Self-adaptive adjusting clamping component and robot

Abstract

The utility model discloses a self-adaptive adjusting clamping component and a robot, which relate to the technical field of clamping devices and comprise an end effector assembly. According to the self-adaptive adjusting clamping component and the robot, through the arrangement of the end effector assembly, the double-acting air cylinder is used for controlling lifting of the telescopic rod, the connecting rods distributed at the tail end of the telescopic rod in an array mode are rotationally connected with the inner side of the inner supporting clamping block, and under the extending and retracting stroke of the double-acting air cylinder, the inner supporting clamping block is driven to rotate; the connecting rods drive the inner supporting clamping blocks to synchronously slide in the corresponding rails at the bottom of the mounting disc, synchronous opening and closing of an inner supporting clamping block array are achieved, stable middle hole inner supporting clamping is conducted on annular workpieces such as flanges and tires with the smooth outer walls in an inner supporting clamping mode, self-adaptive adjustment can be conducted according to the inner diameter change of the annular workpieces, and the machining precision is improved. In addition, the position of the adjustable bottom support can be adjusted through a bolt structure located in an adjusting hole in the front face of the inner supporting clamping block, and the adjustable bottom support can adapt to workpieces with different thicknesses.

Description

Technical Field

[0001] The utility model relates to the technical field of clampers, in particular to a clamping component and a robot with self-adaptive adjustment. Background Art

[0002] A gripper is a component installed at the end of a robot with a gripping function. Currently, grippers are mainly divided into four types according to their uses and functional principles: claw-type grippers, adsorption-type material handling arms, special manipulators, and bionic multi-finger dexterous hands.

[0003] However, although the claw-type clamp has a simple structure, it supports a limited variety of clamped objects, especially when used on annular workpieces with smooth outer walls such as flanges and tires. The existing claw-type clamp is not only difficult to achieve stable clamping, but also unable to adapt to the changes in the inner diameter of the annular workpiece for adaptive adjustment.

[0004] Therefore, in view of this, the shortcomings of the existing structure are studied and improved, and a clamping component and a robot with adaptive adjustment are proposed. Utility Model Content

[0005] The purpose of the utility model is to provide a self-adjusting clamping component and a robot 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: an adaptively adjustable clamping component, including an end actuator assembly, the end actuator assembly including a cylinder mounting seat, a quick-change male head, a double-acting cylinder, a telescopic rod, a connecting rod, a mounting plate, a track, an inner support clamp, an adjustment hole and an adjustable bottom bracket, the top of the cylinder mounting seat is fixedly mounted with a quick-change male head, and the cylinder mounting seat is built with a double-acting cylinder, the output end of the double-acting cylinder is fixedly connected to the telescopic rod, and the connecting rod is distributed in a circular annular array at the end of the telescopic rod, the bottom of the cylinder mounting seat is welded and fixed with a mounting plate, and the bottom of the mounting plate is distributed with tracks in a flat annular array, each of the tracks is correspondingly slidably mounted with an inner support clamp, and the front of the inner support clamp is provided with several adjustment holes, and an adjustable bottom bracket is fixed inside the adjustment hole.

[0007] Furthermore, the distribution number and position of the connecting rods on the circumference of the end of the telescopic rod correspond one-to-one to the inner support clamping block, and the two ends of the connecting rods are rotatably connected to the circumference of the end of the telescopic rod and the inner side of the inner support clamping block respectively.

[0008] Furthermore, the front side of the inner support clamp block is provided with adjustment holes at equal intervals along the extension direction, and an adjustable bottom bracket is fixed inside the adjustment hole by a bolt structure.

[0009] Furthermore, the double-acting cylinder is connected to the connecting rods distributed in the array through a telescopic rod, and each connecting rod drives the inner support clamp to slide synchronously in the corresponding track.

[0010] A robot is provided with a self-adaptive clamping component, comprising a robot component, a base is arranged at the bottom of the robot component, and a controller is arranged on the side of the base.

[0011] Furthermore, an arm is arranged on the top of the base, and several joints composed of a motor, a reducer and an encoder are arranged in the middle of the arm.

[0012] Furthermore, a quick-change female head is provided at the end of the arm, and the quick-change female head is connected to the cylinder mounting seat through a quick-change male head.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The utility model uses a double-acting cylinder to control the lifting and lowering of the telescopic rod through the setting of the end actuator assembly. The connecting rods distributed in an array at the end of the telescopic rod are rotatably connected to the inner side of the inner support clamp. Under the extension and retraction stroke of the double-acting cylinder, the connecting rod drives the inner support clamp to slide synchronously in the corresponding track at the bottom of the mounting plate, so as to realize the synchronous opening and closing of the inner support clamp array. Not only can the inner support clamping method be used to stably clamp the middle hole of annular workpieces with smooth outer walls such as flanges and tires, but it can also be adaptively adjusted according to the change of the inner diameter of the annular workpiece, and has a wider range of applications. In addition, the adjustable base can also be located in the front adjustment hole of the inner support clamp through a bolt structure for position adjustment, so as to adapt to workpieces of different thicknesses.

