Multifunctional self-adaptive clamp

Abstract

The utility model discloses a multifunctional self-adaptive clamp which comprises a mechanical arm and further comprises a connecting column arranged at the tail end of the driving end of the mechanical arm. The clamping mechanism is arranged at the bottom end of the connecting column; the clamping mechanism comprises a top column, a supporting column, a first side column and a second side column. The top end of the connecting column is connected with the driving end of the mechanical arm, the bottom end of the connecting column is fixed to the top face of a top column, a supporting column is fixedly arranged on one side of the top column, a first side column is arranged on the inner side of the supporting column, an overturning assembly is arranged at the bottom end of the supporting column, and a second side column is arranged at the bottom end of the overturning assembly. And suction assemblies are arranged on the inner sides of the top column, the first side column and the second side column. The surface of the box body is adsorbed by adopting the plurality of flat suckers, the adsorption force is stronger, and when the box body is uneven, the flat suckers can also adsorb the box body, so that the box body is not easy to fall off.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator clamps, in particular to a multifunctional adaptive clamp for a robot. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to absorb, move objects or operate tools according to a fixed procedure. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] At present, the clamps used in the manipulators only have suction cups on the top surface to hold the boxes and carry them, but the boxes are easy to fall off during the movement, and the movement speed is slow and the efficiency is low. Now many cigarette factories are producing special-shaped boxes, that is, the specifications of the boxes are not fixed, and the existing manipulator clamps cannot carry such boxes steadily. In addition, the suction cups used in the existing technology are sponge suction cups. When the box is uneven, the adsorption force is greatly reduced, and the box is easy to fall. Summary of the invention

[0004] In order to solve the above technical problems existing in the prior art, the utility model provides a multifunctional adaptive clamp for a robot to solve the problems that the existing manipulator clamp has unstable clamping of boxes, poor applicability and low adsorption force.

[0005] The technical solution adopted by the utility model is:

[0006] A multifunctional adaptive fixture, comprising a mechanical arm, characterized in that it also includes:

[0007] A connecting column, arranged at the end of the driving end of the mechanical arm;

[0008] A clamping mechanism is arranged at the bottom end of the connecting column; the clamping mechanism comprises a top column, a supporting column, a first side column and a second side column;

[0009] The top end of the connecting column is connected to the driving end of the robot arm, the bottom end of the connecting column is fixed to the top surface of a top column, a supporting column is fixedly provided on one side of the top column, a first side column is provided on the inner side of the supporting column, a flipping assembly is provided at the bottom end of the supporting column, and a second side column is provided at the bottom end of the flipping assembly; suction assemblies are provided on the inner sides of the top column, the first side column and the second side column.

[0010] Furthermore, the suction assembly includes a vacuum diverter, and the vacuum diverter is fixedly arranged on one side of the inner cavity of the top column, the first side column and the second side column; one side of the vacuum diverter is threadedly connected to one end of the air inlet pipe, and the other end of the air inlet pipe is threadedly connected to the vacuum air inlet of the vacuum generator; the compressed air inlet of the vacuum generator is threadedly connected to one end of the compressed air connecting pipe, and the other end of the compressed air connecting pipe extends out of the outer walls of the top column, the first side column and the second side column respectively and is connected to the compressed air inlet through the solenoid valve, and the solenoid valve is electrically connected to the external control system of the robotic arm.

[0011] Furthermore, the support column is in an "L" shape as a whole, and a triangular support plate is fixedly provided on the inner side of the "L"-shaped corner, and two ends of the triangular support plate are respectively connected to two sides of the support column.

[0012] Furthermore, the support column includes a horizontal portion and a vertical portion, and the horizontal portion and the vertical portion are connected to form an "L" shape; a groove is provided at the bottom end of the vertical portion, and one side of the inner cavity of the groove is through-shaped.

[0013] Furthermore, the flip assembly includes:

[0014] A servo motor is fixedly arranged on one side of the vertical portion of the support column, and the servo motor is electrically connected to an external control system of the robotic arm;

[0015] A rotating shaft, wherein the output end of the servo motor extends into the inner cavity of the groove and one end of the rotating shaft is locked by a coupling, and the other end of the rotating shaft is installed on the inner wall of the groove through a bearing, the inner ring of the bearing is interference fit with the outer wall of the rotating shaft, and the outer ring of the bearing is fixedly arranged on the inner wall of the groove;

[0016] A circular column, fixedly disposed on the outer wall of the rotating shaft;

[0017] A connecting plate is fixedly provided on both the front and rear sides of the bottom end of the outer wall of the circular column, and the other end of the connecting plate is fixedly connected to the top end of the second side column.

