Industrial robot tail end clamping mechanism

Abstract

The utility model discloses an industrial robot tail end clamping mechanism in the technical field of industrial robots, which comprises a mounting seat and a connecting seat, the connecting seat is inserted into the bottom of the mounting seat, and mounting grooves are formed in the front side and the rear side of the interior of the mounting seat. Mounting plates are slidably connected between the tops and the bottoms of inner cavities of the mounting grooves in the front side and the rear side, inserting tenons are fixedly connected to the upper sides and the lower sides of the inner side walls of the mounting plates in the front side and the rear side, the tail ends of the inserting tenons in the front side and the rear side penetrate through the mounting base and extend into the connecting base, and the inserting tenon in the rear side is connected with the inserting tenon in the front side in an inserted mode. The tail end clamping mechanism of the industrial robot has the advantages that the tail end clamping mechanism is reasonable in structural design, the clamping structure can be quickly and conveniently detached and mounted, the clamping mechanism can be conveniently overhauled, and the plate clamping stability can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a terminal clamping mechanism of an industrial robot. Background Art

[0002] With the development of science and technology today, more and more human labor is replaced by machines. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] The structure of the existing industrial robot end clamping mechanism is relatively simple. When clamping the panel, most of them can only clamp the panel through the clamping plates on both sides. The clamping stability of the panel is insufficient and the panel is easy to fall off. In addition, the connection structure of the existing industrial robot end clamping mechanism is relatively complicated. After the clamping mechanism is installed and fixed, it is inconvenient to disassemble and repair it later. For this reason, we propose an industrial robot end clamping mechanism. Utility Model Content

[0004] The purpose of the utility model is to provide an industrial robot end clamping mechanism to solve the problem raised in the above background technology that the existing industrial robot end clamping mechanism has a relatively simple structure, and when clamping a plate, most of the plates can only be clamped by clamping plates on both sides, the clamping stability of the plate is insufficient, the plate is easy to fall off, and the connection structure of the existing industrial robot end clamping mechanism is relatively complicated. After the clamping mechanism is installed and fixed, it is inconvenient to disassemble and repair it later.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an industrial robot end gripping mechanism, comprising a mounting seat and a connecting seat, the connecting seat is plugged into the bottom of the mounting seat, the mounting seat has mounting grooves on the front and rear sides, the top and bottom of the inner cavity of the mounting grooves on the front and rear sides are slidably connected with mounting plates, the upper and lower sides of the inner side walls of the mounting plates on the front and rear sides are fixedly connected with tenons, the ends of the tenons on the front and rear sides pass through the mounting seat and extend to the inside of the connecting seat, and the tenons on the rear side are plugged into the tenons on the front side, and the outer walls of the mounting plates on the front and rear sides are fixedly connected with tenons on the upper and lower sides ... of the inner side walls of the mounting plates on the front and rear sides. A threaded pull rod is rotatably connected, and the ends of the threaded pull rod on the front and rear sides pass through the mounting seat and extend to the front and rear sides of the outer wall of the mounting seat, and the outer walls of the threaded pull rod on the front and rear sides are sleeved with return springs, and the front side wall of the inner cavity of the connecting seat is fixedly connected to a first motor, and a rear end of the power output shaft of the first motor is fixedly connected to a bidirectional screw, and the outer walls of the bidirectional screw are screwed with first connecting plates on the front and rear sides, and the bottoms of the first connecting plates on the front and rear sides pass through the connecting seat and extend to the bottom of the connecting seat, and the bottoms of the first connecting plates on the front and rear sides are fixedly connected to splints.

[0006] As a further description of the above technical solution:

[0007] The inner side walls of the front and rear clamps are fixedly connected with protection pads, and transmission compartments are opened on the upper and lower sides of the interior of the front and rear clamps.

[0008] As a further description of the above technical solution:

[0009] The outer walls of the inner cavities of the clamping plates on the front and rear sides are fixedly connected with a second motor, and the ends of the power output shafts of the second motors on the front and rear sides are fixedly connected with driving gears.

[0010] As a further description of the above technical solution:

[0011] A gear driven screw is rotatably connected between the top and bottom of the inner cavity of the transmission bin on the upper and lower sides.

[0012] As a further description of the above technical solution:

[0013] The ends of the gear driven screws on the upper and lower sides pass through the transmission bins on the upper and lower sides and extend to the inner cavity of the clamping plate, and the ends of the gear driven screws on the upper and lower sides are meshed and connected with the driving gear, and the outer side walls of the gear driven screws on the front and rear sides are screwed with a second connecting plate.

