Clamping device of robot

Abstract

The clamping device of the robot comprises a robot connecting base, a sliding groove is formed in one side of the outer surface of the robot connecting base, a double-shaft motor is fixedly installed on the inner wall of one side of the sliding groove, and transverse moving assemblies are jointly installed between the two driving ends of the double-shaft motor and the sliding groove. And shells are fixedly mounted at the movable ends of the two transverse moving assemblies correspondingly, deflection assemblies are mounted in the two shells correspondingly, and clamping seats are fixedly mounted at the connecting ends of the two deflection assemblies correspondingly. According to the clamping device, through the arrangement of the sliding groove, the double-shaft motor, the transverse moving assembly, the shell, the deflection assembly, the pressure measuring assembly, the clamping base, the through hole, the piston, the clamping rod, the air supply assembly, the rotating connector and the clamping rod, the clamping angle can be adjusted according to needs, and meanwhile the clamping rod can be attached to the surfaces of objects in different shapes through the clamping rod; and the clamping effect and the clamping stability are improved, and the overall universality is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to a clamping device of a robot. Background Art

[0002] Robotic gripping refers to the gripping of objects by a specific mechanical device with the participation of a control device. This technology is usually applied to the end of the robot's arm to grip and manipulate objects of various shapes and sizes by imitating the movement of human fingers.

[0003] There are many different ways for robots to clamp objects. Depending on the clamping material and operating requirements, they can be divided into mechanical clamping, pneumatic clamping, and electromagnetic clamping.

[0004] The prior art publication number is CN220362593U, which is a clamping mechanism for a robot. The clamping mechanism includes a box body, one side of which is connected to a motor 1, an output end of the motor 1 is provided with a bidirectional screw, a screw sleeve is connected to the bidirectional screw, a connecting rod is connected to the front side of the screw sleeve, one end of the connecting rod is connected to a movable plate, and an adjustment component is provided on the movable plate. The adjustment component includes a motor 2, a driving gear, a driven gear, a rotating rod, and a clamping block.

[0005] When the clamping mechanism of the robot is in use, although it can adjust the clamping angle as needed, due to the appearance shape setting of the clamping block, it can only clamp objects of specific shapes and has low versatility. For example, the arc-shaped clamping block can only clamp the arc-shaped surface that matches it. If it clamps other arc-shaped objects, it is not easy to fit, the clamping effect is poor, and the stability is poor. Therefore, improvements are proposed. Utility Model Content

[0006] The utility model is a robot clamping device proposed to solve the shortcomings in the prior art.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a robot clamping device, comprising a robot connecting seat, a slide groove is provided on one side of the outer surface of the robot connecting seat, a double-axis motor is fixedly installed on the inner wall of one side of the slide groove, and a lateral movement component is installed between the two driving ends of the double-axis motor and the slide groove;

[0008] The movable ends of the two transverse movement assemblies are fixedly mounted with housings, the interiors of the two housings are mounted with deflection assemblies, the connecting ends of the two deflection assemblies are fixedly mounted with clamping seats, and the adjacent sides of the outer surfaces of the two clamping seats are mounted with pressure measuring assemblies;

[0009] A plurality of through holes are provided on one side of the outer surface of the two clamping seats, and the inner walls of the plurality of through holes are sealed and slid with pistons, one end of the piston is fixedly connected with a clamping rod, and the clamping rod is arranged through the through hole;

[0010] The robot connection seat is equipped with an air supply component, and the two connection ends of the air supply component are fixedly connected to rotary joints. The other ends of the two rotary joints are fixed with straight pipes passing through adjacent clamping seats, and the straight pipes pass through the deflection component.

[0011] Furthermore, the two transverse movement components each include a screw, and one end of the screw is fixedly connected to the driving shaft of the dual-axis motor, and the other end of the screw is rotatably connected to the inner wall of the slide groove. A sliding seat is threadedly sleeved on the outer surface of the screw, and the sliding seat is fixedly connected to the shell, which can drive the shell to move.

