Clamping structure of industrial robot
By designing an industrial robot clamping structure including connecting cylinder, actuator cylinder, articulation plate, slider and clamping arm, the problem of difficult clamping force in the prior art is solved, and stable grasping of tires of different sizes is achieved , improves the automation and safety of the production line.
Patent Information
- Application Number
- CN202421096697.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-20
- Publication Date
- 2025-01-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
When existing industrial robot clamping devices grab tires of different sizes, the clamping force is difficult to control, which can easily cause damage to the tread or cause the tire to slide, affecting the automation and safety of the production line.
A clamping structure including connecting cylinder, actuator cylinder, articulation plate, slider, clamp arm and connecting rod is designed. Through the cooperation of slider and connecting rod, the clamp arm can radially telescope and rotate, realizing the hoop of the tire. Tightly clamped to suit tire specifications of different sizes.
It improves the stability and safety of tire grip, can effectively adapt to tires of different sizes, avoid damage and slippage during clamping, and enhances the automation level of the production line.
Smart Images
Figure CN222345594U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a clamping structure of an industrial robot. Background Art
[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They are generally composed of three parts: mechanical part, sensor part and control part. With the continuous improvement of industrial technology, more and more industrial robots are replacing manual labor for mechanical processing. However, during the process of industrial robots processing workpieces, the clamping effect of the industrial robot clamping device on the workpiece will directly affect the processing of the workpiece.
[0003] Rubber tires are the main consumables of automobiles, and the market has a huge demand for tires. In order to meet the growing demand for tires and improve the automation and intelligence level of production lines, more and more innovative tire manufacturing equipment has been put into production lines. However, among tire gripping equipment, for tires of different sizes, ordinary tire gripping equipment uses mechanical claws to clamp them from the outer edge of the tire. For tires of different sizes, the clamping force of the mechanical claw is difficult to control. If the force is too large, it is easy to damage the tread. If the force is too small, it is easy to cause the tire to slip during the clamping process, causing a safety accident. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a clamping structure of an industrial robot in view of the current status of the prior art, change the traditional tire grabbing method, adapt to different tire specifications, and improve the stability of tire grabbing.
[0005] The technical solution adopted by the utility model to solve the above-mentioned technical problems is: a clamping structure of an industrial robot, including a connecting cylinder used to be connected to the execution end of the industrial robot, characterized in that: a mounting plate is fixedly arranged on the connecting cylinder, an execution cylinder located in the connecting cylinder is fixedly arranged on the mounting plate, a hinge disk is arranged on the output end of the execution cylinder, a plurality of guide rails are radially evenly distributed on the mounting plate, a slider is slidably arranged on each guide rail, a clamping arm is arranged on each slider, a clamping plate is arranged on the outer end of the clamping arm, and a connecting rod is hinged between each slider and the hinge disk.
[0006] As an improvement, the clamping arm is slidably arranged on the slider, the upper end of the clamping arm passes through the mounting plate, a clamping plate is arranged above the mounting plate, the upper end of the clamping arm is slidably arranged on the side wall of the clamping plate, a sliding hole for the connecting tube to pass through and a through hole for the cylinder body of the actuator cylinder to pass through are provided on the clamping plate, the clamping plate is slidably arranged on the connecting tube, a plurality of clamping cylinders are invertedly arranged in the connecting tube, the output end of the clamping cylinder is connected to the clamping plate, and a clamping area for clamping the upper and lower sides of the tire is formed between the outer periphery of the clamping plate and the mounting plate.
[0007] As a further improvement, the clamping plate is a flat plate or a disc.
[0008] Further improvement, a sliding groove is provided on the lower end surface of the slider, a locking cylinder is fixedly arranged on the lower end surface of the slider, the upper section of the clamp arm is formed with a columnar portion slidably arranged in the sliding groove, a through hole for the columnar portion to pass through is provided at the center of the locking cylinder, the locking cylinder includes a fixing portion fixedly connected to the slider, a threaded portion connected to the fixing portion, and a locking portion connected to the threaded portion, the outer wall of the locking portion forms an inward taper, a plurality of grooves are evenly distributed circumferentially on the locking portion, a locking sleeve is provided on the outside of the locking cylinder, an internal thread connected to the threaded portion, and a conical surface adapted to the taper of the outer wall of the locking portion is formed in the locking sleeve.