[0018] Furthermore, the suction assembly also includes a plurality of fixed columns, which are fixedly arranged on one side of the vacuum diverter and are communicated with the inner cavity of the vacuum diverter; the inner cavity of the fixed column is threaded with a connecting tube, and the inner sides of the plurality of connecting tubes extend out of the inner sides of the top column, the first side column and the second side column respectively; and the extended ends of the plurality of connecting tubes are threadedly connected to the flat suction cup.

[0019] Furthermore, a filter screen is provided at the end of the connecting tube inside the flat suction cup.

[0020] Furthermore, the connecting pipe is in a "T" shape.

[0021] Furthermore, the inner sides of the first side column and the second side column are located on the same vertical plane.

[0022] Compared with the prior art, the beneficial effects of the utility model are embodied in:

[0023] 1. The utility model can simultaneously absorb and fix the upper surface and side surface of the box to be transported through the cooperation of the first side column, the support column, the second side column and the suction component, and the adsorption force is stronger, thereby speeding up the transportation speed of the box.

[0024] 2. The utility model can make the second side column flip toward one side of the support column through the cooperation of the support column, the flip assembly and the second side column, so that the flat suction cup on the second side column can absorb the surface of boxes of different specifications by changing the angle of the second side column, making the device more applicable.

[0025] 3. The utility model uses a plurality of flat suction cups to adsorb the surface of the box, so the adsorption force is stronger, and when the box is uneven, it can also be adsorbed to prevent the box from falling off easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the utility model;

[0027] Figure 2 For this utility model Figure 1 A schematic diagram of the structure of the clamping mechanism;

[0028] Figure 3 It is a front cross-sectional view of the top column of the utility model;

[0029] Figure 4 For this utility model Figure 3 A in the enlarged view;

[0030] Figure 5 This is the front view of the side column 2 after flipping over.

[0031] In the figure: 1. Robotic arm, 2. Connecting column, 3. Clamping mechanism, 31. Top column, 32. Support column, 33. First side column, 34. Flipping assembly, 341. Servo motor, 342. Rotating shaft, 343. Circular column, 344. Connecting plate, 35. Second side column, 36. Suction assembly, 361. Vacuum diverter, 362. Vacuum generator, 363. Inlet pipe, 364. Compressed air connecting pipe, 365. Fixed column, 366. Connecting pipe, 367. Flat suction cup, 368. Filter, 37. Triangular support plate, 4. Groove. DETAILED DESCRIPTION

[0032] The specific implementation of the embodiment of the utility model is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the utility model, and is not used to limit the embodiment of the utility model.

[0033] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0034] The present invention will be described in detail below with reference to the accompanying drawings and in combination with exemplary embodiments.

[0035] refer to Figures 1 to 5 The utility model is a multifunctional adaptive clamp, comprising a mechanical arm 1, and further comprising:

[0036] A connecting column 2, arranged at the end of the driving end of the mechanical arm 1;

[0037] The clamping mechanism 3 is arranged at the bottom end of the connecting column 2; the clamping mechanism 3 includes a top column 31, a supporting column 32, a first side column 33 and a second side column 35;

[0038] The top end of the connecting column 2 is connected to the driving end of the robot arm 1, and the bottom end of the connecting column 2 is fixed to the top surface of a top column 31. A supporting column 32 is fixedly provided on one side of the top column 31. A first side column 33 is provided on the inner side of the supporting column 32. A flipping assembly 34 is provided at the bottom end of the supporting column 32. A second side column 35 is provided at the bottom end of the flipping assembly 34. A suction assembly 36 is provided on the inner sides of the top column 31, the first side column 33 and the second side column 35.

