Angle compensation clamping jaw and hot-line work robot using same

Abstract

The utility model relates to the technical field of clamping jaw angle automatic compensation, and discloses an angle compensation clamping jaw and a hot-line work robot using the same. On a pair of clamping arms acting on the same X axis of the clamping jaw main body, the first clamping arm is provided with a Z-direction compensation component, and the second clamping arm is provided with a Y-direction compensation component; wherein each clamping arm is provided with a clamping finger; the clamping fingers and the corresponding clamping arms are elastically hinged through the Z-direction compensation parts or the Y-direction compensation parts, and the clamping fingers and the clamping fingers on the X axis are arranged oppositely. According to the flexible clamping jaw, the fingers of the clamping jaw are designed to be of a flexible structure, so that the risks of displacement and falling of workpieces in the clamping operation process can be effectively avoided, the compatibility of the clamping jaw is improved, multiple products can be clamped by the same set of clamping jaw, the investment of a gripping apparatus is reduced, and the production benefit is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic angle compensation of clamping jaws, in particular to an angle compensation clamping jaw and a live working robot using the clamping jaw. Background Art

[0002] In the traditional structure, the design of manipulators and robot grippers built with single or multi-axis usually adopts a parallel gripper structure. The individual differences of the same product and the products at the edge of the tolerance band have poor clamping stability. Due to the rigidity and parallelism problems of the parallel gripper, the individual differences of the product, the draft angle of the product clamping surface, and the parallelism error, the product is easy to move during the clamping and transportation process, making it difficult to achieve ideal stability. Based on this, a variety of angle compensation methods and structures have been proposed to achieve ideal stability, but the current angle compensation methods and structures have the following defects: (1) complex structure; (2) intelligent angle compensation that relies on electrical control; (3) adjusting the main structure connected to the gripper fingers to achieve angle compensation.

[0003] Based on this, technical personnel in this field urgently need to design an angle compensation structure with a simple structure that does not rely on electrical control to achieve compensation for the draft angle or parallelism deviation of the same product and the clamping of products with different draft angles. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects existing in the above-mentioned prior art, thereby providing an angle compensation clamp and a live working robot using the clamp.

[0005] An angle compensation clamping jaw, comprising:

[0006] The clamp body;

[0007] On a pair of clamping arms of the clamping jaw body acting on the same X axis, a Z-direction compensation component is arranged on the first clamping arm, and a Y-direction compensation component is arranged on the second clamping arm;

[0008] Wherein, each of the clamping arms is provided with a clamping finger; the clamping finger and the corresponding clamping arm are elastically hinged by using the Z-direction compensation component or the Y-direction compensation component, and the clamping fingers on the same X-axis are arranged facing each other.

[0009] Preferably, the clamping arm is provided with a through hole for hinged connection with the clamping finger, including a first through hole in the Z direction or a second through hole in the Y direction.

[0010] Preferably, the clamping finger comprises a first clamping finger and a second clamping finger; the first clamping finger and the second clamping finger are both T-shaped structures; the first clamping finger comprises: a first fixing section and a first clamping section; the second clamping finger comprises: a second fixing section and a second clamping section;

[0011] One end of the first fixing section is fixedly connected to the first clamping section to form a T-shaped structure;

[0012] One end of the second fixing section is fixedly connected to the second clamping section to form a T-shaped structure.

[0013] Preferably, the first clamping arm is provided with the Z-direction compensation component; the Z-direction compensation component is composed of a Z-direction pin and a first elastic component;

[0014] One end of the plurality of first elastic components is fixedly connected to the clamping section of the first clamping finger, and the other end is fixedly connected to the first clamping arm, so that the first clamping section is elastically connected to the first clamping arm;

[0015] The Z-direction pin passes through the first clamping arm and the first fixing section in the first through hole, so that the first fixing section is hinged to the first clamping arm and rotates in the compensation direction.