[0009] As a further improvement, a first enlarged cavity connected to the slide groove is formed in the sliding block, and a first limiting portion slidably disposed in the first enlarged cavity is formed on the top of the columnar portion of the clamping arm.
[0010] Further improvement, a thread groove is provided on the lower end face of the slider, a second enlarged cavity is formed at the bottom of the thread groove, a thread segment matched with the thread groove is formed on the upper section of the clamp arm, a second limiting portion slidably arranged in the second enlarged cavity is formed on the top of the thread segment, a limiting hole connected with the thread groove is provided on the side wall of the slider, the inner wall of the inner section of the limiting hole is a smooth section, and the inner wall of the outer section of the limiting hole is a threaded section, a locking pin is slidably arranged in the smooth section, a clamping pin is screwed in the threaded section, the contact surfaces of the clamping pin and the locking pin are embedded with each other, and a threaded portion matched with the internal thread of the threaded section is formed on the inner end face of the locking pin.
[0011] As a further improvement, the sliding block is provided with an exhaust hole connected to the second expansion cavity.
[0012] As a further improvement, the disk is arranged on the lower end of the clamping arm, and the rotation center of the disk coincides with the rotation center of the clamping arm.
[0013] Further improvement, the connecting rod is a telescopic connecting rod, the telescopic connecting rod includes a first connecting rod hinged to the slider, and a second connecting rod hinged to the hinge plate, a sliding cavity is formed in the first connecting rod, the second connecting rod is slidably arranged in the sliding cavity, a locking sleeve is fixedly arranged at the opening of the sliding cavity of the first connecting rod, a guide groove is formed on the outer side wall of the second connecting rod along the length direction of the rod, a control piece is rotatably arranged on the side wall of the locking sleeve, a locking piece is radially slidably arranged in the locking sleeve, a locking portion adapted to the guide groove is formed on the outer side wall of the locking piece, and a cam portion contacting the locking piece is formed on the control piece.
[0014] Compared with the prior art, the advantages of the utility model are: when the industrial robot clamping structure of the utility model needs to clamp the tire, the industrial robot moves the clamping structure to the top of the tire, the actuator cylinder contracts, the connecting rod drives the slider to slide inward, and each clamping arm contracts inward. At this time, the clamping arm can be inserted into the center hole of the tire. After that, the actuator cylinder piston rod is extended again, the connecting rod drives the clamping arm to open outward, and the outer wall of the clamping arm is pressed against the inner side of the tire. At the same time, the clamping plate on the clamping arm supports the lower side of the tire, thereby clamping the tire. Since each clamping arm can be radially extended and retracted back and forth, the clamping arm is used to clamp the tire tightly, which can adapt to tire specifications of different sizes and improve the stability of tire grasping. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of the clamping structure of the industrial robot in Embodiment 1 of the present utility model;
[0016] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle clamp arm;
[0017] Figure 3 yes Figure 1 Another structural schematic diagram of the middle clamp arm;
[0018] Figure 4 yes Figure 1 A schematic diagram of the structure of the middle telescopic connecting rod;
[0019] Figure 5 yes Figure 4 The structural diagram of the control unit;
[0020] Figure 6 yes Figure 4 A schematic diagram of the structure of the middle locking member;
[0021] Figure 7 It is a structural schematic diagram of the clamping structure of the industrial robot in Example 2 of the utility model. DETAILED DESCRIPTION
[0022] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0023] Example 1
[0024] like Figures 1 to 6 As shown, the clamping structure of the industrial robot in this embodiment includes a connecting cylinder 1, a mounting plate 2, an actuator cylinder 7, a connecting rod 5, a slider 4, a guide rail 21, a hinge plate 71, and a clamping arm 6.
[0025] Among them, the connecting tube 1 is used to connect with the execution end of the industrial robot, and a mounting plate 2 is fixedly arranged on the connecting tube 1, and an execution cylinder 7 located in the connecting tube 1 is fixedly arranged on the mounting plate 2, and a hinge disk 71 is arranged on the output end of the execution cylinder 7, and a plurality of guide rails 21 are radially and evenly distributed on the mounting plate 2, and a slider 4 is slidably arranged on each guide rail 21, and a clamping arm 6 is arranged on each slider 4, and a clamping plate 61 is arranged on the outer end of the clamping arm 6, and a connecting rod 5 is hinged between each slider 4 and the hinge disk 71.
