Robot tool with balance structure

Abstract

The utility model relates to the technical field of robot tools, and discloses a robot tool with a balance structure. The robot tool with the balance structure comprises a hoisting plate, a limiting block is fixedly installed below the hoisting plate, an adapter block is movably installed below the limiting block, a fixing shaft is installed in the center of the adapter block in a penetrating and inserting mode, an adjusting piston is fixedly installed below the adapter block, and the adjusting piston is movably installed below the limiting block. If the gravity center of the article is not located below the gravity center of the hoisting plate, the sizes of forces borne by the adjusting pistons on the front side and the rear side of the hoisting plate are inconsistent, and the controller controls the elongation of the adjusting piston on one side according to monitoring data of the tension sensor, so that the included angle between the adjusting pistons changes; and meanwhile, the connecting plate can drive the limiting plate to enable the article to rotate, so that the gravity center of the article is located below the resultant force of the pulling force applied to the article by the adjusting piston, and the adjusting piston reaches the stress balance state.

Description

Technical Field

[0001] The utility model relates to the technical field of robot tooling, in particular to a robot tooling with a balancing structure. Background Art

[0002] Robot tooling is an external device applied to the robot body to enhance the robot's functions and performance. It can include various components such as sensors, actuators, power supplies, and structures and interfaces that connect these components. The design and use of robot tooling can be customized according to specific application requirements, so that the robot can better complete specific tasks.

[0003] The existing referenceable Chinese utility model patent with announcement number: CN218285575U discloses an industrial robot fixture, including two groups of welding robots, a positioner rack, two groups of positioner boxes arranged on the positioner rack, and a fence to be processed, wherein an axle seat is arranged in the positioner box, and a central column is rotatably connected to the inner side of the axle seat, and positioning plates are fixed on opposite sides of the two groups of central columns, and a workpiece rack is fixed between the two groups of positioning plates to provide a placement point for the fence to be processed, and a clamp assembly for clamping the fence to be processed is arranged on the workpiece rack. The industrial robot fixture is designed with a workpiece rack to provide a placement space for the fence to be processed, equipped with a first electric push rod and a clamp block to achieve clamping of the fence to be processed, and a second electric push rod, a rack and a gear and other structures are designed so that the clamped fence to be processed can rotate around the central column to achieve angle adjustment of the clamped fence to be processed, and after rotating 180 degrees, the clamping of the fence to be processed is released, and the mechanized unloading work can be achieved.

[0004] Robotic clamping tools can fix objects by clamping. Existing robotic clamping tools cannot adjust the clamping structure according to the center position of the object during the clamping process, causing one side of the clamping structure to bear more gravity of the object, affecting the service life of the parts. At the same time, the existing clamping tools may cause damage to the surface of the object due to excessive clamping force during the clamping process. Utility Model Content

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the utility model provides a robot tooling with a balancing structure, which has the advantages of being able to be adjusted according to the center of gravity position of the clamped object and being able to avoid causing damage to the clamped object, thereby solving the above-mentioned technical problems.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a robot tooling with a balancing structure, comprising: a lifting plate, a limiting block is fixedly installed below the lifting plate, a transfer block is movably installed below the limiting block, a fixed shaft is inserted through the center of the transfer block, an adjusting piston is fixedly installed below the transfer block, a tension sensor is fixedly installed below the adjusting piston, a movable block is fixedly installed below the tension sensor, a movable shaft is inserted through the center of the movable block, a connecting plate is fixedly installed on the right side of the movable shaft, a clamping piston is inserted through the front end of the connecting plate, a pressure sensor is fixedly installed on the right end of the clamping piston, a limiting plate is fixedly installed on the right side of the pressure sensor, a rubber ring is fixedly installed on the right side of the limiting plate, and a controller is fixedly installed above the lifting plate; the adjusting piston can adjust the angle of the connecting plate.

[0009] As the preferred technical solution of the utility model, the limit block is symmetrically installed at the four corners of the bottom surface of the hanging plate with the center of the hanging plate as the reference, and the fixed axis passes through the adapter block and the limit block; the limit block can limit the position of the adapter block through the fixed axis.

