Hooking and clamping assembly and mechanical arm clamp
By designing a hook clamp assembly including a connector, main shell, straight rod and finger hook plate, the problem of small contact surfaces between the fingers and the workpiece in the robotic arm fixture causing the workpiece to tilt or fall, and the workpiece is moved Stability and safety in the process.
Patent Information
- Application Number
- CN202323616992.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-27
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2033-12-27
AI Technical Summary
The existing mechanical arm fixtures are composed of electric jaws and fingers. The contact surface between the fingers and the workpiece is small, which causes the workpiece to be easily tilted or dropped during movement, causing damage.
Design a hook clamp assembly, including a connector, main shell, straight rod and finger clamp plate, hook the reserved groove or positioning iron sheet of the workpiece through the finger clamping plate, change the traditional clamping method and increase the stability of the workpiece .
Through the hook clamping method of the finger hook plate, the workpiece is more stable during the moving positioning process and is not easy to fall off, avoiding damage to the electric jaws and workpieces, and at the same time, reducing the cost of the fixture and improving the clamping accuracy.
Smart Images
Figure CN222494325U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of clamps, in particular to a hook clamp component and a mechanical arm clamp. Background Art
[0002] The existing mechanical arm clamps usually use electric grippers and gripping fingers to grip the workpiece, that is, the mechanical arm is matched with the electric grippers and gripping fingers to realize the picking, placing and moving of the workpiece.
[0003] However, the finger width of the electric gripper in the prior art is not enough. When grasping a workpiece, the contact area between the finger and the workpiece is small. As a result, the workpiece may tilt or fall during movement, causing damage to the workpiece and the electric gripper.
[0004] Therefore, the existing technology needs to be improved and developed. Summary of the invention
[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a hook clamp assembly and a robotic arm clamp, aiming to solve the problem that the robotic arm clamp in the prior art usually adopts an electric clamp and a clamping finger to clamp the workpiece, the contact area between the clamping finger and the workpiece is small, and the workpiece may tilt or fall during the movement of the workpiece, causing damage to the workpiece and the electric clamp.
[0006] The technical solution of the utility model is as follows: a hook clamp assembly is provided, which includes: a connecting piece, a main shell, a plurality of straight rods and a finger hook plate; one end of the connecting piece is used to connect with the electric clamp, the other end of the connecting piece is arranged in the main shell, and the outer wall of the side of the other end of the connecting piece is in contact with the inner wall of the main shell; the opening of the main shell is arranged at one end facing the connecting piece; a plurality of the straight rods are threadedly connected to the main shell, and the other end of the connecting piece is sleeved on the straight rods; the finger hook plate is connected to the main shell.
[0007] A further configuration of the utility model is that a nut is provided on one end of the straight rod, a spiral portion is provided on the other end of the straight rod, the straight rod is threadedly connected to the main shell body through the spiral portion, a main body portion is provided between the nut and the spiral portion, and a spring is provided on the main body portion; one end of the spring abuts against the other end of the connecting piece, and the other end of the spring abuts against the main shell body.
[0008] According to a further configuration of the utility model, the main housing and the finger hook plate are connected by a plurality of screws.
[0009] According to a further configuration of the utility model, the surfaces of the screw and the spiral portion are coated with glue.
[0010] According to a further configuration of the utility model, a limiting portion and finger hooks located at both sides of the limiting portion are provided on the finger hook plate.
[0011] According to a further configuration of the utility model, the screw is a hexagon socket head screw.
[0012] According to a further configuration of the utility model, the partition is provided with a first through hole for passing the connecting rod.
[0013] According to a further configuration of the utility model, the spring is a flat-head spring.
[0014] The utility model also provides a mechanical arm clamp, which comprises: a mechanical arm, an electric clamp and the above-mentioned hook clamp components arranged on both sides of the bottom of the electric clamp.
[0015] Beneficial effects: The utility model discloses a hook clamp assembly and a mechanical arm clamp. The hook clamp assembly comprises: a connecting member, a main housing, a plurality of straight rods and a finger hook plate; one end of the connecting member is used to connect with the electric clamp, the other end of the connecting member is arranged in the main housing, and the outer wall of the side of the other end of the connecting member contacts the inner wall of the main housing; the opening of the main housing is arranged at one end facing the connecting member; the plurality of straight rods are threadedly connected to the main housing, and the other end of the connecting member is sleeved on the straight rods; the finger hook plate is connected to the main housing.
