Clamping device of robot

Abstract

The utility model provides a clamping device of a robot, and relates to the field of workpiece clamping and carrying. The clamping device of the robot comprises two clamping blocks and two linkage assemblies, the two linkage assemblies are arranged on the outer sides of the corresponding clamping blocks, each linkage assembly comprises two first fixing plates, a first connecting rod, a second connecting rod, a third connecting rod, a second fixing plate and a movable plate, the two first fixing plates are symmetrically and fixedly connected to the outer sides of the clamping blocks, and the two second fixing plates are symmetrically and fixedly connected to the outer sides of the clamping blocks. The first connecting rods and the second connecting rods are slidably connected to the interiors of the corresponding first fixing plates, the second fixing plates are fixedly connected to the outer sides of the clamping blocks and located above the first connecting rods, the movable plates are fixedly connected to the bottoms of the second connecting rods, and the third connecting rods are fixedly connected to the bottoms of the movable plates. The bottom of the third connecting rod penetrates through the interior of the second fixing plate and extends to the bottom of the second fixing plate. According to the clamping device of the robot, the linkage assembly drives the bottom clamping block to be attached to the top of the clamped workpiece, automatic pressing and fixing are achieved when the clamped workpiece is carried, and the problem that pressure needs to be applied to the top of the clamped workpiece through manual operation is solved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a gripping device of a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control.

[0003] However, the robot gripping device in the prior art has low safety and poor stability. Therefore, those skilled in the art provide a robot gripping device to solve the problems raised in the above background technology. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present application provides a robot gripping device that solves the problems mentioned in the above background technology.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present application is implemented through the following technical solutions: a robot clamping device, comprising two clamping blocks and two linkage assemblies, the two linkage assemblies are both arranged on the outside of the corresponding clamping blocks, the linkage assemblies include two first fixed plates, a first connecting rod, a second connecting rod, a third connecting rod, a second fixed plate and a movable plate, the two first fixed plates are symmetrically fixedly connected to the outside of the clamping blocks, the first connecting rod and the second connecting rod are slidably connected to the inside of the corresponding first fixed plates, the second fixed plate is fixedly connected to the outside of the clamping block and is located above the first connecting rod, the movable plate is fixedly connected to the bottom of the second connecting rod, the third connecting rod is fixedly connected to the bottom of the movable plate, the bottom of the third connecting rod passes through the inside of the second fixed plate and extends to the bottom of the second fixed plate, and the bottom of the third connecting rod is fixedly connected to the top of the first connecting rod.

[0008] By adopting the above technical scheme, when transporting and clamping the workpiece, the lower pressure plate at the bottom of the first connecting rod is located at the bottom of the clamped workpiece, and the top of the clamping block is lifted upward and the two clamping blocks are rotated on the outside of the connecting frame. The rotation of the clamping block makes the bottoms of the two clamping blocks move toward each other to clamp the clamped workpiece, and while the clamped workpiece moves upward, the first connecting rod is driven downward by the lower pressure plate, and while the first connecting rod moves downward, the second connecting rod is driven downward by the third connecting rod, and the downward movement of the second connecting rod can better drive the bottom clamping block to move downward, and the bottom clamping block is moved downward to fit with the top of the clamped workpiece.

[0009] Preferably, a connecting frame is rotatably connected between the two clamping blocks and located above the linkage assembly, a support rod is slidably connected inside the connecting frame, the upper and lower ends of the support rod both pass through the interior of the connecting frame and extend to the outside of the connecting frame, a bottom clamping block is fixedly connected to the bottom of the support rod, a fixed block is fixedly connected to the top of the support rod, and a first sleeve is provided on the outside of the support rod and located between the fixed block and the connecting frame.

[0010] By adopting the above technical solution, the second connecting rod moves downward to drive the bottom clamping block to move downward. The bottom clamping block moves downward to fit the top of the clamped workpiece, so that the clamped workpiece can be better fixed. When the bottom clamping block moves downward, the fixed block is driven downward through the support rod. When the fixed block moves downward, the first spring is compressed, and the first spring is used to drive the bottom clamping block to move upward to complete the reset operation.

[0011] Preferably, the outer sides of the two third connecting rods are both sleeved with second springs.

[0012] By adopting the above technical solution, the resetting operation of the second connecting rod can be better completed.

[0013] Preferably, the bottoms of the two first connecting rods are fixedly connected with a lower pressure plate.

[0014] By adopting the above technical solution, the first connecting rod can be driven to move downward under the action of clamping the workpiece better.

[0015] Preferably, the bottoms of the two clamping blocks are fixedly connected to bottom support blocks, and the insides of the two bottom support blocks are provided with grooves with the same height as the lower pressing plate.

[0016] By adopting the above technical solution, the bottom support block can better support the bottom of the clamped workpiece. When the lower pressure plate moves into the interior of the bottom support block, the lower pressure plate can be better hidden and stored through the groove, so that the clamped workpiece can be better supported by the bottom support block.