[0016] Preferably, the second clamping arm is provided with the Y-direction compensation component; the Y-direction compensation component comprises: a Y-direction pin and a second elastic component;

[0017] One end of a plurality of the second elastic components is fixedly connected to the second clamping section, and the other end is fixedly connected to the second clamping arm, so that the second clamping section is elastically connected to the second clamping arm;

[0018] The Y-direction pin passes through the second clamping arm and the second fixing section in the second through hole, so that the second fixing section is hinged with the second clamping arm and rotates in the compensation direction.

[0019] Preferably, the size of the first through hole minus the size of the first fixing section=Z-direction angle compensation range.

[0020] Preferably, the size of the second through hole minus the size of the second fixing section=Y-axis angle compensation range.

[0021] A live-working robot comprises a mechanical arm and an angle-compensating clamping jaw, wherein the angle-compensating clamping jaw is mounted on the mechanical arm.

[0022] The technical solution of the utility model has the following advantages:

[0023] 1. The utility model provides an angle compensation clamp, in which the clamp fingers are designed as a flexible structure, which can effectively avoid the displacement and falling risks of the workpiece during the clamping operation, increase the compatibility of the clamp, and realize the clamping of multiple products by the same set of clamps, thereby reducing the investment in grippers and improving production efficiency.

[0024] 2. The Z-direction compensation component provided by the utility model can float the gripper fingers installed with the Z-direction compensation component around the Z-direction pin at a small angle and maintain the vertical state in the Z direction.

[0025] 3. The Y-direction compensation component provided by the utility model, the gripper fingers equipped with the Y-direction compensation component can float at a small angle around the Y-direction pin and maintain a vertical state with the X-direction. After clamping, the two grippers respectively maintain one direction of the product and fit closely with the product to achieve the purpose of stable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 This is a front view of a double-sided bidirectional angle compensation flexible clamping claw mechanism of the utility model;

[0028] Figure 2 The product of Example 3 of the utility model is tilted on both sides, and an angle compensation gripper is swung by the working robot to a corresponding tilt angle schematic diagram;

[0029] Figure 3 This is a schematic diagram of the positive angle compensation effect on the right side of Example 3 of the utility model;

[0030] Figure 4 This is a schematic diagram of the negative angle compensation effect on the right side of Example 3 of the utility model;

[0031] Figure 5 This is a schematic diagram of the Y-axis angle deviation compensation effect of Embodiment 3 of the present utility model;

[0032] Figure 6 This is a schematic diagram of the draft angle of 1 degree for product A of the utility model;

[0033] Figure 7 This is a schematic diagram of the 3 degree draft angle of product B in the utility model;

[0034] Figure 8 A schematic diagram of the structure of a live-working robot provided by the utility model;

[0035] Fig. 9 It is a schematic diagram of a single-sided bidirectional angle compensation flexible clamping claw mechanism of the utility model.

[0036] Description of reference numerals:

[0037] 1-first clamping arm; 11-first clamping finger; 111-first clamping section; 112-first fixing section; 121-Z-direction pin; 122-first elastic component; 2-second clamping arm; 21-second clamping finger; 211-second clamping section; 212-second fixing section; 221-Y-direction pin; 222-second elastic component; 3-clamping jaw body; 41-positioning assembly; 42-positioning pin. DETAILED DESCRIPTION

[0038] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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.

[0039] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0040] 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.

[0041] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] Example 1

[0043] This embodiment discloses a double-sided bidirectional angle compensation flexible clamping claw mechanism such as Figure 1 Shown: An angle compensation gripper, comprising:

[0044] Gripper body 3;

[0045] On a pair of clamping arms of the clamping jaw body 3 acting on the same X axis, a Z-direction compensation component is provided on the first clamping arm 1, and a Y-direction compensation component is provided on the second clamping arm 2;

[0046] Wherein, each of the clamping arms is provided with a clamping finger; the clamping finger and the corresponding clamping arm are elastically hinged by using the Z-direction compensation component or the Y-direction compensation component, and the clamping fingers on the same X-axis are arranged facing each other.

[0047] Specifically:

[0048] In this embodiment, a through hole for hinged connection with the clamping fingers is provided on each of the first clamping arm 1 and the second clamping arm 2;

[0049] The first clamping arm 1 is provided with a first through hole in the Z direction;

[0050] The second clamping arm 2 is provided with a second through hole in the Y direction.

