Robot connecting rod clamping jaw

Abstract

The utility model discloses a robot connecting rod clamping jaw which comprises a fixing seat, a connecting rod clamping jaw body, a clamping jaw body and a connecting rod clamping jaw body, and the fixing seat is used for being connected with an operation head of a six-axis robot; the clamping main seat is fixedly connected to the fixed seat, a transmission assembly is fixedly arranged on the clamping main seat, and the transmission assembly is connected with a transmission main shaft; the opening and closing mechanism comprises an opening and closing main seat fixedly connected with the clamping main seat and at least two clamping assemblies, the clamping assemblies are arranged around the opening and closing main seat in a surrounding mode, each clamping assembly comprises a first transmission rod, a transmission curved bar and a clamping jaw, one end of the transmission curved bar is movably connected with the opening and closing main seat, and the other end of the transmission curved bar is movably connected with the clamping jaw. The other end of the transmission bent lever is movably connected with the clamping jaw, and the two ends of the first transmission rod are movably connected with the end of the transmission main shaft and the clamping jaw respectively. The clamping device is simple in structure, and barrel type materials can be accurately clamped by arranging the connecting rod type clamping jaws.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a robot connecting rod clamp. Background Art

[0002] A six-axis robot generally includes six degrees of freedom, namely rotation (s-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis) and wrist rotation (T-axis). Each degree of freedom is generally driven by a servo motor. According to the distribution of degrees of freedom, a six-axis robot generally includes a base, a lower arm, an upper arm, a rotating arm, a wrist arm, and an operating head. The operating head can be connected to various fixtures according to actual needs. The current fixtures generally have complex structures, and there are problems with misalignment and difficulty in clamping cylindrical materials. Therefore, it is necessary to develop a high-precision and simple-structured fixture to improve the work efficiency of the six-axis robot. Utility Model Content

[0003] The purpose of the utility model is to overcome the above-mentioned defects in the prior art and to provide a robot connecting rod clamp which has a simple structure and can accurately clamp cylindrical materials by setting a connecting rod type clamp. It has a visual system that can improve the accuracy of clamping materials and the operating efficiency.

[0004] To achieve the above object, the utility model provides a robot connecting rod clamp, comprising:

[0005] A fixing seat, the fixing seat being used to connect with the operating head of the six-axis robot;

[0006] A clamping main seat fixedly connected to the fixing seat, a transmission assembly fixedly arranged on the clamping main seat, and a transmission main shaft connected to the transmission assembly;

[0007] The opening and closing mechanism comprises an opening and closing main seat fixedly connected to the clamping main seat and at least two groups of clamping components, the clamping components are arranged around the opening and closing main seat, each group of clamping components comprises a first transmission rod, a transmission bent rod and a clamping claw, one end of the transmission bent rod is movably connected to the opening and closing main seat, the other end of the transmission bent rod is movably connected to the clamping claw, and the two ends of the first transmission rod are respectively movably connected to the end of the transmission main shaft and the clamping claw.

[0008] Furthermore, the clamping assembly includes a clamping jaw connecting seat, the clamping jaw is fixedly connected to the outer side of the clamping jaw connecting seat, and the inner side of the clamping jaw connecting seat is concave to form a first mounting groove. The clamping jaw can be easily replaced by providing the clamping jaw connecting seat, and the first mounting groove can be more convenient for installing the first transmission rod and the transmission bent rod.

[0009] Furthermore, the transmission crank arm includes a first transmission arm, a first bending portion, and a second transmission arm, which are arranged in sequence. The length of the first transmission arm is greater than that of the second transmission arm. The first transmission arm is rotatably connected to the opening and closing main seat via a first rotating shaft, and the second transmission arm is installed in the first installation groove via a second rotating shaft. By arranging the first transmission arm and the second transmission arm of different lengths, the clamping claw can be smoothly opened outward under the action of the transmission crank arm when receiving the force of the transmission assembly.

[0010] Furthermore, one end of the first transmission rod is connected to the transmission main shaft through a third rotating shaft, and the other end of the first transmission rod is installed in the first installation slot through a fourth rotating shaft, and the connection position between the first transmission rod and the first installation slot is located at the center of the clamping claw connection seat, so that the first transmission rod can transmit the force of the transmission assembly to the clamping claw connection seat, thereby driving the clamping claw to open and close.

