Supporting mechanism and robot composite clamp

Abstract

The utility model relates to the technical field of robot composite clamps, in particular to a supporting mechanism and a robot composite clamp, which comprise a sliding block with a roller, the sliding block with the roller is movably connected in a sliding rail, a metal block groove is arranged at the bottom end of the sliding block with the roller, a metal block is fixed in the metal block groove, and the metal block is fixed in the metal block groove. A plurality of groups of electromagnet grooves are formed in the bottom end of the inner wall of a track of the sliding rail, a group of electromagnets are fixed in each group of electromagnet grooves, wire holes are formed in the inner walls of groove bodies of each group of electromagnet grooves, wires are arranged in the wire holes, and one ends of the wires are connected to the electromagnets; the device has the beneficial effects that a plurality of groups of electromagnets are laid in the advancing direction of the sliding block with the roller, the electromagnets are powered on and off in sequence, so that the electromagnets generate attraction force on the metal block in sequence, and the sliding block with the roller moves in the required direction under the action of the attraction force; therefore, a motor does not need to be used for driving the rolling wheels of the sliding block with the rolling wheels, and the sizes of the sliding block with the rolling wheels and the sliding rail are greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot composite clamps, in particular to a support mechanism and a robot composite clamp. Background Art

[0002] A robotic composite fixture is a device that combines robotics and fixture technology. It is mainly used in automated production processes to achieve efficient, precise and consistent clamping of workpieces.

[0003] In the prior art, the supporting mechanism used to support the robot composite fixture is usually a slider with rollers and a drive motor. The slider is installed in a slide rail, the drive motor drives the roller, and the roller drives the slider to slide in the slide rail, so that the robot composite fixture can move within a certain range under the action of the supporting mechanism, thereby transporting the clamped workpiece.

[0004] However, the supporting mechanism of the robot composite fixture in the prior art has a slider whose roller is driven by a driving motor, which is often large in size. Therefore, the slider and the slide rail of the supporting structure in the prior art are too large in size, occupying more space. Utility Model Content

[0005] The purpose of the utility model is to provide a supporting mechanism and a robot composite fixture to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a supporting mechanism, comprising: a slider with a roller, the slider with a roller is movably connected in a slide rail, a metal block groove is provided at the bottom end of the slider with a roller, a metal block is fixed in the metal block groove, a plurality of groups of electromagnet grooves are provided at the bottom end of the inner wall of the track of the slide rail, a group of electromagnets is fixed in each group of electromagnet grooves, a wire hole is provided on the inner wall of the groove body of each group of electromagnet grooves, a wire is provided in the wire hole, one end of the wire is connected to the electromagnet, and the other end of the wire is connected to the same group of power supplies and controllers.

[0007] Preferably, center wheel mounting rods are fixed on both end faces of the slider with rollers, and the top end of the center wheel mounting rod away from the slider with rollers is rotatably connected to the center wheel, and the two sets of center wheel mounting rods and center wheels are symmetrically distributed about the slider with rollers.

[0008] Preferably, a guide sleeve is provided on the surface of the slide rail, and the guide sleeve is a cylindrical structure. A guide wheel mounting rod is movably inserted on the surface of the guide sleeve at one end away from the slider with the roller, and the top end of the other side of the guide wheel mounting rod is rotatably connected to the guide wheel.

[0009] Preferably, the guide wheel mounting rod is inserted into one end of the guide sleeve and fixed with a spring plate, the spring plate is movably connected in the guide sleeve, and a shock-absorbing spring is fixed to the end of the spring plate away from the guide wheel mounting rod, and the other end of the shock-absorbing spring rests on the surface of the slider with the roller.

[0010] Preferably, a robot composite fixture is provided at the top end of the sliding block with rollers.

[0011] A robot composite fixture comprises the supporting mechanism.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The support mechanism and robot composite clamp proposed by the utility model are configured such that a plurality of groups of electromagnets are laid out in the forward direction of the slider with rollers, and the plurality of groups of electromagnets are powered on and off in sequence so that the plurality of groups of electromagnets successively generate suction forces on the metal blocks, and the slider with rollers moves in the desired direction under the action of the suction forces, thereby eliminating the need to use a motor to drive the rollers of the slider with rollers, and greatly reducing the volumes of the slider with rollers and the slide rails. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the cross-sectional structure of the utility model;

[0016] Figure 3 It is a schematic diagram of the cross-sectional structure of the conductor;

[0017] Figure 4 for Figure 3 A schematic diagram of the structure enlargement in the middle;

[0018] Figure 5 It is a schematic diagram of the structure of a slider with a roller;

[0019] Figure 6 This is a schematic diagram of the cross-sectional structure of the guide wheel.