[0012] Furthermore, the slide seat slides in close contact with the inner walls on both sides of the slide groove, and the slide groove has a limiting effect on the slide seat, which can ensure the stability of the movement of the slide seat.

[0013] Furthermore, the two deflection assemblies each include a single-axis motor, and the single-axis motor is fixedly mounted on an inner wall of one side of the shell, a driving end of the single-axis motor is fixedly connected to a first gear, a second gear is fixedly connected to one side of an outer surface of the first gear, and the second gear is fixedly sleeved on an outer surface of the straight tube, and an installation shaft of the second gear passes through the shell and is fixedly connected to a clamping seat, so as to drive the two clamping seats to rotate so as to adjust the clamping angle.

[0014] Furthermore, the installation shaft of the second gear is rotationally connected to the housing, and the housing supports the second gear, which is beneficial to the installation of the second gear.

[0015] Furthermore, the two pressure measuring assemblies both include a pressure sensor, and the pressure sensor is fixedly embedded in one side of the outer surface of the clamping seat. The detection end of the pressure sensor is fixedly connected to a detection rod. The pressure sensor is a prior art, and the corresponding model can be selected according to actual needs. Its main function is to detect the pressure exerted on the detection rod.

[0016] Furthermore, the air supply assembly includes an air pump, and the air pump is fixedly installed inside the robot connecting seat, and a three-way solenoid valve is fixedly penetrated at the output end of the air pump, and a three-way pipe is fixedly penetrated at one interface of the three-way solenoid valve, and a hose is fixedly penetrated at the other two interfaces of the three-way pipe, and the hose passes through the inner wall of the robot connecting seat and extends to the outside, and the other ends of the two hoses are fixedly penetrated with fixed pipes, and the fixed pipes pass through the shell and are fixedly penetrated with one end of the rotary joint, and the remaining interface of the three-way solenoid valve is not installed with any pipeline, and its main function is to be used for exhaust.

[0017] Beneficial effects of the utility model:

[0018] When the utility model is in use, the clamping device of the robot, through the arranged slide groove, dual-axis motor, transverse movement assembly, shell, deflection assembly, pressure measuring assembly, clamping seat, through hole, piston, clamping rod, air supply assembly, rotating joint and clamping rod, can not only adjust the clamping angle as needed, but also allow the clamping rod to fit the surface of objects of different shapes through the clamping rod, thereby improving the clamping effect and clamping stability, and also improving the overall versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the specific implementation methods will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 : A three-dimensional diagram of the utility model;

[0021] Figure 2 : A cross-sectional view of the utility model;

[0022] Figure 3 :The utility model Figure 2 Enlarged view of point A in the middle.

[0023] Figure 4 : Schematic diagram of the connection between the clamping rod and the piston of the utility model.

[0024] The reference numerals are as follows:

[0025] 1. Robot connecting seat; 2. Shell; 3. Dual-axis motor; 4. Detection rod; 5. Clamping seat; 6. Fixed pipe; 7. Slide; 8. Air pump; 9. Three-way solenoid valve; 10. Three-way pipe; 11. Hose; 12. Screw; 13. Pressure sensor; 14. Straight pipe; 15. Rotary joint; 16. Slide; 17. First gear; 18. Single-axis motor; 19. Second gear; 20. Through hole; 21. Piston; 22. Clamping rod. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] like Figures 1 to 4 As shown, it relates to a clamping device of a robot, including a robot connecting seat 1, a slide groove 7 is opened on one side of the outer surface of the robot connecting seat 1, and a dual-axis motor 3 is fixedly installed on the inner wall of one side of the slide groove 7, and the dual-axis motor 3 can be connected to the inner wall of the slide groove 7 by bolts, so as to facilitate the disassembly and assembly of the dual-axis motor 3, and a transverse movement component is installed between the two driving ends of the dual-axis motor 3 and the slide groove 7, and the two transverse movement components each include a screw rod 12, and one end of the screw rod 12 is fixedly connected to the driving shaft of the dual-axis motor 3, and the other end of the screw rod 12 is rotatably connected to the inner wall of the slide groove 7, a slide seat 16 is threadedly sleeved on the outer surface of the screw rod 12, and the slide seat 16 is fixedly connected to the shell 2, the slide seat 16 slides in contact with the inner walls on both sides of the slide groove 7, the dual-axis motor 3 drives the two screw rods 12 to rotate, and the screw rod 12 drives the slide seat 16 to move, so that the two slide seats 16 are close to or away from each other along the slide groove 7.