[0051] like Figure 1 As shown in this embodiment, the clamping finger includes a first clamping finger 11 and a second clamping finger 21; the first clamping finger 11 and the second clamping finger 21 are both T-shaped structures, and the first clamping finger 11 includes: a first fixing section 112 and a first clamping section 111; the second clamping finger 21 includes: a second fixing section 212 and a second clamping section 211;

[0052] One end of the first fixing section 112 is fixedly connected to the first clamping section 111 to form an integrated T-shaped structure;

[0053] One end of the second fixing section 212 is fixedly connected to the second clamping section 211 to form an integrated T-shaped structure.

[0054] The first clamping arm 1 is provided with a Z-direction compensation component; the Z-direction compensation component is composed of a Z-direction pin 121 and a first elastic component 122;

[0055] One end of the plurality of first elastic components 122 is fixedly connected to the first clamping section 111 of the first clamping finger 11, and the other end is fixedly connected to the first clamping arm 1, so that the first clamping section 111 of the first clamping finger 11 is elastically connected to the first clamping arm 1. The Z-direction pin 121 penetrates the first clamping arm 1 and the first fixing section 112 of the first clamping finger 11 in the first through hole, so that the first fixing section 112 of the first clamping finger 11 is hinged to the first clamping arm 1 to rotate in the compensation direction;

[0056] Moreover, the size of the first through hole minus the size of the first fixing section 112 of the first gripping finger 11 = the Z-direction angle compensation range. The first gripping finger can float at a small angle around the Z-direction pin 121 and maintain a vertical state in the Z-direction.

[0057] Meanwhile, in this embodiment, the second clamping arm 2 is provided with a Y-direction compensation component; the Y-direction compensation component includes: a Y-direction pin 221 and a second elastic component 222;

[0058] One end of the plurality of second elastic components 222 is fixedly connected to the second clamping segment 211 of the second clamping finger 21, and the other end is fixedly connected to the second clamping arm 2, so that the second clamping segment 211 of the second clamping finger 21 is elastically connected to the second clamping arm 2. The Y-direction pin 221 penetrates the second clamping arm 2 and the second fixing segment 212 of the second clamping finger 21 in the second through hole, so that the second fixing segment 212 of the second clamping finger 21 is hinged with the second clamping arm 2 to rotate in the compensation direction;

[0059] Moreover, the size of the second through hole minus the size of the second fixed section 212 of the second clamping finger 21 = the Y-axis angle compensation range. The second clamping finger can float at a small angle around the Y-axis pin 221 and maintain a vertical state with the X-axis. After clamping, the two clamping jaws maintain one direction of the product respectively and fit closely with the product to achieve the purpose of angle compensation and further realize stable clamping. It should be noted that in actual application, the shapes of the first through hole and the second through hole are adapted to the compensation angle, and the hinged ends of the first fixed section and the second fixed section are arc-shaped, which has the best effect.

[0060] Moreover, in actual use, the first elastic component 122 and the second elastic component 222 include but are not limited to spring mechanisms, rubber mechanisms and other elastic devices that meet the elastic requirements; the Y-direction pin 221 and the Z-direction pin 121 can be replaced by a rotating shaft that achieves the same technical effect.

[0061] It should be noted that in actual use, the utility model designs the two clamping fingers of the clamping jaw on the same X-axis to be flexible through a rotating shaft and a spring mechanism. In the released state, the two clamping fingers are parallel, and can be rotated at a small angle around the X-axis and the Y-axis respectively under force. At the same time, one clamping finger maintains the Y-axis angle, and the other clamping finger maintains the Z-axis angle, thereby compensating for the draft angle or parallelism deviation of the same product and the clamping of products with different draft angles, thereby achieving a stable clamping effect.