[0020] In the figure: slide rail 1, power supply and controller 2, slider with roller 3, electromagnet slot 4, electromagnet 5, metal block slot 6, metal block 7, wire hole 8, wire 9, center wheel mounting rod 10, center wheel 11, guide sleeve 12, shock-absorbing spring 13, spring plate 14, guide wheel mounting rod 15, guide wheel 16. DETAILED DESCRIPTION

[0021] In order to make the purpose and technical solution of the utility model clearly and completely described, and the advantages more clearly understood, the embodiments of the utility model are further described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are part of the embodiments of the utility model, not all of the embodiments, and are only used to explain the embodiments of the utility model, and are not used to limit the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Embodiment 1

[0022] See also Figures 1 to 6 The utility model provides a technical solution: a supporting mechanism, comprising: a slider 3 with a roller, the slider 3 with a roller is movably connected in a slide rail 1, a metal block groove 6 is provided at the bottom end of the slider 3 with a roller, a metal block 7 is fixed in the metal block groove 6, a plurality of groups of electromagnet grooves 4 are provided at the bottom end of the inner wall of the track of the slide rail 1, a group of electromagnets 5 are fixed in each group of electromagnet grooves 4, a wire hole 8 is provided on the inner wall of the groove body of each group of electromagnet grooves 4, a wire 9 is provided in the wire hole 8, one end of the wire 9 is connected to the electromagnet 5, and the other end of the wire 9 is connected to the same group of power supply and controller 2.

[0023] In actual use, when the slider 3 with rollers needs to move in a certain direction in the slide rail 1, the power supply and controller 2 controls the electromagnet 5 in a group of electromagnet slots 4 closest to the slider 3 with rollers in the moving direction of the slider 3 with rollers through the wire 9 in the wire hole 8, and the electromagnet 5 of the group of electromagnet slots 4 is energized. The magnetic force is generated by the power supply of the electromagnet 5, and the magnetic force generates a suction force on the metal block 7 in the metal block slot 6 opened at the bottom end of the slider 3 with rollers. This suction force makes the slider 3 with rollers move in the direction close to the group of electromagnets 5. When the slider 3 with rollers reaches the group of electromagnets 5, the power supply and controller 2 cuts off the power to the group of electromagnets 5 and turns on the electromagnets 5 of the group of rollers. The next group of electromagnets 5 in the moving direction of the slider 3 is energized, so that the next group of electromagnets 5 generates suction on the metal block 7, thereby allowing the slider 3 with rollers to continue moving until it reaches the target position. The support mechanism and the robot composite fixture lay out several groups of electromagnets 5 in the forward direction of the slider 3 with rollers, and the several groups of electromagnets 5 are turned on and off in turn, so that the several groups of electromagnets 5 successively generate suction on the metal block 7. The slider 3 with rollers moves in the desired direction under the action of the suction force, so there is no need to use a motor to drive the rollers of the slider 3 with rollers, so that the volume of the slider 3 with rollers and the slide rail 1 is greatly reduced. Embodiment 2

[0024] On the basis of Example 1, in order to keep the slider 3 with rollers in the middle of the track of the slide rail 1, center wheel mounting rods 10 are fixed on both end faces of the slider 3 with rollers, and a center wheel 11 is rotatably connected to the top of the center wheel mounting rod 10 on the side away from the slider 3 with rollers, and the two sets of center wheel mounting rods 10 and center wheels 11 are symmetrically distributed about the slider 3 with rollers.

[0025] Two sets of center wheel mounting rods 10 are fixed on the two end faces of the slider 3 with rollers, and two sets of center wheels 11 are rotatably connected to the center wheel mounting rods 10. The two sets of center wheels 11 are against the inner wall of the track of the slide rail 1, so that the slider 3 with rollers is always located in the middle of the track of the slide rail 1. Embodiment 3

[0026] On the basis of the second embodiment, in order to provide guidance for the slider 3 with rollers at the bending part of the slide rail 1, a guide sleeve 12 is provided on the surface of the slide rail 1. The guide sleeve 12 is a cylindrical structure. A guide wheel mounting rod 15 is movably inserted on the surface of the guide sleeve 12 at one end away from the slider 3 with rollers, and a guide wheel 16 is rotatably connected to the top end of the other side of the guide wheel mounting rod 15.