[0010] As a preferred technical solution of the utility model, the adapter block is rotatably connected with the limit block via a fixed shaft, and the regulating piston is rotatably connected with the limit block via the adapter block; the adapter block can limit the position of the regulating piston.

[0011] As a preferred technical solution of the utility model, the movable shaft passes through the movable block and the connecting plate to form a fixed connection, and the connecting plate and the movable block are rotatably connected through the movable shaft; the movable block can facilitate the connection state between the adjustment piston and the connecting plate.

[0012] As the preferred technical solution of the utility model, the installation position of the movable shaft is staggered front and back from the position of the fixed shaft, so that the regulating pistons on the front and rear sides of the lifting plate are in a mirror-symmetrical tilted state; the movable shaft can facilitate the rotation of the connecting plate.

[0013] As the preferred technical solution of the utility model, the clamping piston is installed at the front and rear ends of the connecting plates on the left and right sides of the lifting plate in a mirror-symmetrical manner with the center of the lifting plate as the reference, and the limit plate is movably connected to the connecting plate through the clamping piston; the clamping piston can apply pressure to the object through the limit plate to increase the relative friction between the object and the rubber ring so that the object is fixed between the limit plates.

[0014] As the preferred technical solution of the utility model, the rubber ring is fixedly installed on the vertical surfaces opposite to the limit plates on the left and right sides below the lifting plate, and the controller is electrically connected to the tension sensor and the pressure sensor; the controller can adjust the elongation of the regulating piston according to the monitoring data of the tension sensor.

[0015] Compared with the prior art, the utility model provides a robot tooling with a balanced structure, which has the following beneficial effects:

[0016] 1. The utility model sets a tension sensor, which can monitor the tension exerted on the adjusting piston. After the object is fixed in the space between the limit plates, the adjusting piston will be subjected to a downward force. Since the installation position of the movable shaft is staggered with the position of the fixed shaft, the adjusting pistons on the front and rear sides of the lifting plate are in a tilted state that is mirror-symmetrical front and rear. The resultant force of the tension exerted by the adjusting piston on the object is located between the fixed shafts. If the center of gravity of the object is not below the center of gravity of the lifting plate, the magnitude of the force exerted on the adjusting pistons on the front and rear sides of the lifting plate will be inconsistent. The controller will control the elongation of the adjusting piston on one side according to the monitoring data of the tension sensor to change the angle between the adjusting pistons to change the position of the resultant force of the tension exerted by the adjusting piston on the object. At the same time, the connecting plate will drive the limit plate to rotate the object, so that the center of gravity of the object is located below the resultant force of the tension exerted by the adjusting piston on the object, so that the adjusting piston reaches a state of force balance.

[0017] 2. The utility model sets a pressure sensor, which is fixedly installed at the end of the clamping piston. The clamping piston is symmetrically installed on the front and rear ends of the connecting plates on the left and right sides of the lifting plate with the center of the lifting plate as the reference. The position of the limit plate is adjusted by the clamping piston to reduce the distance between the limit plates, so that the limit plates can clamp objects. The maximum value of the pressure sensor monitoring data is limited by the controller. After the rubber ring contacts the object, the pressure sensor can monitor the relative pressure between the clamping piston and the limit plate. When the monitoring data of the pressure sensor is close to the preset value of the controller, the controller will stop the clamping piston from extending further to avoid damage to the surface of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the installation structure of the utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the utility model;

[0022] Among them; 1. lifting plate; 11. limit block; 12. adapter block; 13. fixed shaft; 14. adjusting piston; 15. tension sensor; 16. movable block; 17. movable shaft; 18. connecting plate; 19. clamping piston; 110. pressure sensor; 111. limit plate; 112. rubber ring; 113. controller. DETAILED DESCRIPTION

[0023] 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.