[0028] The movable ends of the two transverse movement assemblies are fixedly installed with a shell 2, and the interiors of the two shells 2 are installed with deflection assemblies. The connecting ends of the two deflection assemblies are fixedly installed with a clamping seat 5. The two deflection assemblies include a single-axis motor 18, and the single-axis motor 18 is fixedly installed on an inner wall of one side of the shell 2. The driving end of the single-axis motor 18 is fixedly connected to the first gear 17, and the outer surface of the first gear 17 is fixedly connected to the second gear 19, and the installation shaft of the second gear 19 passes through the shell 2 and is fixedly connected to the clamping seat 5. The single-axis motor 18 drives the first gear 17 to rotate, and the first gear 17 can drive the clamping seat 5 to rotate through the second gear 19. The installation shaft of the second gear 19 is rotationally connected to the shell 2, and the shell 2 has a supporting effect on the second gear 19, which is beneficial to the installation of the second gear 19.

[0029] Pressure measuring assemblies are installed on adjacent sides of the outer surfaces of the two clamping seats 5. The two pressure measuring assemblies include a pressure sensor 13, and the pressure sensor 13 is fixedly embedded on one side of the outer surface of the clamping seat 5. The detection end of the pressure sensor 13 is fixedly connected to the detection rod 4. The pressure sensor 13 is existing technology and the corresponding model can be selected according to actual needs. Its main function is to detect the pressure exerted on the detection rod 4.

[0030] One side of the outer surface of the two clamping seats 5 is provided with a plurality of through holes 20 that penetrate to the inside, and the inner walls of the plurality of through holes 20 are sealed and slid with pistons 21, one end of the piston 21 is fixedly connected to a clamping rod 22, and the clamping end of the clamping rod 22 is fixedly connected to a rubber block to avoid direct hard contact between the clamping rod 22 and the surface of the object, which has a protective effect on the object. The clamping rod 22 is arranged to pass through the through hole 20, and the openings at both ends of the through hole 20 are designed with small openings, which have a limiting effect on the moving stroke of the piston 21.

[0031] The robot connection seat 1 is equipped with an air supply component, and the two connection ends of the air supply component are fixedly connected with a rotating joint 15. The other ends of the two rotating joints 15 are fixedly connected with a straight pipe 14 between the adjacent clamping seats 5. The setting of the rotating joint 15 is conducive to the connection of the air supply component with the clamping seat 5, and the second gear 19 is fixedly sleeved on the outer surface of the straight pipe 14. The air supply component includes an air pump 8, and the air pump 8 is fixedly installed inside the robot connection seat 1. The output end of the air pump 8 is fixedly connected with a three-way solenoid valve 9, and one of the interfaces of the three-way solenoid valve 9 is fixedly connected with a three-way pipe 10. At the connection between the three-way solenoid valve 9 and the three-way pipe 10, it can be selected whether to install a gas pressure sensor according to actual needs. It is mainly used to detect the gas pressure value. The other two interfaces of the three-way pipe 10 are fixedly connected with a hose 11, and the hose 11 passes through the inner wall of the robot connection seat 1 and extends to the outside. The other ends of the two hoses 11 are fixedly connected with a fixed pipe 6, and the fixed pipe 6 passes through the shell 2 and is fixedly connected with one end of the rotating joint 15.