[0027] Guide sleeves 12, guide wheel mounting rods 15 and guide wheels 16 can be provided at the four corners of the slider 3 with rollers according to the curvature of the slide rail 1. When the slider 3 with rollers moves to the curvature of the slide rail 1, one group of guide wheels 16 on the surface of the slider 3 with rollers, which is located in the forward direction of the slider 3 with rollers and close to the outer side of the track curvature of the slide rail 1, first abuts against the inner wall of the track of the slide rail 1. The inner wall of the track of the slide rail 1 generates a force perpendicular to the contact surface on the guide wheels 16. This force finally acts on the slider 3 with rollers to make the slider 3 with rollers turn. Embodiment 4

[0028] On the basis of Example 3, in order to prevent the slider 3 with rollers from being stuck in the turning point of the slide rail 1, a spring plate 14 is fixed at one end of the guide sleeve 12 inserted into the guide wheel mounting rod 15, and the spring plate 14 is movably connected in the guide sleeve 12. A shock-absorbing spring 13 is fixed at one end of the spring plate 14 away from the guide wheel mounting rod 15, and the other end of the shock-absorbing spring 13 rests on the surface of the slider 3 with rollers.

[0029] If the distance between the guide wheel 16 and the slider 3 with rollers is constant, when the curvature of the slide rail 1 is too small, the slider 3 with rollers turns too late, which may easily cause the robot composite fixture on the top of the slider 3 with rollers to rub against the slide rail 1. When the curvature of the slide rail 1 is too large, it is easy for the slider 3 with rollers to be stuck in the curved part under the action of the guide wheel 16 and the center wheel 11 and cannot move forward. Therefore, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a spring plate 14 is fixed at one end thereof, and a shock-absorbing spring 13 is fixed at the other end of the spring plate 14. When the curvature of the slide rail 1 is too large, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a spring plate 14 is fixed at one end thereof. When the curvature of the slide rail 1 is too large, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a shock-absorbing spring 13 is fixed at the other end thereof. When the curvature of the slide rail 1 is too large, the force generated by the slide rail 1 on the guide wheel 16 first causes the guide wheel mounting rod 15 to retract a part of the guide sleeve 12, thereby reducing the distance between the guide wheel 16 and the slide block 3 with rollers, thereby preventing the slide block 3 with rollers from being stuck by the guide wheel 16 and the center wheel 11.