[0011] Furthermore, the clamping assembly further includes a second transmission rod, one end of which is connected to the main opening and closing seat via a fifth rotating shaft, and the other end of which is installed in the first installation groove via a sixth rotating shaft. The second transmission rod cooperates with each connecting rod so that the clamping jaws can be opened and closed smoothly, and the second transmission rod can limit the position of the clamping jaws to open outward, which can be set according to the inner diameter of the cylindrical material.

[0012] Furthermore, a mounting block is formed at the lower end of the transmission main shaft, the number of the mounting blocks matches the number of the first transmission rods, the mounting block is provided with a first mounting through hole for passing the rotating shaft, a positioning seat is also fixedly connected to the lower end of the transmission main shaft, the positioning seat is hollowed out relative to the mounting block to form a second mounting groove with a stepped inner wall, and the stepped inner wall of the second mounting groove is used to carry the rotating shaft. The first transmission rod is movably connected through the cooperation of the mounting hole and the second mounting groove, which can increase the connection stability between the transmission assembly and the first transmission rod.

[0013] Furthermore, the main opening and closing seat extends downward to form multiple groups of opening and closing connecting pieces, a gap is formed between two adjacent opening and closing connecting pieces, the opening and closing connecting pieces are provided with a second mounting hole and a third mounting hole for mounting the first rotating shaft and the fifth rotating shaft, and the first transmission arm and the second transmission rod are both mounted in the gap, so as to facilitate the installation of the transmission crank rod and the second transmission rod.

[0014] Furthermore, the front end surface of the clamp is an outwardly protruding arc surface, and the lower end of the clamp forms a smooth chamfer. The arc surface can make the clamp fit the inner wall of the cylindrical material more closely, and it is more stable when clamping. In particular, the lower end of the clamp forms a chamfer, so that when the clamp moves downward, it can enter the inner hole of the cylindrical material more safely, reducing the occurrence of collision between the lower end of the clamp and the inner wall of the cylindrical material.

[0015] Furthermore, the transmission assembly is a transmission cylinder.

[0016] Furthermore, a visual system is also included, wherein the visual system includes a visual fixing seat fixed to one side of the fixing seat and a CCD camera fixed on the visual fixing seat. The CCD camera can be provided to increase the accuracy of the gripping of the gripper, thereby improving the work efficiency.

[0017] Compared with the prior art, the utility model has the following advantages: the utility model adopts a connecting rod type transmission structure to realize the linkage between the cylinder and the clamp, and then realizes the clamping of the cylindrical material by the clamp. Its structure is simple, and can effectively improve the efficiency of grasping the cylindrical material and the stability during grasping; furthermore, a visual system is provided, which can greatly improve the accuracy of clamping the cylindrical material. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the robot connecting rod clamp structure of Example 1 of the utility model;

[0020] Figure 2 It is a connection diagram of the transmission main shaft, the mounting block and the first transmission rod of the utility model;

[0021] Figure 3 It is a schematic diagram of the structure of the clamping jaw connecting seat and the clamping jaw;

[0022] Figure 4 It is a structural schematic diagram of the opening and closing main seat of the utility model;

[0023] Figure 5 It is a schematic diagram of the assembly of the transmission crank arm of the utility model;

[0024] Figure 6 It is a structural schematic diagram of the clamping assembly and the opening and closing main seat of the utility model.

[0025] Included in the figure are:

[0026] 1. Fixed seat; 2. Clamping main seat; 3. Transmission assembly; 31. Transmission main shaft; 32. Mounting block; 321. First mounting through hole; 33. Positioning seat; 34. Second mounting groove; 341. Step inner wall; 4. Opening and closing mechanism; 41. Opening and closing main seat; 411. Opening and closing connecting piece; 412. Gap; 413. Second mounting hole; 414. Third mounting hole; 42. Clamping assembly; 421. First transmission rod; 4211. Third rotating shaft; 4212. Third linkage through hole; 4213. Fourth linkage through hole; 422. Transmission curved rod ; 4221, first transmission arm; 4222, first bending portion; 4223, second transmission arm; 4224, first linkage through hole; 4225, second linkage through hole; 4226, first rotating shaft; 423, clamping jaw; 4231, arc surface; 4232, chamfer; 424, clamping jaw connecting seat; 4241, first mounting groove; 4242, first mounting shaft hole; 4243, second mounting shaft hole; 4244, third mounting shaft hole; 425, second transmission rod; 5, visual system; 51, visual fixing seat; 52, CCD camera. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in this embodiment of the utility model to clearly and completely describe the technical solution in this embodiment of the utility model. Obviously, the described embodiment is one embodiment of the utility model, not all embodiments of the utility model. Based on this embodiment of the utility model, all other embodiments of the utility model 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 all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0030] See also Figures 1 to 6 , an embodiment of the utility model provides a robot connecting rod clamp, comprising:

[0031] A fixed seat 1, wherein the fixed seat 1 is used to connect with the operating head of the six-axis robot;

[0032] A clamping main seat 2 is fixedly connected to the fixing seat 1, and a transmission assembly 3 is fixedly arranged on the clamping main seat 2. The transmission assembly 3 of this embodiment is a transmission cylinder, and the transmission assembly 3 is connected to a transmission main shaft 31. Figure 2 As shown, a mounting block 32 is formed at the lower end of the transmission main shaft 31, and the number of the mounting blocks 32 matches the number of the first transmission rods 421. The mounting block 32 is provided with a first mounting through hole 321 for passing the rotating shaft, and a positioning seat 33 is also fixedly connected to the lower end of the transmission main shaft 31. The positioning seat 33 is hollowed out relative to the position of the mounting block 32 to form a second mounting groove 34 with a stepped inner wall 341, and the stepped inner wall 341 of the second mounting groove 34 is used to carry the third rotating shaft 4211;

[0033] The opening and closing mechanism 4 includes an opening and closing main seat 41 fixedly connected to the clamping main seat 2 and at least two sets of clamping components 42, such as Figure 1 As shown, in this embodiment, a total of three groups of clamping components 42 are provided, and of course, they can be increased or decreased as needed, as long as they meet the needs of clamping cylindrical materials. The clamping components 42 are arranged around the main opening and closing seat 41, and each group of clamping components 42 includes a first transmission rod 421, a transmission curved rod 422, and a clamping claw 423. The front end surface of the clamping claw 423 is an arc surface 4231 protruding outward, and the lower end of the clamping claw 423 forms a smooth chamfer 4232. The clamping claw 423 is fixedly connected to the outer side of the clamping claw connecting seat 424, and the inner side of the clamping claw connecting seat 424 is concave to form a first installation groove 4241, as shown in FIG. Figure 3 As shown, the first mounting slot 4241 is provided with three groups of first mounting shaft holes 4242, second mounting shaft holes 4243 and third mounting shaft holes 4244 distributed from top to bottom, wherein the second mounting shaft hole 4243 is provided at the center of the first mounting slot 4241;

[0034] like Figure 1 and Figure 4 As shown, the above-mentioned main opening and closing seat 41 extends downward to form multiple groups of opening and closing connecting members 411, and gaps 412 are formed between two adjacent opening and closing connecting members 411. The number of gaps 412 matches the number of clamping components 42, that is, three groups of clamping components 42 are arranged vertically in this embodiment, so three groups of opening and closing connecting members 411 are formed on the main opening and closing seat 41, and three gaps 412 are formed in total; the second mounting hole 413 and the third mounting hole 414 for mounting the first rotating shaft 4226 and the fifth rotating shaft are arranged on the opening and closing connecting member 411, and the first transmission arm 4221 and the second transmission rod 425 are both installed in the gaps 412