[0062] Example 2

[0063] This embodiment discloses a unilateral bidirectional angle compensation flexible clamping claw mechanism such as Fig. 9 Shown: An angle compensation gripper, comprising:

[0064] Gripper body 3;

[0065] On a pair of clamping arms of the clamping jaw body 3 acting on the same X axis, a Z-direction compensation component and a Y-direction compensation component are provided on the first clamping arm 1 or the second clamping arm 2;

[0066] The clamping fingers and the clamping arm are elastically hinged based on the Z-direction compensation component and the Y-direction compensation component, and the clamping fingers on the same X-axis are arranged facing each other.

[0067] Specifically:

[0068] In this embodiment, the clamping arm is provided with two through holes for hinged connection with the clamping fingers, including a first through hole and a second through hole.

[0069] The clamping fingers include a first clamping finger 11 and a second clamping finger 21, and the first clamping finger 11 and the second clamping finger 21 are both T-shaped structures;

[0070] Take the example of the first clamping arm being provided with both a Z-direction compensation component and a Y-direction compensation component;

[0071] The second clamping finger 21 includes a second fixing section 212 and a second clamping section 211;

[0072] One end of the second fixing section 112 is fixedly connected to the second clamping section 111 to form an integrated T-shaped structure;

[0073] The other end of the second fixing section 112 is arc-shaped to match the compensation direction and angle.

[0074] like Fig. 9 As shown, in this embodiment, the second clamping arm is also provided with a Y-direction compensation member, a Z-direction compensation member; the Y-direction compensation member is composed of a Y-direction pin 221 and a second elastic member 222; the Z-direction compensation member is composed of a Z-direction pin 121 and a second elastic member 222;

[0075] One end of the plurality of second elastic components 222 is fixedly connected to the second clamping section 211 of the second clamping finger 21 , and the other end is fixedly connected to the second clamping arm 2 , so that the second clamping section 211 of the second clamping finger 21 is elastically connected to the second clamping arm 2 .

[0076] The Y-direction pin 221 penetrates the second clamping arm 2 and the second fixing section 212 of the second clamping finger 21 in the second through hole, so that the second fixing section 212 of the second clamping finger 21 is hinged with the second clamping arm 2 to rotate in the Y-direction compensation direction;

[0077] The Z-direction pin 121 penetrates the second clamping arm 2 and the second fixing section 212 of the second clamping finger 21 in the first through hole, so that the second fixing section 212 of the second clamping finger 21 is hinged with the second clamping arm 2 and rotates in the Z-direction compensation direction;

[0078] Furthermore, the Y-axis width of the second through hole minus the Y-axis width of the second fixing section 112 of the second clamping finger 11 = the Y-axis angle compensation range.

[0079] The Z-axis width of the second through hole minus the Z-axis width of the second fixing section 112 of the second clamping finger 11 = the Z-axis angle compensation range.

[0080] In this embodiment, it also includes: a positioning assembly 41 and a positioning pin 42 for assisting in fixing the clamping fingers;

[0081] Since the mechanical principles of the positioning assembly 41 and the positioning pin 42 used when installing the Y-direction compensation component structure principle, installing the Z-direction compensation component structure principle, or installing the Y-direction compensation component and the Z-direction compensation component at the same time are consistent in this embodiment; therefore, the second clamping arm 2 for installing the Y-direction compensation component is taken as an example, as shown in FIG. Figure 1 As shown, in Figure 1 In the figure, the second through hole is a U-shaped groove with bidirectional openings, the U-shaped groove is open on one side close to the Y-axis pin 221, and on the other side close to the second clamping finger 21; the positioning component 41 fixes the second clamping finger 21 in the second through hole of the second clamping arm 2 from the Y-axis direction, closes the opening of the U-shaped groove on the side close to the Y-axis pin 221, and the positioning component 41 is fixedly connected to the first clamping arm 1 based on the positioning pin 42.