[0026] Preferably, when the clamp arm 6 and the slider 4 are fixedly connected, the clamp plate can be a flat plate structure, the inner end of each clamp plate 61 is connected to the clamp arm 6, and the outer end of the clamp plate 61 is used to support the lower side of the tire. When the clamp arm 6 is connected to the slider 4 in a sliding or rotating manner, at this time, preferably, the clamp plate 61 adopts a disc structure. In this way, the support function of the clamp plate 61 on the tire will not be affected as the clamp arm 6 rotates or slides.
[0027] Furthermore, in order to meet the requirements of different tire tread widths, in the embodiment of the utility model, the clamp arm 6 needs to be designed as a lifting structure. The clamp arm 6 can be in the form of rotation or sliding. The first is a vertical sliding structure between the clamp arm 6 and the slider 4, such as Figure 2 As shown, a slide groove is provided on the lower end surface of the slider 4, and a locking cylinder 9 is fixedly arranged on the lower end surface of the slider 4. The upper section of the clamping arm 6 is formed with a columnar portion slidably arranged in the slide groove, and a through hole for the columnar portion to pass through is provided at the center of the locking cylinder 9. The locking cylinder 9 includes a fixing portion 91 fixedly connected to the slider 4, a threaded portion 92 connected to the fixing portion 91, and a locking portion 93 connected to the threaded portion 92. The outer wall of the locking portion 93 forms an inward taper, and a plurality of grooves are evenly distributed circumferentially on the locking portion 93. A locking sleeve 94 is sleeved on the outside of the locking cylinder 9, and an internal thread connected to the threaded portion 92 and a conical surface adapted to the taper of the outer wall of the locking portion 93 are formed in the locking sleeve 94. Loosen the locking sleeve 94, and the columnar portion on the clamp arm 6 can slide vertically in the sliding groove of the slider 4 to adjust the length of the clamp arm 6. When the clamp arm 6 needs to be locked, tighten the locking sleeve 94, and the conical surface on the locking sleeve 94 compresses the locking portion 93 on the locking cylinder 9 inward, and the locking portion 93 presses the outer wall of the columnar portion, so that the clamp arm 6 and the slider 4 are fixed to each other.
[0028] Furthermore, in order to prevent the clamp arm 6 from being completely pulled out of the slider 4, a first enlarged cavity 41 connected to the slide groove is formed in the slider 4, and a first limiting portion 63 slidably disposed in the first enlarged cavity 41 is formed at the top of the columnar portion of the clamp arm 6.
[0029] In the second structure, the clamp arm 6 and the slider 4 are rotated, such as Figure 3As shown, a thread groove is provided on the lower end face of the slider 4, and a second enlarged cavity 42 is formed at the bottom of the thread groove. A thread segment matched with the thread groove is formed on the upper section of the clamp arm 6, and a second limiting portion 64 slidably arranged in the second enlarged cavity 42 is formed on the top of the thread segment. A limiting hole connected with the thread groove is provided on the side wall of the slider 4, the inner wall of the inner section of the limiting hole is a smooth section, and the inner wall of the outer section of the limiting hole is a threaded section. A locking pin 31 is slidably arranged in the smooth section, and a clamping pin 32 is screwed in the threaded section. The contact surfaces of the clamping pin 32 and the locking pin 31 are interlocked, and a threaded portion matched with the internal thread of the thread segment is formed on the inner end face of the locking pin 31. Among them, the threaded portion on the locking pin 31 is formed in such a way that before the thread groove of the slider 4 is formed, the clamping pin 32 is first rotated into place so that the locking pin 31 is in a normal locking state, and then the thread groove of the slider 4 is formed. During the process of forming the thread groove of the slider 4, the threaded portion on the locking pin 31 is formed simultaneously.
[0030] In this way, when the length of the clamp arm 6 needs to be adjusted, the clamping pin 32 is first rotated outward, and the clamping pin 32 drives the locking pin 31 to move outward. At this time, the length of the clamp arm 6 can be adjusted by rotating the clamp arm 6 forward and backward. After the adjustment is completed, the clamping pin 32 is tightened again, and the clamping pin 32 pushes the locking pin 31 to move inward. The threaded portion of the locking pin 31 is pressed against the outer wall of the threaded section of the clamp arm 6, thereby locking the clamp arm 6 and preventing the clamp arm 6 from rotating without reason.
[0031] At the same time, in order to avoid negative pressure in the second expansion chamber 42 , an exhaust hole 43 communicating with the second expansion chamber 42 is provided on the slider 4 .