[0016] The utility model clamps the workpiece by hooking and clamping components, and the finger hook plate can hook the inner wall of the reserved groove or the positioning iron sheet at the top of the workpiece, thereby changing the traditional workpiece clamping method from the method of clamping with finger clamps to the method of clamping the workpiece with the finger hook plate. In this way, the workpiece can be more stable during the process of moving and positioning, and is not easy to fall off, and the electric clamp and the workpiece will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 It is a structural schematic diagram of a mechanical arm fixture of the prior art;
[0019] Figure 2 A schematic diagram of the three-dimensional structure of the mechanical arm clamp provided by the utility model;
[0020] Figure 3A three-dimensional structural schematic diagram of the hook and clamp assembly provided by the utility model;
[0021] Figure 4 for Figure 3 A side view of the hook clamp assembly described in;
[0022] Figure 5 for Figure 3 A top view of the hook and clamp assembly described in;
[0023] Figure 6 for Figure 3 A bottom view of the hook clamp assembly described in;
[0024] Figure 7 for Figure 3 A schematic cross-sectional view of the hook and clamp assembly described in;
[0025] Figure 8 for Figure 3 A schematic cross-sectional structure diagram of the hook and clamp assembly when working.
[0026] Explanation of the reference numerals in the accompanying drawings: 1. electric clamp; 2. clamping finger; 3. workpiece; 100. hook clamp assembly; 10. connecting piece; 20. main housing; 30. straight rod; 40. finger hook plate; 50. spring; 60. screw; 31. nut; 32. main body; 33. spiral part; 41. limit part; 42. finger hook. DETAILED DESCRIPTION
[0027] In order to enable those skilled in the art to better understand the solution of the utility model, 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 of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.
[0029] like Figure 1 As shown, the existing robot arm clamp is assembled by a parallel opening and closing servo electric clamp 1 and a clamp finger 2 to clamp the workpiece 3, that is, the robot arm cooperates with the robot arm clamp to realize the picking, placing and moving of the workpiece 3.
[0030] but Figure 1In the mechanical arm fixture composed of the electric gripper 1 and the gripper finger 2, because the gripper finger 2 will open and clamp the workpiece 3 during the process of grasping the workpiece 3, it is necessary to reserve enough gripping space between the workpieces 3, and the place where the workpiece 3 is placed needs to reserve enough space for the gripper finger 2 to ensure that it will not interfere with the adjacent workpiece 3 during gripping. This will limit the overall gripping flexibility and efficiency of the fixture; it will also require additional structural design and engineering to reserve gripping space for the gripper finger 2, and cause the equipment to require more space when performing tasks, increasing the work cost; in addition, reserving gripping space for the gripper finger 2 will introduce additional uncertainty, because during gripping, the actual position and state of the workpiece 3 may be affected by the reserved space, resulting in gripping error problems.
[0031] In addition, the robot arm clamp grasps the workpiece through the clamping fingers 2, which may cause the workpiece 3 to be clamped too tightly, thereby causing damage to the workpiece 3. In addition, improper adjustment of the clamping force of the electric clamp 1 may cause the clamping fingers 2 to apply excessive force to the workpiece 3. The robot arm clamp will have direct hard contact with the workpiece, causing deformation, breakage or other damage to the workpiece 3 and the robot arm clamp.
[0032] Moreover, when the robot arm clamp grasps the workpiece 3 through the clamping fingers 2, the width of the clamping fingers 2 is insufficient, and the clamping area between the workpiece and the clamping fingers 2 is small. In this way, there is a risk of tilting or falling of the workpiece 3 during movement, which may affect production efficiency, increase instability during the working process, and easily damage the workpiece 3.
[0033] In addition, when the robot arm clamp grasps the workpiece 3 through the clamping fingers 2, there may be a problem that the clamping force of the clamping fingers 2 is insufficient during the grasping process, causing the workpiece 3 to fall and thus easily damage the workpiece 3.
[0034] Therefore, the method of picking up, placing and moving the workpiece 3 by a mechanical arm fixture composed of an electric gripper 1 and gripping fingers 2 in the prior art has certain disadvantages, and the prior art needs to be improved and developed.
[0035] Therefore, based on the above technical problems, the utility model provides a hook clamp assembly and a mechanical arm clamp. Figures 2 to 8 And specific embodiments are provided for illustration.
[0036] In the present invention, the specific structure and working principle of the present invention are introduced by taking the hook clamp assembly and the robot arm clamp as examples, but the application of the present invention is not limited to the hook clamp assembly and the robot arm clamp, and can also be applied to the use of other similar workpieces.
