot composite alignment fixture according to claim 5, characterized in that, The clamping block (1) has two mounting holes (23), and a second internal hexagon screw (12) is inserted into the mounting hole (23). The side of the balancing plate (2) is provided with a threaded hole (27) corresponding to the second internal hexagon screw (12).

7. The industrial robot composite alignment fixture according to claim 6, characterized in that, The insertion hole (16) located on the same side as the threaded hole (27) is connected to the mounting block (3). The D-shaped hole (26) of the mounting connector (9) is opened at the middle section of one end of the base plate (8), and the D-shaped hole (26) of the connecting plate (2) is opened at the corner of the other end of the base plate (8).

8. The industrial robot composite alignment fixture according to claim 1, characterized in that, The base (6) has multiple holes (25), and an external hexagonal screw (13) is inserted into the hole (25). A second washer (15) is also fitted onto the external hexagonal screw (13).

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