[0024] In the description of the present invention, unless otherwise specified, "multiple" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" 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 an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figure 1-Figure 4 In the present embodiment, a robot tooling with a balancing structure includes: a hanging plate 1, a limit block 11 is fixedly installed below the hanging plate 1, a transfer block 12 is movably installed below the limit block 11, a fixed shaft 13 is inserted through the center of the transfer block 12, an adjusting piston 14 is fixedly installed below the transfer block 12, a tension sensor 15 is fixedly installed below the adjusting piston 14, a movable block 16 is fixedly installed below the tension sensor 15, a movable shaft 17 is inserted through the center of the movable block 16, a connecting plate 18 is fixedly installed on the right side of the movable shaft 17, a clamping piston 19 is inserted through the front end of the connecting plate 18, a pressure sensor 110 is fixedly installed on the right end of the clamping piston 19, a limit plate 111 is fixedly installed on the right side of the pressure sensor 110, a rubber ring 112 is fixedly installed on the right side of the limit plate 111, and a controller 113 is fixedly installed on the top of the hanging plate 1.

[0027] The limiting blocks 11 are symmetrically installed at the four corners of the bottom surface of the hanging plate 1 with the center of the hanging plate 1 as a reference, and the fixed shaft 13 passes through the adapter block 12 and the limiting blocks 11 .

[0028] The adapter block 12 is rotatably connected to the limit block 11 via the fixed shaft 13 , and the regulating piston 14 is rotatably connected to the limit block 11 via the adapter block 12 .

[0029] The movable shaft 17 passes through the movable block 16 and the connecting plate 18 to form a fixed connection, and the connecting plate 18 is rotatably connected to the movable block 16 through the movable shaft 17 .

[0030] The installation position of the movable shaft 17 is staggered front and back from the position of the fixed shaft 13 , so that the regulating pistons 14 on the front and rear sides of the hanging plate 1 are in a tilted state that is mirror-symmetrical front and rear.

[0031] The clamping piston 19 is installed at the front and rear ends of the connecting plate 18 on the left and right sides of the hanging plate 1 symmetrically with the center of the hanging plate 1 as the reference, and the limit plate 111 is movably connected with the connecting plate 18 through the clamping piston 19.

[0032] The rubber ring 112 is fixedly mounted on the vertical surfaces opposite to the limit plates 111 on the left and right sides below the hanging plate 1 , and the controller 113 is electrically connected to the tension sensor 15 and the pressure sensor 110 .

[0033] Specifically, the lifting plate 1 can limit the position of the limit block 11, the limit block 11 can limit the position of the adapter block 12 through the fixed shaft 13, the adapter block 12 can limit the position of the adjusting piston 14, the fixed shaft 13 can facilitate the rotation of the adapter block 12, the adjusting piston 14 can adjust the angle of the connecting plate 18, the tension sensor 15 can monitor the tension exerted on the adjusting piston 14, the movable block 16 can facilitate the connection between the adjusting piston 14 and the connecting plate 18, the movable shaft 17 can facilitate the rotation of the connecting plate 18, the clamping piston 19 can apply pressure to the object through the limit plate 111 to increase the relative friction between the object and the rubber ring 112 to fix the object between the limit plate 111, the pressure sensor 110 can monitor the relative pressure between the clamping piston 19 and the limit plate 111, the limit plate 111 can facilitate the fixing of the object, the rubber ring 112 can protect the surface of the object, and the controller 113 can adjust the elongation of the adjusting piston 14 according to the monitoring data of the tension sensor 15.