[0037] like Figure 2As shown, the utility model provides a mechanical arm clamp, comprising: a mechanical arm (not shown), an electric clamp 1, and hook clamp assemblies 100 arranged on both sides of the bottom of the electric clamp 1, and the electric clamp 1 is fixedly connected to a plurality of the hook clamp assemblies 100. The mechanical arm is connected to the electric clamp 1.
[0038] Among them, the number of the hook clamp assemblies 100 connected to the electric clamp 1 is two, which are arranged corresponding to the electric clamp 1. In the embodiment of the robotic arm clamp provided in the utility model, two hook clamp assemblies 100 are arranged and respectively connected to the two sides of the bottom of the robotic arm clamp for description.
[0039] The mechanical arm clamp provided by the utility model is used to clamp a workpiece, such as taking a workpiece, etc. The mechanical arm clamp provided by the utility model is compared with Figure 1 The difference between the prior art robot arm clamp shown in is that the clamping fingers 2 in the robot arm clamp are replaced by the hook clamp assembly 100 .
[0040] Please combine the following Figures 2 to 8 The hook and clip assembly 100 provided by the utility model is described in detail.
[0041] like Figures 2 to 5 As shown, the hook clamp assembly 100 provided by the utility model includes: a connecting member 10, a main shell 20, a plurality of straight rods 30 and a finger hook plate 40; one end of the connecting member 10 is used to connect with the electric clamp 1, and the other end of the connecting member 10 is arranged in the main shell 20, and the outer wall of the side of the other end of the connecting member 10 contacts the inner wall of the main shell 20; the opening of the main shell 20 is arranged at one end facing the connecting member 10; a plurality of the straight rods 30 are threadedly connected to the main shell 20, and the other end of the connecting member 10 is sleeved on the straight rods 30; the finger hook plate 40 is connected to the main shell 20.
[0042] Specifically, the connecting member 10 has two opposite ends, one end of the connecting member 10 is used to connect with the electric clamp 1, and the other opposite end is a rectangular parallelepiped structure. The main housing 20 has an opening, and the opening of the main housing 20 is arranged at one end facing the connecting member 10. The main housing 20 is specifically a rectangular parallelepiped structure with one opening face and the other five faces are closed, so an accommodating space is formed in the main housing 20, and in the main housing 20, there is also a solid part below the accommodating space.
[0043] In a natural state, the other end of the connecting member 10 is disposed inside the main housing 20 , that is, in the accommodating space of the main housing 20 , and the rest of the connecting member 10 is disposed outside the main housing 20 .
[0044] Moreover, the outer wall of the side portion of the other end of the connecting member 10 is in contact with the inner wall of the main housing 20, and the connecting member 10 can move along the inner wall of the main housing 20. In a natural state, the connecting member 10 is partially disposed in the main housing 20, that is, the other end of the connecting member 10 of the rectangular parallelepiped structure is disposed in the main housing 20, and the rest of the connecting member 10 protrudes from the main housing 20.
[0045] Furthermore, the straight rod 30 is connected to the main housing 20 by a threaded connection, that is, the straight rod 30 is threadedly connected to the main housing 20, specifically, is threadedly connected to the solid part of the main housing 20. In addition, the straight rod 30 is also connected to the connecting member 10 by a sleeve connection, that is, the other end of the connecting member 10 is sleeved on the straight rod 30, specifically, sleeved near one end of the straight rod 30, and the other end of the straight rod 30 faces the finger hook plate 40.
[0046] Furthermore, the finger hook plate 40 is connected to the main shell 20, and the finger hook plate 40 is specifically connected to the end of the main shell 20 opposite to the opening of the main shell 20, that is, the finger hook plate 40 is connected to the bottom of the main shell 20, and the finger hook plate 40 is used to hook the workpiece 3. In this way, through the hook clamping assembly 100 on both sides of the bottom of the electric clamp 1, after hooking the workpiece 3, the electric clamp 1 is closed, and the robotic arm clamp can complete the clamping of the workpiece 3.
[0047] In this way, for the hook clamp assembly 100, after the connecting member 10 is connected to the electric clamp 1, the hook clamp assembly 100 can move along with the movement of the electric clamp 1 under the drive of the robotic arm, so as to hook the workpiece 3 through the finger hook plate 40, and the electric clamp 1 can clamp the workpiece 3 through the mutual cooperation of the hook clamp assemblies 100 arranged on both sides of the bottom; in addition, the hook clamp assembly 100 can also complete the opening and closing actions under the drive of the electric clamp 1 to match workpieces 3 of different sizes.