[0014] As a further description of the above technical solution:

[0015] The inner side walls of the second connecting plates on the front and rear sides penetrate the clamping plates on the front and rear sides and extend to the outer side walls of the clamping plates on the front and rear sides, and the inner side walls of the second connecting plates on the front and rear sides are fixedly connected with anti-slip positioning plates.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The end clamping mechanism of the industrial robot, when the clamping structure needs to be disassembled, the threaded pull rod is pulled so that the threaded pull rod drives the mounting plate to squeeze the reset spring, so that the tenon cancels the fixation of the connecting seat and moves into the mounting groove, and then the threaded pull rod is rotated so that the threaded part of the threaded pull rod is screwed with the mounting seat, and then the above steps are repeated to fix the threaded pull rod on the other side, and then the connecting seat is removed to inspect the clamping structure, and after completion, the connecting seat is inserted into the mounting seat, and then the threaded pull rod is rotated so that the threaded pull rod cancels the connection with the mounting seat, and then the reset spring is reset to push the mounting plate to move, so that the tenon is inserted into the connecting seat to fix the connecting seat, and then the above steps are repeated to fix the tenon on the other side to the connecting seat, so that the clamping structure can be quickly and conveniently disassembled and installed, which is convenient for the inspection and maintenance of the clamping mechanism.

[0018] 2. The end clamping mechanism of the industrial robot starts the first motor to drive the bidirectional screw to rotate, so that the first connecting plates on both sides follow the rotation of the bidirectional screw to drive the clamping plates on both sides to move closer to clamp the plate, and then starts the second motor to drive the driving gear to rotate, so that the driving gear drives the gear driven screws on both sides meshing with it to rotate, so that the anti-slip positioning plates installed on the gear driven screws on both sides follow the rotation of the gear driven screws on both sides to move closer to fix the plate, thereby effectively improving the stability of clamping the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a three-dimensional structural diagram of an industrial robot end gripping mechanism proposed by the utility model;

[0020] Figure 2 This is a schematic diagram of the left side cross-sectional structure of an industrial robot end gripping mechanism proposed by the utility model;

[0021] Figure 3 This is a front view and cross-sectional structural diagram of an industrial robot end gripping mechanism proposed by the utility model;

[0022] Figure 4 The utility model proposes an industrial robot end clamping mechanism Figure 2 Enlarged structural diagram at A in the middle.

[0023] In the figure: 100, mounting seat; 110, mounting groove; 120, mounting plate; 121, tenon; 130, threaded pull rod; 131, return spring; 200, connecting seat; 210, first motor; 211, bidirectional screw; 220, first connecting plate; 230, clamping plate; 231, protection pad; 240, transmission compartment; 250, second motor; 251, driving gear; 260, gear driven screw; 270, second connecting plate; 280, anti-slip positioning plate. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0025] In the description of the present utility model, 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 positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The utility model provides a clamping mechanism at the end of an industrial robot, which can quickly and conveniently disassemble and install the clamping structure, facilitate the maintenance of the clamping mechanism, and effectively improve the stability of the clamping of the plate. Figure 1-4 , comprising a mounting seat 100 and a connecting seat 200;

[0028] Please refer again Figure 1-3 The mounting seat 100 is used to install the main structure. The mounting seat 100 has mounting grooves 110 on the front and back sides. The mounting grooves 110 are used to install the mounting plates 120. The mounting plates 120 are slidably connected between the top and bottom of the inner cavity of the mounting grooves 110 on the front and back sides. The mounting plates 120 are used to install tenons 121. The inner side walls of the mounting plates 120 on the front and back sides are fixedly connected with tenons 121 on the upper and lower sides. The tenons 121 are used to fix the connecting seat 200. The ends of the tenons 121 on the front and back sides pass through the mounting seat 100 and extend to the interior of the connecting seat 200, and the rear tenon 121 is plugged with the front tenon 121. The outer side walls of the mounting plates 120 on the front and back sides are rotatably connected with threaded pull rods 130. The threaded pull rods 130 are used to connect the mounting plates 120. The ends of the threaded pull rods 130 on the front and back sides pass through the mounting seat 100 and extend to the front and back sides of the outer side walls of the mounting seat 100. The outer side walls of the threaded pull rods 130 on the front and back sides are sleeved with reset springs 131. The spring 131 is used to reset the mounting plate 120. When the clamping structure needs to be disassembled, the threaded pull rod 130 is pulled to drive the mounting plate 120 to squeeze the reset spring 131, so that the tenon 121 cancels the fixation of the connecting seat 200 and moves into the mounting groove 110, and then the threaded pull rod 130 is rotated to make the threaded part of the threaded pull rod 130 and the mounting seat 100 be screwed together, and then the above steps are repeated to fix the threaded pull rod 130 on the other side, and then the connecting seat 200 is removed to inspect the clamping structure. After completion, the connecting seat 200 is inserted into the mounting seat 100, and then the threaded pull rod 130 is rotated to cancel the connection between the threaded pull rod 130 and the mounting seat 100, and then the reset spring 131 is reset to push the mounting plate 120 to move, so that the tenon 121 is inserted into the connecting seat 200 to fix the connecting seat 200, and then the above steps are repeated to fix the tenon 121 on the other side to the connecting seat 200;