[0032] In addition, in order to prevent the rotation of the clamping arm 6 from changing the direction of the clamping plate, in the embodiment of the utility model, a disc 62 is used as the clamping plate 61. The disc 62 is arranged on the lower end of the clamping arm 6, and the rotation center of the disc 62 coincides with the rotation center of the clamping arm 6.
[0033] Finally, the connecting rod 5 is a telescopic connecting rod, which includes a first connecting rod 51 hinged to the slider 4 and a second connecting rod 52 hinged to the hinge plate 71. A sliding cavity is formed in the first connecting rod 51, and the second connecting rod 52 is slidably arranged in the sliding cavity. A locking sleeve 53 is fixedly arranged at the opening of the sliding cavity of the first connecting rod 51, and a guide groove 521 is formed on the outer wall of the second connecting rod 52 along the length direction of the rod. A control member 54 is rotatably arranged on the side wall of the locking sleeve 53, and a locking member 55 is radially slidably arranged in the locking sleeve 53. A locking portion 551 adapted to the guide groove 521 is formed on the outer wall of the locking member 55, and a cam portion 541 in contact with the locking member 55 is formed on the control member 54.
[0034] Example 2
[0035] The technical feature of Embodiment 2 compared with Embodiment 1 is that, in Embodiment 2, the tire can be pressed up and down to improve the clamping tightness of the tire, and during the clamping process, the tire can also be reversed. Specifically, Figure 7 As shown, in the embodiment of the utility model, the clamping arm 6 is slidably arranged on the slider 4, the upper end of the clamping arm 6 passes through the mounting plate 2, and a clamping plate 8 is arranged above the mounting plate 2. The upper end of the clamping arm 6 is slidably arranged on the side wall of the clamping plate 8, and a sliding hole for the connecting tube 1 to pass through and a through hole 81 for the cylinder body of the actuator cylinder 7 to pass through are provided on the clamping plate 8. The clamping plate 8 is slidably arranged on the connecting tube 1, and a plurality of synchronously acting clamping cylinders 82 are invertedly arranged in the connecting tube 1. The output end of the clamping cylinder 82 is connected to the clamping plate 8, and a clamping area for clamping the upper and lower sides of the tire is formed between the outer periphery of the clamping plate 61 and the mounting plate 8.
[0036] In this embodiment, the connecting cylinder 1 provides a guide for the clamping plate 8. When the clamping arm 6 clamps the tire, the clamping cylinder 82 can also drive the clamping plate 8 to move upward. The clamping plate 8 drives each clamping plate 61 to move upward through the clamping arm 6. The tire is limited in the clamping area formed between the clamping plate 61 and the outer periphery of the mounting plate 2, and the inner clamping plate 61 and the outer periphery of the mounting plate 2 are mutually compressed. The tire is not only compressed laterally by the clamping arm 6, but also compressed vertically between the clamping plate 61 and the mounting plate 2, thereby achieving bidirectional compression of the tire.
[0037] In summary, when the industrial robot clamping structure of the utility model needs to clamp the tire, the industrial robot moves the clamping structure to the top of the tire, the actuator cylinder 7 contracts, the connecting rod 5 drives the slider 4 to slide inward, and each clamping arm 6 contracts inward. At this time, the clamping arm 6 can be inserted into the center hole of the tire. After that, the piston rod of the actuator cylinder 7 is extended again, and the connecting rod 5 drives the clamping arm 6 to open outward. The outer wall of the clamping arm 6 is pressed against the inner side of the tire. At the same time, the clamping plate 61 on the clamping arm 6 supports the lower side of the tire, thereby clamping the tire. Since each clamping arm 6 can be extended and retracted radially back and forth, the clamping arm 6 is used to clamp the tire, which can adapt to tire specifications of different sizes and improve the stability of tire grasping.
Claims
1. A clamping structure for an industrial robot, comprising a connecting tube (1) for connecting to an execution end of the industrial robot, characterized in that: The connecting tube (1) is fixedly provided with a mounting plate (2), an actuating cylinder (7) located in the connecting tube (1) is fixedly provided on the mounting plate (2), a hinge plate (71) is provided on the output end of the actuating cylinder (7), a plurality of guide rails (21) are evenly distributed radially on the mounting plate (2), a slider (4) is slidably provided on each guide rail (21), a clamping arm (6) is provided on each slider (4), a clamping plate (61) is provided at the outer end of the clamping arm (6), and a connecting rod (5) is hingedly connected between each slider (4) and the hinge plate (71).