[0017] Preferably, the two second connecting rods are both configured as L-shaped structures, and the tops of the two second connecting rods are both located above the bottom clamping block.

[0018] By adopting the above technical solution, the second connecting rod can better drive the bottom clamping block to move downward while moving downward.

[0019] Preferably, the tops of the two clamping blocks are fixedly connected with rings for connecting steel wire ropes.

[0020] By adopting the above technical solution, it is convenient to better connect the wire rope to carry the clamped workpiece through the clamp.

[0021] (III) Beneficial effects

[0022] The present application provides a robot gripping device, which has the following beneficial effects:

[0023] 1. The clamping device of the robot makes the lower pressure plate at the bottom of the first connecting rod be located at the bottom of the clamped workpiece when transporting and clamping the workpiece. The first connecting rod is driven downward by the lower pressure plate while the clamped workpiece is moved upward. The second connecting rod is driven downward by the third connecting rod while the first connecting rod is moved downward. The downward movement of the second connecting rod can better drive the bottom clamping block to move downward. When the bottom clamping block is in contact with the top of the clamped workpiece, the clamped workpiece can be better pressed and fixed, thereby realizing automatic pressing and fixing when transporting and clamping the workpiece, and solving the problem of manual operation required to apply pressure to the top of the clamped workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram illustrating the present application;

[0025] Figure 2 This is a schematic diagram of the present application;

[0026] Figure 3 This is the main view when used as shown in this application;

[0027] Figure 4 For this application Figure 2 Enlarged view of point A in the middle.

[0028] In the figure: 1, clamping block; 2, linkage assembly; 201, first fixed plate; 202, first connecting rod; 203, second connecting rod; 204, third connecting rod; 205, second fixed plate; 206, movable plate; 3, connecting frame; 4, bottom support block; 5, bottom clamping block; 6, support rod; 7, first spring; 8, fixed block; 9, second spring. DETAILED DESCRIPTION

[0029] The present application is further described in detail below through drawings and examples.

[0030] Reference Figure 1 to Figure 4, an embodiment of the present application provides a robot clamping device, including two clamping blocks 1 and two linkage assemblies 2, the two linkage assemblies 2 are both arranged on the outside of the corresponding clamping blocks 1, the linkage assembly 2 includes two first fixed plates 201, a first connecting rod 202, a second connecting rod 203, a third connecting rod 204, a second fixed plate 205 and a movable plate 206, the two first fixed plates 201 are symmetrically fixedly connected to the outside of the clamping block 1, the first connecting rod 202 and the second connecting rod 203 are slidably connected to the inside of the corresponding first fixed plates 201, the second fixed plate 205 is fixedly connected to the outside of the clamping block 1 and is located above the first connecting rod 202, the movable plate 206 is fixedly connected to the bottom of the second connecting rod 203, the third connecting rod 204 is fixedly connected to the bottom of the movable plate 206, the bottom of the third connecting rod 204 passes through the inside of the second fixed plate 205 and extends to the bottom of the second fixed plate 205, and the bottom of the third connecting rod 204 is fixedly connected to the top of the first connecting rod 202.

[0031] When carrying and clamping the workpiece, the lower pressure plate at the bottom of the first connecting rod 202 is located at the bottom of the clamped workpiece, and the top of the clamping block 1 is lifted upward. The two clamping blocks 1 rotate on the outside of the connecting frame 3, and the rotation of the clamping block 1 makes the bottoms of the two clamping blocks 1 move toward each other to clamp the clamped workpiece. While the clamped workpiece moves upward, the first connecting rod 202 is driven downward by the lower pressure plate, and while the first connecting rod 202 moves downward, the second connecting rod 203 is driven downward by the third connecting rod 204. The downward movement of the second connecting rod 203 can better drive the bottom clamping block 5 to move downward, and the downward movement of the bottom clamping block 5 fits with the top of the clamped workpiece, so that the clamped workpiece can be better pressed and fixed, which solves the problem of manual operation to apply pressure to the top of the clamped workpiece.

[0032] Reference Figure 1 to Figure 4 In one aspect of the present embodiment, a connecting frame 3 is rotatably connected between the two clamping blocks 1 and located above the linkage assembly 2, a support rod 6 is slidably connected inside the connecting frame 3, upper and lower ends of the support rod 6 both pass through the interior of the connecting frame 3 and extend to the outside of the connecting frame 3, a bottom clamping block 5 is fixedly connected to the bottom of the support rod 6, a fixing block 8 is fixedly connected to the top of the support rod 6, a first spring 7 is sleeved on the outside of the support rod 6 and located between the fixing block 8 and the connecting frame 3; second springs 9 are sleeved on the outsides of the two third connecting rods 204.