[0029] In summary, the clamping structure can be disassembled and installed quickly and conveniently, which is convenient for the maintenance of the clamping mechanism;

[0030] Please refer again Figure 1-4The connecting seat 200 is plugged into the bottom of the mounting seat 100, and the front side wall of the inner cavity of the connecting seat 200 is fixedly connected with a first motor 210, and the first motor 210 is used to drive a bidirectional screw 211. The rear end of the power output shaft of the first motor 210 is fixedly connected with a bidirectional screw 211, and the bidirectional screw 211 is used to install a first connecting plate 220. The front and rear sides of the outer wall of the bidirectional screw 211 are screwed with a first connecting plate 220, and the first connecting plate 220 is used to install a clamping plate 230. The bottom of the first connecting plates 220 on the front and rear sides penetrates the connecting seat 200 and extends to the bottom of the connecting seat 200, and the bottom of the first connecting plates 220 on the front and rear sides is fixed. A clamping plate 230 is connected, and the clamping plate 230 is used to fix the plate. The inner side walls of the front and rear clamping plates 230 are fixedly connected with a protective pad 231, and the protective pad 231 is used to protect the plate. The inner upper and lower sides of the front and rear clamping plates 230 are provided with a transmission compartment 240. The outer side walls of the inner cavity of the front and rear clamping plates 230 are fixedly connected with a second motor 250, and the second motor 250 is used to drive a driving gear 251. The end of the power output shaft of the second motor 250 on the front and rear sides is fixedly connected with a driving gear 251, and the driving gear 251 is used to drive the gear driven screw 260 to rotate. A gear is rotatably connected between the top and bottom of the inner cavity of the transmission compartments 240 on the upper and lower sides. The gear driven screw 260 is used to install the second connecting plate 270. The ends of the upper and lower gear driven screws 260 penetrate the upper and lower transmission bins 240 and extend to the inner cavity of the clamping plate 230. The ends of the upper and lower gear driven screws 260 are meshed and connected with the driving gear 251. The outer side walls of the front and rear gear driven screws 260 are screwed with the second connecting plate 270. The second connecting plate 270 is used to install the anti-slip positioning plate 280. The inner side walls of the front and rear second connecting plates 270 penetrate the front and rear clamping plates 230 and extend to the outer side walls of the front and rear clamping plates 230. The inner side walls of the front and rear second connecting plates 270 The side wall is fixedly connected with an anti-skid positioning plate 280, which is used to fix the plate. The first motor 210 is started to drive the bidirectional screw 211 to rotate, so that the first connecting plates 220 on both sides follow the rotation of the bidirectional screw 211 to drive the clamping plates 230 on both sides to move closer to clamp the plate. Then the second motor 250 is started to drive the driving gear 251 to rotate, so that the driving gear 251 drives the gear driven screws 260 on both sides meshing with it to rotate, so that the anti-skid positioning plates 280 installed on the gear driven screws 260 on both sides follow the rotation of the gear driven screws 260 on both sides to move closer to fix the plate.

[0031] In summary, the stability of plate clamping can be effectively improved;

[0032] During specific use, when the technicians in this technical field need to disassemble the clamping structure, they pull the threaded pull rod 130 so that the threaded pull rod 130 drives the mounting plate 120 to squeeze the reset spring 131, so that the tenon 121 cancels the fixation of the connecting seat 200 and moves into the mounting groove 110, then rotate the threaded pull rod 130 so that the threaded part of the threaded pull rod 130 is screwed with the mounting seat 100, and then repeat the above steps to fix the threaded pull rod 130 on the other side, and then remove the connecting seat 200 to inspect the clamping structure. After completion, the connecting seat 200 is inserted into the mounting seat 100, and then the threaded pull rod 130 is rotated to cancel the connection between the threaded pull rod 130 and the mounting seat 100, and then the reset spring 131 is reset and pushed. The movable mounting plate 120 is moved so that the tenon 121 is inserted into the connecting seat 200 to fix the connecting seat 200, and then the above steps are repeated to fix the tenon 121 on the other side to fix the connecting seat 200. The first motor 210 is started to drive the bidirectional screw 211 to rotate, so that the first connecting plates 220 on both sides follow the rotation of the bidirectional screw 211 to drive the clamping plates 230 on both sides to move closer to clamp the plate, and then the second motor 250 is started to drive the driving gear 251 to rotate, so that the driving gear 251 drives the gear driven screws 260 on both sides meshing with it to rotate, so that the anti-slip positioning plates 280 installed on the gear driven screws 260 on both sides follow the rotation of the gear driven screws 260 on both sides to move closer to fix the plate.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" 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 representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0034] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate 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 claims and their equivalents.