2. The clamping structure of the industrial robot according to claim 1, characterized in that: The clamping arm (6) is slidably arranged on the slider (4), the upper end of the clamping arm (6) passes through the mounting plate (2), a clamping plate (8) is arranged above the mounting plate (2), the upper end of the clamping arm (6) is slidably arranged on the side wall of the clamping plate (8), a sliding hole for the connecting tube (1) to pass through and a through hole (81) for the cylinder body of the execution cylinder (7) to pass through are provided on the clamping plate (8), the clamping plate (8) is slidably arranged on the connecting tube (1), a plurality of clamping cylinders (82) are invertedly arranged in the connecting tube (1), the output end of the clamping cylinder (82) is connected to the clamping plate (8), and a clamping area for clamping the upper and lower sides of the tire is formed between the outer periphery of the clamping plate (61) and the mounting plate (2).
3. The clamping structure of the industrial robot according to claim 1, characterized in that: The clamping plate (61) is a flat plate or a disc (62).
4. The clamping structure of the industrial robot according to claim 3, characterized in that: A slide groove is provided on the lower end surface of the slider (4), a locking cylinder (9) is fixedly arranged on the lower end surface of the slider (4), the upper section of the clamp arm (6) is formed with a columnar portion slidably arranged in the slide groove, a through hole for the columnar portion to pass through is provided at the center of the locking cylinder (9), the locking cylinder (9) comprises a fixing portion (91) fixedly connected to the slider (4), a threaded portion (92) connected to the fixing portion (91), and a locking portion (93) connected to the threaded portion (92), the outer wall of the locking portion (93) forms an inwardly contracted taper, a plurality of grooves are evenly distributed circumferentially on the locking portion (93), a locking sleeve (94) is sleeved on the outside of the locking cylinder (9), the locking sleeve (94) is formed with an internal thread connected to the threaded portion (92) and a conical surface adapted to the taper of the outer wall of the locking portion (93).
5. The clamping structure of the industrial robot according to claim 4, characterized in that: A first enlarged cavity (41) communicating with the slide groove is formed in the slider (4), and a first limiting portion (63) slidably disposed in the first enlarged cavity (41) is formed at the top of the columnar portion of the clamping arm (6).
6. The clamping structure of the industrial robot according to claim 3, characterized in that: A thread groove is provided on the lower end surface of the slider (4), a second enlarged cavity (42) is formed at the bottom of the thread groove, a thread segment matching the thread groove is formed on the upper section of the clamp arm (6), a second limiting portion (64) slidably arranged in the second enlarged cavity (42) is formed on the top of the thread segment, a limiting hole connected to the thread groove is provided on the side wall of the slider (4), the inner wall of the inner section of the limiting hole is a smooth section, and the inner wall of the outer section of the limiting hole is a threaded section, a locking pin (31) is slidably arranged in the smooth section, a pressing pin (32) is screwed into the thread segment, the contact surfaces of the pressing pin (32) and the locking pin (31) are mutually embedded, and a threaded portion matching the internal thread of the thread segment is formed on the inner end surface of the locking pin (31).
7. The clamping structure of the industrial robot according to claim 6, characterized in that: The sliding block (4) is provided with an exhaust hole (43) which is in communication with the second expansion cavity (42).
8. The clamping structure of an industrial robot according to claim 6, characterized in that: The disk (62) is arranged on the lower end of the clamping arm (6), and the rotation center of the disk (62) coincides with the rotation center of the clamping arm (6).
9. The clamping structure of an industrial robot according to claim 4, characterized in that: The connecting rod (5) is a telescopic connecting rod, comprising a first connecting rod (51) hinged to the slider (4) and a second connecting rod (52) hinged to the hinge plate (71). A sliding cavity is formed in the first connecting rod (51), and the second connecting rod (52) is slidably arranged in the sliding cavity. A locking sleeve (53) is fixedly arranged at the opening of the sliding cavity of the first connecting rod (51). A guide groove (521) is formed on the outer wall of the second connecting rod (52) along the length direction of the rod. A control member (54) is rotatably arranged on the side wall of the locking sleeve (53). A locking member (55) is radially slidably arranged in the locking sleeve (53). A locking portion (551) adapted to the guide groove is formed on the outer wall of the locking member (55). A cam portion (541) in contact with the locking member (55) is formed on the control member (54).