[0048] In this way, for the robot arm clamp, the workpiece 3 is clamped by the hook clamp assembly 100 arranged on both sides of the bottom, and the finger hook plate 40 can hook the inner wall of the reserved groove or the positioning iron sheet at the top of the workpiece 3, without the need for Figure 1 The clamping jaws need to be opened to a width greater than the workpiece 3, so there is no need to reserve additional grasping space between the workpieces 3 where the workpieces 3 are placed, thereby achieving the effect of reducing costs and improving grasping accuracy.
[0049] Moreover, because the shape of the hook has a certain accommodation, it can better adapt to the shape of the workpiece 3. This shape adaptability helps to reduce the possibility of shaking and falling off of the workpiece 3 during movement, so the workpiece 3 can be more stably suspended on the finger hook plate 40. In addition, the hooking method can usually better grasp the center of gravity position of the workpiece 3, making the workpiece 3 more stable when clamping.
[0050] In this way, through the hook clamp assembly 100 provided in the present application, when the robot arm clamp clamps the workpiece 3, there is no need to reserve additional grasping space between the workpieces 3, thereby achieving the effect of reducing costs.
[0051] In addition, in the utility model, the traditional way of clamping the workpiece 3 is changed from the way of grasping with the clamping fingers 2 to the way of clamping with the finger hook plate 40. In this way, the workpiece 3 can be more stable during the process of moving and positioning, and is not easy to fall off, and the electric clamp 1 and the workpiece 3 will not be damaged.
[0052] Further, in a possible implementation, a nut 31 is provided on one end of the straight rod 30, a spiral portion 33 is provided on the other end of the straight rod 30, the straight rod 30 is threadedly connected to the main housing 20 through the spiral portion 33, a main body 32 is provided between the nut 31 and the spiral portion 33, and a spring 50 is provided on the main body 32; one end of the spring 50 abuts against the other end of the connecting member 10, and the other end of the spring 50 abuts against the main housing 20. In the present application, the spring 50 can be set as a flat-head spring 50, but is not limited thereto.
[0053] Specifically, the straight rod 30 specifically includes: the nut 31, the main body 32 and the spiral portion 33; in the present application, the nut 31 is provided at the end of the straight rod 30 in the direction toward the connecting member 10, and the spiral portion 33 is provided at the end of the straight rod 30 in the direction toward the hook plate 40, and the connecting member 10 is sleeved on the bottom of the nut 31, and the connecting member 10 can slide along the straight rod 30.
[0054] Furthermore, the bottom of the spiral portion 33 is configured to be conical, and a thread is provided on the main surface of the spiral portion 33 , so that the straight rod 30 can be inserted into the main housing 20 through the spiral portion 33 .
[0055] Moreover, through the arrangement of the nut 31 and the spiral portion 33, the upper and lower ends of the main body 32 of each straight rod 30 are respectively flush with the end of the bottom of the main shell 20 and the top of the solid part of the main shell 20, so that the straight rod 30 is positioned in the vertical direction, achieving the effect of limiting the verticality of the straight rod 30.
[0056] In addition, the spring 50 is provided on the main body 32, and the spring 50 is located on the movement path of the other end of the connecting member 10, and spring grooves for installing the spring 50 are provided at the bottom of the other end of the connecting member 10 and at the threaded connection of the straight rod 30 to the main shell 20, so that the spring 50 will not swing back and forth.
[0057] The two ends of the spring 50 are respectively in contact with the main shell 20 and the connecting member 10, so that when the connecting member 10 is driven with the electric clamp 1, the structure formed by the electric clamp 1 and the connecting member 10 can be buffered by the spring 50 on the straight rod 30 to avoid hard contact between the robot arm clamp and the workpiece 3 when clamping the workpiece 3, thereby damaging the electric clamp 1, the workpiece 3 and the robot arm, thereby achieving the effect of protecting each device.
[0058] Further, in a possible implementation, the main housing 20 and the finger hook plate 40 are connected by a plurality of screws 60. In order to fix the main housing 20 and the finger hook plate 40, the utility model provides the screws 60 between the main housing 20 and the finger hook plate 40 to fix the two. Specifically, the screws 60 may be hexagon socket head screws 60.
[0059] Further, in a possible implementation, glue is applied on the surface of the screw 60 and the spiral portion 33. Specifically, to ensure that the screw 60 and the straight rod 30 in the hook and clamp assembly 100 will not loosen during use of the clamp, the present application applies 242 glue on the surface of the screw 60 and the spiral portion 33 to reinforce the overall structure of the entire hook and clamp assembly 100, so as to achieve the effect of improving the stability of the entire device.