[0015] 2. When the utility model is in use, the base is applied to the bottom of the robot assembly to support the entire robotic arm and provide a stable foundation. The arm of the robot assembly is composed of multiple joints, and the movement of the robotic arm is usually controlled by a motor, a reducer and an encoder, and can achieve various movements such as extension, rotation, and lifting. The controller, which is the core part of the robot assembly, is responsible for controlling the movement and control of the robotic arm. When in use, the quick-change female head at the end of the arm is connected to the end effector assembly through the quick-change male head, which is convenient for selecting different types of grippers according to needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall external structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the external structure of the end effector assembly of the utility model;

[0018] Figure 3 This is a schematic diagram of the split structure of the inner support clamp block of the utility model.

[0019] In the figure: 1. End effector assembly; 101. Cylinder mounting base; 102. Quick-change male head; 103. Double-acting cylinder; 104. Telescopic rod; 105. Connecting rod; 106. Mounting plate; 107. Track; 108. Internal support clamp; 109. Adjustment hole; 110. Adjustable bottom bracket; 2. Robot assembly; 3. Base; 4. Controller; 5. Arm; 6. Joint; 7. Quick-change female head. DETAILED DESCRIPTION

[0020] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0021] like Figure 1 and Figure 3 As shown, a self-adaptive clamping component includes an end effector assembly 1, which includes a cylinder mounting seat 101, a quick-change male head 102, a double-acting cylinder 103, a telescopic rod 104, a connecting rod 105, a mounting plate 106, a track 107, an inner support clamp 108, an adjustment hole 109 and an adjustable bottom bracket 110. The quick-change male head 102 is fixedly installed on the top of the cylinder mounting seat 101, and the cylinder mounting seat 101 is built with a double-acting cylinder 103. The double-acting cylinder 103 is transmission-connected to the connecting rods 105 distributed in an array through the telescopic rod 104, and each connecting rod 105 drives the inner support clamp 108 to slide synchronously in the corresponding track 107. The output end of the double-acting cylinder 103 is fixedly connected to the telescopic rod 104, and the end of the telescopic rod 104 is round. Connecting rods 105 are distributed in a circular array around the circumference, and the number and position of the connecting rods 105 on the circumference of the end of the telescopic rod 104 correspond to the inner support clamp 108 one by one, and the two ends of the connecting rod 105 are rotatably connected to the circumference of the end of the telescopic rod 104 and the inner side of the inner support clamp 108 respectively. A mounting plate 106 is welded and fixed at the bottom of the cylinder mounting seat 101, and rails 107 are distributed in a plane circular array at the bottom of the mounting plate 106. An inner support clamp 108 is slidably installed inside each track 107, and several adjustment holes 109 are opened on the front of the inner support clamp 108, and an adjustable bottom bracket 110 is fixed inside the adjustment hole 109. Adjustment holes 109 are opened at equal intervals on the front of the inner support clamp 108 along the extension direction, and the adjustable bottom bracket 110 is fixed inside the adjustment hole 109 through a bolt structure;

[0022] The specific operation is as follows: a double-acting cylinder 103 is used to control the lifting and lowering of the telescopic rod 104; a connecting rod 105 arranged in an array at the end of the telescopic rod 104 is rotatably connected to the inner side of the inner support clamp 108; during the extension and retraction stroke of the double-acting cylinder 103, the connecting rod 105 drives the inner support clamp 108 to slide synchronously in the track 107 corresponding to the bottom of the mounting plate 106, thereby realizing the synchronous opening and closing of the array of the inner support clamp 108; not only can the inner support clamping method be used to stably clamp the middle hole of annular workpieces with smooth outer walls such as flanges and tires, but also the inner diameter of the annular workpiece can be adaptively adjusted according to the change in the inner diameter of the annular workpiece, so as to have a wider range of applications; in addition, the adjustable base 110 can also be located in the front adjustment hole 109 of the inner support clamp 108 through a bolt structure for position adjustment, so as to adapt to workpieces of different thicknesses;

[0023] like Figure 1 As shown, a robot is equipped with a self-adaptive clamping component, including a robot component 2, a base 3 is arranged at the bottom of the robot component 2, and a controller 4 is arranged on the side of the base 3, an arm 5 is arranged on the top of the base 3, and several joints 6 composed of a motor, a reducer, and an encoder are arranged in the middle of the arm 5, a quick-change female head 7 is arranged at the end of the arm 5, and the quick-change female head 7 is connected to the cylinder mounting seat 101 through a quick-change male head 102;

[0024] The specific operation is as follows: the base 3 is applied to the bottom of the robot component 2 to support the entire robotic arm and provide a stable foundation. The arm 5 of the robot component 2 is composed of multiple joints 6, and the movement of the robotic arm is usually controlled by a motor, a reducer and an encoder, which can realize various movements such as extension, rotation and lifting. The controller 4, which is the core part of the robot component 2, is responsible for controlling the movement and control of the robotic arm. When in use, the quick-change female head 7 at the end of the arm 5 is connected to the end effector component 1 through the quick-change male head 102, which is convenient for selecting different types of clamps according to needs.