[0032] Working principle: When clamping an object, first adjust the clamping angle as needed, the single-axis motor 18 drives the first gear 17 to rotate, and the first gear 17 can drive the clamping seat 5 to rotate through the second gear 19 until the setting is reached; then perform the clamping operation, the double-axis motor 3 drives the two screws 12 to rotate, and the screws 12 drive the slide 16 connected thereto to move, thereby driving the two shells 2 and the clamping seat 5 to approach each other, when the detection rod 4 contacts the object, the pressure sensor 13 can detect the pressure value, when the pressure values ​​on both sides exceed the setting, the air pump 8 delivers gas to the clamping seat 5 through the three-way solenoid valve 9, the three-way pipe 10, the hose 11, the rotary joint 15 and the straight pipe 14, and then pushes the clamping rod 22 to move through the piston 21 until the clamping rod 22 abuts against the surface of the object, thereby completing the clamping.

[0033] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A robot clamping device, comprising a robot connecting seat (1), characterized in that: A slide groove (7) is provided on one side of the outer surface of the robot connecting seat (1), a dual-axis motor (3) is fixedly mounted on the inner wall of one side of the slide groove (7), and a transverse movement component is installed between the two driving ends of the dual-axis motor (3) and the slide groove (7); The movable ends of the two transverse movement assemblies are fixedly mounted with a housing (2), the interiors of the two housings (2) are mounted with a deflection assembly, the connection ends of the two deflection assemblies are fixedly mounted with a clamping seat (5), and the adjacent sides of the outer surfaces of the two clamping seats (5) are mounted with a pressure measuring assembly; A plurality of through holes (20) penetrating to the inside are provided on one side of the outer surface of the two clamping seats (5); a piston (21) is sealingly slidably disposed on the inner walls of the plurality of through holes (20); a clamping rod (22) is fixedly connected to one end of the piston (21), and the clamping rod (22) is disposed through the through hole (20); The robot connection seat (1) is equipped with an air supply assembly, and the two connection ends of the air supply assembly are fixedly connected to a rotary joint (15), and the other ends of the two rotary joints (15) are fixedly connected to adjacent clamping seats (5) with a straight pipe (14), and the straight pipe (14) passes through the deflection assembly.

2. A robot clamping device according to claim 1, characterized in that: The two transverse shift assemblies each include a screw (12), one end of the screw (12) is fixedly connected to the drive shaft of the dual-axis motor (3), and the other end of the screw (12) is rotationally connected to the inner wall of the slide groove (7), the outer surface of the screw (12) is threadedly sleeved with a slide seat (16), and the slide seat (16) is fixedly connected to the housing (2).

3. A robot clamping device according to claim 2, characterized in that: The sliding seat (16) slides in contact with the inner walls on both sides of the sliding groove (7).

4. A robot clamping device according to claim 1, characterized in that: The two deflection assemblies each comprise a single-axis motor (18), and the single-axis motor (18) is fixedly mounted on an inner wall of one side of the housing (2), a driving end of the single-axis motor (18) is fixedly connected to a first gear (17), a second gear (19) is fixedly connected to one side of an outer surface of the first gear (17), and the second gear (19) is fixedly sleeved on the outer surface of the straight tube (14), and a mounting shaft of the second gear (19) passes through the housing (2) and is fixedly connected to the clamping seat (5).

5. A robot clamping device according to claim 4, characterized in that: The mounting shaft of the second gear (19) is rotationally connected to the housing (2).

6. The robot clamping device according to claim 1, characterized in that: The two pressure measuring assemblies both comprise a pressure sensor (13), and the pressure sensor (13) is fixedly embedded in one side of the outer surface of the clamping seat (5), and the detection end of the pressure sensor (13) is fixedly connected to the detection rod (4).

7. The robot clamping device according to claim 1, characterized in that: The air supply assembly comprises an air pump (8), and the air pump (8) is fixedly installed inside the robot connection seat (1), the output end of the air pump (8) is fixedly connected with a three-way solenoid valve (9), one interface of the three-way solenoid valve (9) is fixedly connected with a three-way pipe (10), the other two interfaces of the three-way pipe (10) are fixedly connected with hoses (11), and the hoses (11) pass through the inner wall of the robot connection seat (1) and extend to the outside, the other ends of the two hoses (11) are fixedly connected with fixed pipes (6), and the fixed pipes (6) pass through the shell (2) and are fixedly connected with one end of the rotary joint (15).

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