[0034] When in use, the tension sensor 15 can monitor the tension exerted on the adjusting piston 14. After the object is fixed in the space between the limiting plates 111, the adjusting piston 14 will be subjected to a downward force. Since the installation position of the movable shaft 17 is staggered front and back with the position of the fixed shaft 13, the adjusting pistons 14 on the front and rear sides of the hanging plate 1 are in a tilted state of mirror symmetry front and back. The resultant force of the tension exerted on the object by the adjusting piston 14 is located between the fixed shafts 13. If the center of gravity of the object is not located below the center of gravity of the hanging plate 1, the magnitude of the force exerted on the adjusting pistons 14 on the front and rear sides of the hanging plate 1 will be inconsistent. The controller 113 will control the elongation of the adjusting piston 14 on one side according to the monitoring data of the tension sensor 15 to change the angle between the adjusting pistons 14 to change the position of the resultant force of the tension exerted on the object by the adjusting piston 14. At the same time, the connecting plate 18 will drive the limiting plate 111 to rotate the object to make the object The center of gravity is located below the resultant force of the pulling force applied by the regulating piston 14 to the object so that the regulating piston 14 reaches a state of force balance. The pressure sensor 110 is fixedly installed at the end of the clamping piston 19. The clamping piston 19 is symmetrically installed front and back and mirror-symmetrically left and right on the front and rear ends of the connecting plate 18 on the left and right sides of the lifting plate 1 with the center of the lifting plate 1 as the reference. The position of the limit plate 111 is adjusted by the clamping piston 19 to reduce the distance between the limit plates 111 so that the limit plates 111 can clamp the object. The maximum value of the monitoring data of the pressure sensor 110 is limited by the controller 113. After the rubber ring 112 contacts the object, the pressure sensor 110 can monitor the relative pressure between the clamping piston 19 and the limit plate 111. When the monitoring data of the pressure sensor 110 is close to the preset value of the controller 113, the controller 113 will stop the clamping piston 19 from continuing to extend to avoid damage to the surface of the object.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art 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 appended claims and their equivalents.

Claims

1. A robot tooling with a balancing structure, characterized in that: include: A lifting plate (1), a limit block (11) is fixedly installed below the lifting plate (1), a transfer block (12) is movably installed below the limit block (11), a fixed shaft (13) is inserted through the center of the transfer block (12), an adjusting piston (14) is fixedly installed below the transfer block (12), a tension sensor (15) is fixedly installed below the adjusting piston (14), a movable block (16) is fixedly installed below the tension sensor (15), and the center of the movable block (16) is fixedly installed below the tension sensor (15). A movable shaft (17) is installed through the center, a connecting plate (18) is fixedly installed on the right side of the movable shaft (17), a clamping piston (19) is installed through the front end of the connecting plate (18), a pressure sensor (110) is fixedly installed on the right end of the clamping piston (19), a limit plate (111) is fixedly installed on the right side of the pressure sensor (110), a rubber ring (112) is fixedly installed on the right side of the limit plate (111), and a controller (113) is fixedly installed above the lifting plate (1).

2. The robot tooling with a balancing structure according to claim 1, characterized in that: The limit block (11) is symmetrically installed at the four corners of the bottom surface of the hanging plate (1) with the center of the hanging plate (1) as a reference, and the fixed shaft (13) passes through the adapter block (12) and the limit block (11).

3. The robot tooling with a balancing structure according to claim 1, characterized in that: The adapter block (12) is rotatably connected to the limit block (11) via a fixed shaft (13), and the regulating piston (14) is rotatably connected to the limit block (11) via the adapter block (12).

4. The robot tooling with a balancing structure according to claim 1, characterized in that: The movable shaft (17) passes through the movable block (16) and the connecting plate (18) to form a fixed connection, and the connecting plate (18) is connected to the movable block (16) through the movable shaft (17) to form a rotational connection.

5. The robot tooling with a balancing structure according to claim 1, characterized in that: The installation position of the movable shaft (17) is staggered with respect to the position of the fixed shaft (13), so that the regulating pistons (14) on the front and rear sides of the hanging plate (1) are in a tilted state that is mirror-symmetrical in front and rear.

6. The robot tooling with a balancing structure according to claim 1, characterized in that: The clamping piston (19) is installed at the front and rear ends of the connecting plates (18) on the left and right sides of the hanging plate (1) in a symmetrical manner with respect to the center of the hanging plate (1) and in a mirror-symmetrical manner with respect to the center of the hanging plate (1). The limit plate (111) is movably connected to the connecting plates (18) through the clamping piston (19).

7. The robot tooling with a balancing structure according to claim 1, characterized in that: The rubber ring (112) is fixedly mounted on the vertical surfaces opposite to the limit plates (111) on the left and right sides below the hanging plate (1), and the controller (113) is electrically connected to the tension sensor (15) and the pressure sensor (110).

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