[0025] Working principle: When using this kind of adaptively adjustable clamping component and robot, when in use, the base 3 is applied to the bottom of the robot component 2 to support the entire robotic arm and provide a stable foundation. The arm 5 of the robot component 2 is composed of multiple joints 6, and the movement of the robotic arm is usually controlled by a motor, a reducer and an encoder, which can realize various movements such as extension, rotation, and lifting. The controller 4, which is the core part of the robot component 2, is responsible for controlling the movement and control of the robotic arm. When in use, the quick-change female head 7 at the end of the arm 5 is connected to the end effector component 1 through the quick-change male head 102, which is convenient for selecting different types of clamps according to needs, and using the double-acting cylinder 103 to control the telescopic rod 104 The connecting rods 105 arranged in an array at the ends of the lifting and telescopic rods 104 are rotatably connected to the inner side of the inner support clamp 108. During the extension and retraction stroke of the double-acting cylinder 103, the connecting rods 105 drive the inner support clamp 108 to slide synchronously in the corresponding track 107 at the bottom of the mounting plate 106, thereby realizing the synchronous opening and closing of the array of the inner support clamp 108. Not only can the inner support clamping method be used to stably clamp the middle hole of annular workpieces with smooth outer walls such as flanges and tires, but it can also be adaptively adjusted according to the change in the inner diameter of the annular workpiece, and has a wider range of applications. In addition, the adjustable base 110 can also be located in the front adjustment hole 109 of the inner support clamp 108 through a bolt structure for position adjustment, so as to adapt to workpieces of different thicknesses.

[0026] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An adaptively adjustable clamping component, comprising an end effector assembly (1), characterized in that: The end effector assembly (1) comprises a cylinder mounting seat (101), a quick-change male head (102), a double-acting cylinder (103), a telescopic rod (104), a connecting rod (105), a mounting plate (106), a track (107), an inner support clamp (108), an adjustment hole (109) and an adjustable bottom bracket (110); the top of the cylinder mounting seat (101) is fixedly mounted with a quick-change male head (102); the cylinder mounting seat (101) is built with a double-acting cylinder (103); the output end of the double-acting cylinder (103) is fixedly mounted with a quick-change male head (102); A telescopic rod (104) is fixedly connected, and connecting rods (105) are distributed in a circular array at the end of the telescopic rod (104); a mounting plate (106) is welded and fixed at the bottom of the cylinder mounting seat (101), and tracks (107) are distributed in a flat circular array at the bottom of the mounting plate (106); an inner support clamp (108) is slidably installed inside each of the tracks (107), and a plurality of adjustment holes (109) are opened on the front of the inner support clamp (108), and an adjustable bottom bracket (110) is fixed inside the adjustment hole (109).

2. The self-adaptive clamping component according to claim 1, characterized in that: The number and position of the connecting rods (105) at the end of the telescopic rod (104) correspond one-to-one to the inner support clamping block (108), and the two ends of the connecting rod (105) are rotatably connected to the end of the telescopic rod (104) and the inner side of the inner support clamping block (108).

3. The self-adjustable clamping component according to claim 1, characterized in that: The front side of the inner support clamp block (108) is provided with adjustment holes (109) at equal intervals along the extension direction, and an adjustable bottom bracket (110) is fixed inside the adjustment hole (109) via a bolt structure.

4. The self-adjustable clamping component according to claim 1, characterized in that: The double-acting cylinder (103) is connected to the array-distributed connecting rods (105) through a telescopic rod (104), and each connecting rod (105) drives the inner support clamping block (108) to slide synchronously in the corresponding track (107).

5. A robot, the robot being equipped with the self-adaptive clamping component according to any one of claims 1 to 4, characterized in that: The robot assembly (2) comprises a base (3) at the bottom of the robot assembly (2), and a controller (4) is arranged on the side of the base (3).

6. A robot according to claim 5, characterized in that: An arm (5) is arranged on the top of the base (3), and a plurality of joints (6) composed of a motor, a reducer and an encoder are arranged in the middle of the arm (5).

7. A robot according to claim 6, characterized in that: A quick-change female head (7) is provided at the end of the arm (5), and the quick-change female head (7) is connected to the cylinder mounting seat (101) via a quick-change male head (102).

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