[0082] Example 3

[0083] This embodiment further discloses a live-line working robot based on the first or second embodiment. Figure 8 As shown, it includes a mechanical arm and an angle compensation clamp disclosed in Example 1 or Example 2, and an angle compensation clamp is installed on the mechanical arm. To further introduce the technical effect of this embodiment, as shown in FIG. Figure 2 For the product to tilt on both sides, an angle compensation gripper is swung by the working robot to a corresponding tilt angle. Figure 3 The figure shows the effect of positive angle compensation on the right side in actual application. Figure 4 The figure shows the effect of negative angle compensation on the right side in actual application. Figure 5 The figure shows the schematic diagram of the Y-axis angle deviation compensation effect.

[0084] Furthermore, the same set of robot grippers disclosed in this embodiment can stably grasp a variety of products with different draft angles at the same time; Figure 6 The figure shows the draft angle of product A at 1 degree. Figure 7 The figure shows the draft angle of product B at 3 degrees.

[0085] Example 4

[0086] This embodiment further discloses a live-working robot based on Embodiment 1 and Embodiment 2, including a robotic arm and an angle-compensating clamp disclosed in Embodiment 1 and Embodiment 2, wherein the angle-compensating clamp is mounted on the robotic arm.

[0087] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. An angle compensation clamp, characterized in that: include: A clamping jaw body (3); On a pair of clamping arms of the clamping jaw body (3) acting on the same X axis, a first clamping arm (1) is provided with a Z-direction compensation component, and a second clamping arm (2) is provided with a Y-direction compensation component; Wherein, each of the clamping arms is provided with a clamping finger; the clamping finger and the corresponding clamping arm are elastically hinged by using the Z-direction compensation component or the Y-direction compensation component, and the clamping fingers on the same X-axis are arranged facing each other.

2. An angle compensation clamp according to claim 1, characterized in that: The clamping arm is provided with a through hole for hinged connection with the clamping finger, including a first through hole in the Z direction or a second through hole in the Y direction.

3. An angle compensation clamp according to claim 2, characterized in that: The clamping finger comprises a first clamping finger (11) and a second clamping finger (21); the first clamping finger (11) and the second clamping finger (21) are both T-shaped structures; the first clamping finger (11) comprises: a first fixing section (112) and a first clamping section (111); the second clamping finger (21) comprises: a second fixing section (212) and a second clamping section (211); One end of the first fixing section (112) is fixedly connected to the first clamping section (111) to form a T-shaped structure; One end of the second fixing section (212) is fixedly connected to the second clamping section (211) to form a T-shaped structure.

4. The angle compensation clamp according to claim 3, characterized in that: The first clamping arm (1) is provided with the Z-direction compensation component; the Z-direction compensation component is composed of a Z-direction pin (121) and a first elastic component (122); One end of the plurality of first elastic components (122) is fixedly connected to the first clamping section (111), and the other end is fixedly connected to the first clamping arm (1), so that the first clamping section (111) and the first clamping arm (1) are elastically connected; The Z-direction pin (121) passes through the first clamping arm (1) and the first fixing section (112) in the first through hole, so that the first fixing section (112) and the first clamping arm (1) are hingedly connected and rotate in a compensation direction.

5. The angle compensation clamp according to claim 3, characterized in that: The second clamping arm (2) is provided with the Y-direction compensation component; the Y-direction compensation component comprises: a Y-direction pin (221) and a second elastic component (222); One end of a plurality of second elastic components (222) is fixedly connected to the second clamping section (211), and the other end is fixedly connected to the second clamping arm (2), so that the second clamping section (211) and the second clamping arm (2) are elastically connected; The Y-direction pin (221) passes through the second clamping arm (2) and the second fixing section (212) in the second through hole, so that the second fixing section (212) and the second clamping arm (2) are hingedly connected and rotate in a compensation direction.

6. The angle compensation clamp according to claim 4, characterized in that: The size of the first through hole minus the size of the first fixing section (112) of the first clamping finger (11)=Z-direction angle compensation range.

7. The angle compensation clamp according to claim 5, characterized in that: The size of the second through hole minus the size of the second fixing section (212) of the second clamping finger (21)=Y-axis angle compensation range.

8. A live-line working robot, characterized in that: It comprises a mechanical arm and an angle compensating clamp as claimed in any one of claims 1 to 7, wherein the angle compensating clamp is mounted on the mechanical arm.

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