[0035] One end of the transmission bent rod 422 is movably connected to the opening and closing main seat 41, and the other end of the transmission bent rod 422 is movably connected to the clamping claw 423. Specifically, Figure 5 As shown, the above-mentioned transmission crank rod 422 includes a first transmission arm 4221, a first bending portion 4222 and a second transmission arm 4223 which are arranged in sequence. The length of the first transmission arm 4221 is greater than that of the second transmission arm 4223. The first transmission arm 4221 is rotatably connected to the opening and closing main seat 41 through a first rotating shaft 4226. Specifically, the first transmission arm 4221 is provided with a first linkage through hole 4224. After the first rotating shaft 4226 passes through the first linkage through hole 4224, its two ends are inserted into the second mounting hole 413 for fixation. Similarly, the second transmission arm 4223 is provided with a second linkage through hole 4225. After the second rotating shaft passes through the second linkage through hole 4225, its two ends are inserted into the first mounting shaft hole 4242 in the first mounting groove 4241 for fixation. The first bending portion 4222 is arranged downwardly, so that the second transmission arm 4223 can be installed in the first mounting groove 4241 through the first rotating shaft 4226.

[0036] like Figure 2 As shown, the first transmission rod 421 of this embodiment adopts a straight rod body, one end of the first transmission rod 421 is connected to the transmission main shaft 31 through a third rotating shaft 4211, and the other end of the first transmission rod 421 is installed in the first installation groove 4241 through a fourth rotating shaft, and the connection position between the first transmission rod 421 and the first installation groove 4241 is located at the center of the clamping claw connecting seat 424. Specifically, the first transmission rod 421 is provided with a third linkage through hole 4212 and a third linkage through hole 4213 at both ends. The fourth linkage through hole 4213, the third rotating shaft 4211 passes through the third linkage through hole 4212 and the first mounting through hole 321 in sequence, and the two ends of the third rotating shaft 4211 are fixedly connected to the stepped inner wall 341 of the second mounting groove 34; after the fourth rotating shaft passes through the fourth linkage through hole 4213, the two ends of the fourth rotating shaft are fixedly connected to the second mounting shaft hole 4243, so that the first transmission rod 421 is arranged between the transmission main shaft 31 and the clamping claw connecting seat 424 in an upwardly inclined structure.

[0037] Preferably, the clamping assembly 42 also includes a second transmission rod 425, one end of the second transmission rod 425 is connected to the opening and closing main seat 41 through a fifth rotating shaft, and the other end of the second transmission rod 425 is installed in the first mounting groove 4241 through a sixth rotating shaft. Specifically, the second transmission rod 425 adopts a straight rod, and the two ends of the second transmission rod 425 are provided with a fifth linkage through hole and a sixth linkage through hole. After the fifth rotating shaft passes through the fifth linkage through hole, the two ends of the fifth rotating shaft are inserted into the third mounting hole 414 for fixation, and after the sixth rotating shaft passes through the sixth linkage through hole, the two ends of the sixth rotating shaft are respectively inserted into the third mounting shaft hole 4244 for fixation, so that the second transmission rod 425 is arranged between the opening and closing main seat 41 and the clamping claw connecting seat 424 in a downwardly inclined structure.

[0038] Furthermore, in order to increase the grasping accuracy of the clamping claw 423 , the present embodiment further includes a visual system 5 , which includes a visual fixing seat 51 fixed to one side of the fixing seat 1 and a CCD camera 52 fixed on the visual fixing seat 51 .

[0039] The working principle of the utility model is briefly described as follows: when in use, it can be connected to the operating head of the six-axis robot through the fixed base 1, and the position of the cylindrical material can be accurately determined by scanning the cylindrical material with the CCD camera 52. The six-axis robot will drive the utility model to move, so that the clamping claw of the utility model is inserted into the inner hole of the cylindrical material, and then the transmission component 3 drives the transmission main shaft 31 to move downward, and the transmission main shaft 31 generates a downward pulling force on the clamping claw connecting seat 424. With the cooperation of the transmission curved rod 422 and the second transmission rod 425, the clamping claw 423 is opened outward and tightly abutted against the inner wall of the barrel material, so that the clamping claw 423 can grasp the barrel material, and then it is controlled by the six-axis robot to be moved to the work station where work is required, and finally the transmission component 3 is reset and the clamping claw 423 is released.