[0030] In actual use, when the slider 3 with rollers needs to move in a certain direction in the slide rail 1, the power supply and controller 2 controls the electromagnet 5 in a group of electromagnet slots 4 closest to the slider 3 with rollers in the moving direction of the slider 3 with rollers through the wire 9 in the wire hole 8, and the electromagnet 5 of the group of electromagnet slots 4 is energized. The magnetic force is generated by the power supply of the electromagnet 5, and the magnetic force generates a suction force on the metal block 7 in the metal block slot 6 opened at the bottom end of the slider 3 with rollers. This suction force makes the slider 3 with rollers move in the direction close to the group of electromagnets 5. When the slider 3 with rollers reaches After reaching the group of electromagnets 5, the power supply and controller 2 cuts off the power to the group of electromagnets 5 and energizes the next group of electromagnets 5 in the moving direction of the slider 3 with rollers, so that the next group of electromagnets 5 generates suction force on the metal block 7, thereby causing the slider 3 with rollers to continue to move until it reaches the target position. The support mechanism and the robot composite fixture lay out several groups of electromagnets 5 in the forward direction of the slider 3 with rollers, and the several groups of electromagnets 5 are turned on and off in turn, so that the several groups of electromagnets 5 successively generate suction force on the metal block 7, and the slider 3 with rollers continues to move until it reaches the target position. The block 3 moves in the desired direction under the action of suction, so there is no need to use a motor to drive the rollers of the slider 3 with rollers, so that the volume of the slider 3 with rollers and the slide rail 1 is greatly reduced; two groups of center wheel mounting rods 10 are fixed on the two end faces of the slider 3 with rollers, and two groups of center wheels 11 are rotatably connected to the center wheel mounting rods 10, and the two groups of center wheels 11 are against the inner wall of the track of the slide rail 1, so that the slider 3 with rollers is always located in the middle of the track of the slide rail 1; the four corners of the slider 3 with rollers can be adjusted according to the In the bending situation, a guide sleeve 12, a guide wheel mounting rod 15 and a guide wheel 16 are provided. When the slider 3 with rollers moves to the bending part of the slide rail 1, among the groups of guide wheels 16 on the surface of the slider 3 with rollers, a group of guide wheels 16 located in the forward direction of the slider 3 with rollers and close to the outer side of the track curvature of the slide rail 1 first abuts against the inner wall of the track of the slide rail 1, and the inner wall of the track of the slide rail 1 generates a force perpendicular to the contact surface on the guide wheel 16, and this force finally acts on the slider 3 with rollers, so that the slider 3 with rollers turns;If the distance between the guide wheel 16 and the slider 3 with rollers is constant, when the curvature of the slide rail 1 is too small, the slider 3 with rollers turns too late, which may easily cause the robot composite fixture on the top of the slider 3 with rollers to rub against the slide rail 1. When the curvature of the slide rail 1 is too large, it is easy for the slider 3 with rollers to be stuck in the curved part under the action of the guide wheel 16 and the center wheel 11 and cannot move forward. Therefore, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a spring plate 14 is fixed at one end thereof, and a shock-absorbing spring 13 is fixed at the other end of the spring plate 14. When the curvature of the slide rail 1 is too large, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a spring plate 14 is fixed at one end thereof. When the curvature of the slide rail 1 is too large, the guide wheel mounting rod 15 rotatably connected to the guide wheel 16 is movably inserted in the guide sleeve 12, and a shock-absorbing spring 13 is fixed at the other end thereof. When the curvature of the slide rail 1 is too large, the force exerted by the slide rail 1 on the guide wheel 16 first causes the guide wheel mounting rod 15 to partially retract into the guide sleeve 12, thereby reducing the distance between the guide wheel 16 and the slide block 3 with rollers, thereby preventing the slide block 3 with rollers from being stuck by the guide wheel 16 and the center wheel 11.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A supporting mechanism, comprising: A slider (3) with a roller, characterized in that: the slider (3) with a roller is movably connected to a slide rail (1), a metal block groove (6) is provided at the bottom end of the slider (3) with a roller, a metal block (7) is fixed in the metal block groove (6), a plurality of groups of electromagnet grooves (4) are provided at the bottom end of the inner wall of the track of the slide rail (1), a group of electromagnets (5) is fixed in each group of electromagnet grooves (4), a wire hole (8) is provided on the inner wall of the groove body of each group of electromagnet grooves (4), a wire (9) is provided in the wire hole (8), one end of the wire (9) is connected to the electromagnet (5), and the other end of the wire (9) is connected to the same group of power supply and controller (2).

2. A support mechanism according to claim 1, characterized in that: Centering wheel mounting rods (10) are fixed to both end surfaces of the slider with rollers (3); a centering wheel (11) is rotatably connected to the top end of the centering wheel mounting rod (10) on a side away from the slider with rollers (3); and two sets of centering wheel mounting rods (10) and centering wheels (11) are symmetrically distributed about the slider with rollers (3).

3. A support mechanism according to claim 2, characterized in that: A guide sleeve (12) is provided on the surface of the slide rail (1), and the guide sleeve (12) is in a cylindrical structure. A guide wheel mounting rod (15) is movably inserted on the surface of one end of the guide sleeve (12) away from the slider (3) with the roller, and a guide wheel (16) is rotatably connected to the top end of the other side of the guide wheel mounting rod (15).

4. A support mechanism according to claim 3, characterized in that: A spring plate (14) is fixed to one end of the guide wheel mounting rod (15) inserted in the guide sleeve (12); the spring plate (14) is movably connected in the guide sleeve (12); a shock absorbing spring (13) is fixed to one end of the spring plate (14) away from the guide wheel mounting rod (15); the other end of the shock absorbing spring (13) abuts against the surface of the slider (3) with the roller.

5. A supporting mechanism according to claim 1, characterized in that: A robot composite clamp is arranged at the top end of the sliding block (3) with rollers.

6. A robot composite fixture, characterized in that: It comprises the supporting mechanism described in any one of claims 1 to 5.

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