[0060] Furthermore, in a possible implementation manner, the finger hook plate 40 is provided with a limiting portion 41 and finger hooks 42 located on both sides of the limiting portion 41. Specifically, Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the finger hook plate 40 includes: the limiting portion 41 and the finger hook 42. The middle of the part of the finger hook plate 40 that hooks the workpiece 3 is the limiting portion 41, and the finger hooks 42 are protrudingly provided on both sides of the limiting portion 41. The limiting portion 41 is used to limit the workpiece 3 to be clamped, and the finger hook 42 is used to hook the workpiece.
[0061] Please combine the following Figure 2 , Figure 7 and Figure 8, the working mode of the hook clamp assembly 100 is described. When the hook clamp assembly 100 is driven by the robot arm and the electric clamp 1 clamps the workpiece 3, the finger hook plate 40 hooks the inner wall of the groove reserved on the workpiece 3 or the positioning iron sheet of the workpiece 3, and the robot arm clamp can clamp the workpiece 3, and the workpiece 3 is picked up, placed and driven by the robot arm.
[0062] When clamping a lighter workpiece 3, the finger hook can hook the workpiece 3, and the hook clamp components 100 on both sides of the robot arm clamp can clamp the workpiece 3 through the finger hook 42, and the robot arm clamp can complete the clamping and placement of the workpiece 3.
[0063] When clamping a heavy workpiece 3, Figure 8 As shown, the workpiece 3 contacts and limits the position of the limit portion 41 of the hook plate 40, and the connecting member 10 continues to move toward the workpiece 3 along with the structure composed of the robot arm and the electric clamp 1. At this time, the spring 50 is squeezed, and the connecting member 10, the robot arm and the electric clamp 1 are buffered by the spring 50 to prevent the robot arm fixture from making hard contact with the workpiece 3 when clamping the workpiece 3, thereby damaging the electric clamp 1, the workpiece 3 and the robot arm, thereby protecting each device. Until the robot arm lifts the electric clamp 1, the spring 50 returns to a normal state.
[0064] Therefore, the utility model replaces the clamping fingers 2 of the robot arm clamp in the prior art with the hook clamp assembly 100 so that when the robot arm clamp clamps the workpiece 3, there is no need to reserve a gripping space for the clamping claws between the workpieces 3, thereby achieving the effect of reducing costs.
[0065] In addition, the hook clamp assembly 100 can also act as a buffer, so that when the robot arm clamp is clamping the workpiece 3, it can avoid hard contact with the workpiece 3 and thus damage the electric clamp 1, the workpiece 3 and the robot arm, thereby achieving the effect of protecting various devices.
[0066] It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A hook and clip assembly, characterized in that: include: A connecting member, a main housing, a plurality of straight rods and a finger hook plate; One end of the connecting member is used to connect with the electric clamp, and the other end of the connecting member is arranged in the main housing, and the outer wall of the side portion of the other end of the connecting member contacts the inner wall of the main housing; The opening of the main housing is arranged at one end facing the connecting member; A plurality of straight rods are threadedly connected to the main housing, and the other end of the connecting member is sleeved on the straight rods; The finger hook plate is connected to the main housing.
2. The hook clip assembly according to claim 1, characterized in that: A nut is disposed on one end of the straight rod, a spiral portion is disposed on the other end of the straight rod, the straight rod is threadedly connected to the main housing through the spiral portion, a main body portion is disposed between the nut and the spiral portion, and a spring is disposed on the main body portion; One end of the spring abuts against the other end of the connecting member, and the other end of the spring abuts against the main housing.
3. The hook clip assembly according to claim 2, characterized in that: The main housing and the finger hook plate are connected by a plurality of screws.
4. The hook clip assembly according to claim 3, characterized in that: The surfaces of the screw and the spiral portion are coated with glue.
5. The hook clip assembly according to claim 1, characterized in that: The finger hook plate is provided with a limiting portion and finger hooks located at both sides of the limiting portion.
6. The hook clip assembly according to claim 3, characterized in that: The screw is a hexagon socket head screw.
7. The hook clip assembly according to claim 2, characterized in that: The spring is a flat head spring.
8. A mechanical arm fixture, characterized in that: include: A mechanical arm, an electric clamp and a hook clamp assembly as claimed in any one of claims 1 to 7 arranged on both sides of the bottom of the electric clamp.