[0040] The above are only preferred embodiments of the present invention and are 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 robot connecting rod gripper, characterized in that: include: A fixed seat (1), the fixed seat (1) being used to be connected to an operating head of a six-axis robot; A clamping main seat (2) fixedly connected to the fixing seat (1), a transmission assembly (3) fixedly arranged on the clamping main seat (2), and the transmission assembly (3) connected to a transmission main shaft (31); The opening and closing mechanism (4) comprises an opening and closing main seat (41) fixedly connected to the clamping main seat (2) and at least two groups of clamping components (42), wherein the clamping components (42) are arranged around the opening and closing main seat (41), and each group of clamping components (42) comprises a first transmission rod (421), a transmission bent rod (422) and a clamping claw (423), one end of the transmission bent rod (422) is movably connected to the opening and closing main seat (41), and the other end of the transmission bent rod (422) is movably connected to the clamping claw (423), and the transmission main shaft is provided at the center position of the opening and closing main seat, passing through the opening and closing main seat and one end of the first transmission rod, and the two ends of the first transmission rod (421) are respectively movably connected to the end of the transmission main shaft (31) and the clamping claw (423).

2. A robot connecting rod gripper according to claim 1, characterized in that The clamping assembly (42) includes a clamping claw connecting seat (424), the clamping claw (423) is fixedly connected to the outer side of the clamping claw connecting seat (424), and the inner side of the clamping claw connecting seat (424) is concave to form a first installation groove (4241).

3. A robot connecting rod gripper according to claim 2, characterized in that: The transmission bent rod (422) comprises a first transmission arm (4221), a first bending portion (4222) and a second transmission arm (4223) which are arranged in sequence, the length of the first transmission arm (4221) is greater than that of the second transmission arm (4223), the first transmission arm (4221) is rotatably connected to the opening and closing main seat (41) via a first rotating shaft (4226), and the second transmission arm (4223) is installed in the first installation groove (4241) via a second rotating shaft.

4. The robot connecting rod gripper according to claim 2, characterized in that: One end of the first transmission rod (421) is connected to the transmission main shaft (31) via a third rotating shaft (4211), and the other end of the first transmission rod (421) is installed in the first installation groove (4241) via a fourth rotating shaft, and the connection position between the first transmission rod (421) and the first installation groove (4241) is located at the center position of the clamping claw connecting seat (424).

5. The robot connecting rod gripper according to claim 3, characterized in that: The clamping assembly (42) further comprises a second transmission rod (425), one end of the second transmission rod (425) being connected to the opening and closing main seat (41) via a fifth rotating shaft, and the other end of the second transmission rod (425) being installed in the first installation groove (4241) via a sixth rotating shaft.

6. The robot connecting rod gripper according to claim 4, characterized in that: A mounting block (32) is formed at the lower end of the transmission main shaft (31), the number of the mounting blocks (32) matches the number of the first transmission rods (421), the mounting block (32) is provided with a first mounting through hole (321) for passing the rotating shaft, and a positioning seat (33) is also fixedly connected to the lower end of the transmission main shaft (31), the positioning seat (33) is hollowed out relative to the position of the mounting block (32) to form a second mounting groove (34) with a stepped inner wall (341), and the stepped inner wall (341) of the second mounting groove (34) is used to carry the rotating shaft.

7. The robot connecting rod gripper according to claim 5, characterized in that: The opening and closing main seat (41) extends downward to form a plurality of groups of opening and closing connecting members (411), a gap (412) is formed between two adjacent opening and closing connecting members (411), a second mounting hole (413) and a third mounting hole (414) for mounting the first rotating shaft (4226) and the fifth rotating shaft are provided on the opening and closing connecting member (411), and the first transmission arm (4221) and the second transmission rod (425) are both mounted in the gap (412).

8. The robot connecting rod gripper according to claim 1, characterized in that: The front end surface of the clamping jaw (423) is an outwardly protruding arc surface (4231), and the lower end of the clamping jaw (423) forms a smooth chamfer (4232).

9. The robot connecting rod gripper according to claim 1, characterized in that: The transmission component (3) is a transmission cylinder.

10. The robot connecting rod gripper according to claim 1, characterized in that: It also comprises a visual system (5), wherein the visual system (5) comprises a visual fixing seat (51) fixedly connected to one side of the fixing seat (1) and a CCD camera (52) fixed on the visual fixing seat (51).

Images