[0039] In one embodiment, the suction component 36 includes a vacuum diverter 361, and the vacuum diverter 361 is fixedly arranged on one side of the inner cavity of the top column 31, the first side column 33 and the second side column 35; one side of the vacuum diverter 361 is screwed to one end of the air inlet pipe 363, and the other end of the air inlet pipe 363 is screwed to the vacuum air inlet of the vacuum generator 362; the compressed air inlet of the vacuum generator 362 is screwed to one end of the compressed air connecting pipe 364, and the other end of the compressed air connecting pipe 364 extends out of the outer walls of the top column 31, the first side column 33 and the second side column 35 respectively and is connected to the compressed air inlet through the solenoid valve, and the solenoid valve is electrically connected to the external control system of the robot arm 1.

[0040] In one embodiment, the support column 32 is in an “L” shape as a whole, and a triangular support plate 37 is fixedly provided on the inner side of the “L”-shaped corner, and both ends of the triangular support plate 37 are respectively connected to the two sides of the support column 32 .

[0041] In one embodiment, the support column 32 includes a horizontal portion and a vertical portion, and the horizontal portion and the vertical portion are connected to form an "L" shape; a groove 4 is formed at the bottom end of the vertical portion, and one side of the inner cavity of the groove 4 is through-shaped.

[0042] In one embodiment, the flip assembly 34 includes:

[0043] A servo motor 341 is fixedly arranged on one side of the vertical portion of the support column 32, and the servo motor 341 is electrically connected to an external control system of the robot arm 1;

[0044] A rotating shaft 342, wherein the output end of the servo motor 341 extends into the inner cavity of the groove 4 and one end of the rotating shaft 342 is locked by a coupling, and the other end of the rotating shaft 342 is installed on the inner wall of the groove 4 through a bearing, and the inner ring of the bearing is interference-fitted with the outer wall of the rotating shaft 342, and the outer ring of the bearing is fixedly arranged on the inner wall of the groove 4;

[0045] A circular column 343, fixedly disposed on the outer wall of the rotating shaft 342;

[0046] The connecting plate 344 is fixedly provided on both the front and rear sides of the bottom end of the outer wall of the circular column 343 , and the other end of the connecting plate 344 is fixedly connected to the top end of the second side column 35 .

[0047] In one embodiment, the suction assembly 36 also includes a plurality of fixed columns 365, and the plurality of fixed columns 365 are fixedly arranged on one side of the vacuum diverter 361, and the fixed columns 365 are communicated with the inner cavity of the vacuum diverter 361; the inner cavity of the fixed column 365 is threadedly connected with a connecting tube 366, and the inner sides of the plurality of connecting tubes 366 extend out of the inner sides of the top column 31, the first side column 33 and the second side column 35 respectively; the extended ends of the plurality of connecting tubes 366 are threadedly connected to the flat suction cup 367.

[0048] In one embodiment, a filter screen 368 is provided at the end of the connecting tube inside the flat suction cup 367 .

[0049] In one embodiment, the connecting tube 366 is in a "T" shape.

[0050] In one embodiment, the inner sides of the first side column 33 and the second side column 35 are located on the same vertical plane.

[0051] The specific work of the utility model is as follows:

[0052] When in use, the top column 31 connected to the connecting column 2 can be smoothly moved to the top of the box by controlling the robot arm 1, and the top column 31 and the first side column 33 can be controlled to move until the flat suction cup 367 contacts the upper surface and the side of the box. Then, by controlling the solenoid valve connected to the compressed air connecting pipe 364 to start, the vacuum generator 362 can draw the inside of the vacuum diverter 361 into a vacuum state through the air intake pipe 363, so that the flat suction cup 367 forms a vacuum state under the extraction of the connecting pipe 366 and firmly adsorbs the upper surface and the side of the box. In addition, by providing a filter net 368, dust or debris can be prevented from being sucked into the vacuum diverter 361 through the connecting pipe 366 when air is extracted from the inside of the flat suction cup 367. The connecting pipe 366 and the flat suction cup 367 can be installed and removed by rotating the connecting pipe 366 and the flat suction cup 367. The servo motor 364 can be used to control the vacuum generator 362 to draw the inside of the vacuum diverter 361 into a vacuum state through the air intake pipe 363. After the motor 341 is started, it can drive the rotating shaft 342 to rotate around its own axis, so that the circular column 343 drives the connecting plate 344 to rotate around the axis of the rotating shaft 342. Due to the groove 4, the connecting plate 344 can drive the second side column 35 to rotate until the connecting plate 345 can be rotated to one side of the support column 32 and remain level with the side wall of the support column 32. By controlling the rotation of the second side column 35, the flat suction cup 367 located on the side wall of the second side column 35 can absorb the surface of boxes of different specifications, and when the flat suction cup 367 on the second side column 35 and the flat suction cup 367 on the first side column 33 are located on the same side, the adsorption force on the box can be improved by cooperating with the flat suction cup 367 at the bottom end of the top column 31, thereby ensuring that the box can be stably fixed and moved, thereby speeding up the transportation speed, which is conducive to wide promotion.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A multifunctional adaptive fixture, comprising a mechanical arm, characterized in that: Also includes: A connecting column, arranged at the end of the driving end of the mechanical arm; A clamping mechanism is arranged at the bottom end of the connecting column; the clamping mechanism comprises a top column, a supporting column, a first side column and a second side column; The top end of the connecting column is connected to the driving end of the robot arm, the bottom end of the connecting column is fixed to the top surface of a top column, a supporting column is fixedly provided on one side of the top column, a first side column is provided on the inner side of the supporting column, a flipping assembly is provided at the bottom end of the supporting column, and a second side column is provided at the bottom end of the flipping assembly; suction assemblies are provided on the inner sides of the top column, the first side column and the second side column.