Claims

1. An industrial robot end gripping mechanism, characterized in that: The invention comprises a mounting seat (100) and a connecting seat (200), wherein the connecting seat (200) is plugged into the bottom of the mounting seat (100), the mounting seat (100) is provided with mounting grooves (110) on the front and rear sides, the inner cavity top and bottom of the mounting grooves (110) on the front and rear sides are slidably connected with mounting plates (120), the inner side walls of the mounting plates (120) on the front and rear sides are fixedly connected with tenons (121) on the upper and lower sides, the ends of the tenons (121) on the front and rear sides pass through the mounting seat (100) and extend into the interior of the connecting seat (200), and the tenons (121) on the rear side are plugged into the tenons (121) on the front side, the outer side walls of the mounting plates (120) on the front and rear sides are rotatably connected with threaded pull rods (130), and the outer side walls of the mounting plates (120) on the front and rear sides are fixedly connected with tenons (121) on the upper and lower sides, and the ends of the tenons (121) on the front and rear sides pass through the mounting seat (100) and extend into the interior of the connecting seat (200), and the tenons (121) on the rear side are plugged into the tenons (121) on the front side, and the outer side walls of the mounting plates (120) on the front and rear sides are rotatably connected with threaded pull rods (130), and the inner side walls of the mounting plates (120) on the front and rear sides are fixedly connected with tenons (121) on the upper and lower sides, and the inner side walls of the mounting plates (120) on the front and rear sides are fixedly connected with tenons (121) on the upper and lower sides, and the ends of the tenons (121) on the front and rear sides pass through the mounting seat (100) and extend into the interior The end of the threaded pull rod (130) passes through the mounting seat (100) and extends to the front and rear sides of the outer wall of the mounting seat (100); the outer walls of the threaded pull rod (130) on the front and rear sides are sleeved with return springs (131); the front side wall of the inner cavity of the connecting seat (200) is fixedly connected to the first motor (210); the rear end of the power output shaft of the first motor (210) is fixedly connected to a bidirectional screw (211); the outer walls of the bidirectional screw (211) are screwed with a first connecting plate (220) on the front and rear sides; the bottom of the first connecting plate (220) on the front and rear sides passes through the connecting seat (200) and extends to the bottom of the connecting seat (200); and the bottom of the first connecting plate (220) on the front and rear sides is fixedly connected to a clamping plate (230).

2. The industrial robot end gripping mechanism according to claim 1, characterized in that: The inner side walls of the front and rear clamping plates (230) are fixedly connected with protection pads (231), and transmission compartments (240) are opened on the upper and lower sides of the interior of the front and rear clamping plates (230).

3. The industrial robot end gripping mechanism according to claim 2, characterized in that: The outer walls of the inner cavities of the clamping plates (230) on the front and rear sides are fixedly connected to a second motor (250), and the ends of the power output shafts of the second motors (250) on the front and rear sides are fixedly connected to a driving gear (251).

4. The industrial robot end gripping mechanism according to claim 3, characterized in that: A gear driven screw (260) is rotatably connected between the top and bottom of the inner cavity of the transmission bin (240) on the upper and lower sides.

5. The industrial robot end gripping mechanism according to claim 4, characterized in that: The ends of the gear driven screws (260) on the upper and lower sides pass through the transmission bins (240) on the upper and lower sides and extend to the inner cavity of the clamping plate (230), and the ends of the gear driven screws (260) on the upper and lower sides are meshed and connected with the driving gear (251), and the outer side walls of the gear driven screws (260) on the front and rear sides are screwed with a second connecting plate (270).

6. The industrial robot end gripping mechanism according to claim 5, characterized in that: The inner side walls of the second connecting plates (270) on the front and rear sides penetrate the clamping plates (230) on the front and rear sides and extend to the outer side walls of the clamping plates (230) on the front and rear sides, and the inner side walls of the second connecting plates (270) on the front and rear sides are fixedly connected with anti-slip positioning plates (280).

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