[0033] The second connecting rod 203 moves downward, driving the bottom clamping block 5 downward. The bottom clamping block 5 moves downward and fits the top of the clamped workpiece, so that the clamped workpiece can be better fixed. When the bottom clamping block 5 moves downward, it drives the fixing block 8 downward through the support rod 6. When the fixing block 8 moves downward, it compresses the first spring 7. The first spring 7 facilitates the bottom clamping block 5 to move upward to complete the reset operation. The second spring 9 can better complete the reset operation of the second connecting rod 203.

[0034] Reference Figure 1 to Figure 4 In one aspect of the present embodiment, the bottoms of the two first connecting rods 202 are fixedly connected to a lower pressure plate; the bottoms of the two clamping blocks 1 are fixedly connected to a bottom support block 4, and the interiors of the two bottom support blocks 4 are provided with grooves with the same height as the lower pressure plate; the two second connecting rods 203 are arranged as L-shaped structures, and the tops of the two second connecting rods 203 are located above the bottom clamping block 5; the tops of the two clamping blocks 1 are fixedly connected to a ring for connecting a wire rope.

[0035] The lower pressure plate can better drive the first connecting rod 202 to move downward under the action of clamping the workpiece; the bottom support block 4 can better support the bottom of the clamped workpiece, and when the lower pressure plate moves to the inside of the bottom support block 4, the lower pressure plate can be better hidden and stored through the groove, so that the clamped workpiece can be better supported by the bottom support block 4; the second connecting rod 203 with an L-shaped structure can better drive the bottom clamping block 5 to move downward while the second connecting rod 203 moves downward; the ring facilitates better connection of the wire rope to transport the clamped workpiece through the clamp.

[0036] Working principle: When in use, the lower pressure plate at the bottom of the first connecting rod 202 is located at the bottom of the clamped workpiece, and the top of the clamping block 1 is lifted upward. The two clamping blocks 1 are rotated on the outside of the connecting frame 3, and the rotation of the clamping block 1 makes the bottoms of the two clamping blocks 1 move toward each other to clamp the clamped workpiece. While the clamped workpiece moves upward, the first connecting rod 202 is driven downward by the lower pressure plate. While the first connecting rod 202 moves downward, the second connecting rod 203 is driven downward by the third connecting rod 204. The downward movement of the second connecting rod 203 can better drive the bottom clamping block 5 to move downward. The downward movement of the bottom clamping block 5 fits with the top of the clamped workpiece, thereby better pressing and fixing the clamped workpiece, solving the problem of manual operation to apply pressure to the top of the clamped workpiece.

[0037] Although the embodiments of the present application 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 application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot gripping device, comprising two gripping blocks (1) and two linkage components (2), characterized in that: The two linkage assemblies (2) are both arranged on the outside of the corresponding clamping block (1), and the linkage assembly (2) comprises two first fixed plates (201), a first connecting rod (202), a second connecting rod (203), a third connecting rod (204), a second fixed plate (205) and a movable plate (206), the two first fixed plates (201) are symmetrically fixedly connected to the outside of the clamping block (1), the first connecting rod (202) and the second connecting rod (203) are slidably connected to the inside of the corresponding first fixed plates (201), and the The second fixed plate (205) is fixedly connected to the outside of the clamping block (1) and is located above the first connecting rod (202), the movable plate (206) is fixedly connected to the bottom of the second connecting rod (203), the third connecting rod (204) is fixedly connected to the bottom of the movable plate (206), the bottom of the third connecting rod (204) passes through the interior of the second fixed plate (205) and extends to the bottom of the second fixed plate (205), and the bottom of the third connecting rod (204) is fixedly connected to the top of the first connecting rod (202).

2. A robot gripping device according to claim 1, characterized in that: A connecting frame (3) is rotatably connected between the two clamping blocks (1) and located above the linkage assembly (2); a support rod (6) is slidably connected inside the connecting frame (3); upper and lower ends of the support rod (6) both pass through the interior of the connecting frame (3) and extend to the outside of the connecting frame (3); a bottom clamping block (5) is fixedly connected to the bottom of the support rod (6); a fixed block (8) is fixedly connected to the top of the support rod (6); and a first spring (7) is sleeved on the outside of the support rod (6) and located between the fixed block (8) and the connecting frame (3).

3. A robot gripping device according to claim 2, characterized in that: The outer sides of the two third connecting rods (204) are both sleeved with second springs (9).

4. A robot gripping device according to claim 3, characterized in that: The bottoms of the two first connecting rods (202) are both fixedly connected with a lower pressing plate.

5. A robot gripping device according to claim 4, characterized in that: The bottoms of the two clamping blocks (1) are fixedly connected to a bottom support block (4), and the insides of the two bottom support blocks (4) are provided with a groove having the same height as the lower pressing plate.

6. A robot gripping device according to claim 1, characterized in that: The two second connecting rods (203) are both configured as L-shaped structures, and the tops of the two second connecting rods (203) are both located above the bottom clamping block (5).

7. A robot gripping device according to claim 6, characterized in that: The tops of the two clamping blocks (1) are fixedly connected with rings for connecting steel wire ropes.

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