2. A multifunctional adaptive fixture as claimed in claim 1, characterized in that: The suction assembly includes a vacuum diverter, and the vacuum diverter is fixedly arranged on one side of the inner cavity of the top column, the first side column and the second side column; one side of the vacuum diverter is threadedly connected to one end of the air intake pipe, and the other end of the air intake pipe is threadedly connected to the vacuum air inlet of the vacuum generator; the compressed air inlet of the vacuum generator is threadedly connected to one end of the compressed air connecting pipe, and the other end of the compressed air connecting pipe extends out of the outer walls of the top column, the first side column and the second side column respectively and is connected to the compressed air inlet through the solenoid valve, and the solenoid valve is electrically connected to the external control system of the robotic arm.

3. A multifunctional adaptive fixture as claimed in claim 1, characterized in that: The support column is in an "L" shape as a whole, and a triangular support plate is fixedly provided on the inner side of the "L"-shaped corner, and the two ends of the triangular support plate are respectively connected to the two sides of the support column.

4. A multifunctional adaptive fixture as claimed in claim 3, characterized in that: The support column includes a horizontal portion and a vertical portion, wherein the horizontal portion and the vertical portion are connected to form an "L" shape; a groove is provided at the bottom end of the vertical portion, and one side of the inner cavity of the groove is through-shaped.

5. A multifunctional adaptive fixture as claimed in claim 4, characterized in that: The flip assembly comprises: A servo motor is fixedly arranged on one side of the vertical portion of the support column, and the servo motor is electrically connected to an external control system of the robotic arm; A rotating shaft, wherein the output end of the servo motor extends into the inner cavity of the groove and one end of the rotating shaft is locked by a coupling, and the other end of the rotating shaft is installed on the inner wall of the groove through a bearing, the inner ring of the bearing is interference fit with the outer wall of the rotating shaft, and the outer ring of the bearing is fixedly arranged on the inner wall of the groove; A circular column, fixedly disposed on the outer wall of the rotating shaft; A connecting plate is fixedly provided on both the front and rear sides of the bottom end of the outer wall of the circular column, and the other end of the connecting plate is fixedly connected to the top end of the second side column.

6. A multifunctional adaptive fixture as claimed in claim 2, characterized in that: The suction assembly also includes a plurality of fixed columns, which are fixedly arranged on one side of the vacuum diverter and communicate with the inner cavity of the vacuum diverter; the inner cavity of the fixed column is threaded with a connecting tube, and the inner sides of the plurality of connecting tubes extend out of the inner sides of the top column, the first side column and the second side column respectively; the extended ends of the plurality of connecting tubes are threadedly connected to the flat suction cup.

7. A multifunctional adaptive fixture as claimed in claim 6, characterized in that: A filter screen is arranged at the end of the connecting pipe in the flat sucker.

8. A multifunctional adaptive fixture as claimed in claim 7, characterized in that: The connecting pipe is in a "T" shape.

9. The multifunctional adaptive fixture according to claim 1, characterized in that: The inner sides of the first side column and the second side column are located on the same vertical plane.

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