Robot arm clamp

Abstract

The utility model relates to the technical field of clamps, and discloses a robot arm clamp which comprises a connecting shell and two connectors, openings are formed in the two sides of the connecting shell, second rotating shafts are rotationally connected to the two sides of the interior of the connecting shell, fourth rotating shafts are rotationally connected to the inner sides of the interiors of the two connectors, and the fourth rotating shafts are rotationally connected to the second rotating shafts. And inner connecting rods are fixedly connected between the two second rotating shafts and the fourth rotating shafts correspondingly, the opposite ends of the two connecting heads are fixedly connected with chucks correspondingly, two through grooves with the open outer ends are formed in the inner sides of the chucks, air bags are fixedly connected into the through grooves, and a plurality of protruding edges are fixedly arranged on the outer surfaces of the air bags. According to the clamp, the air bags are arranged on the inner sides of the two clamping heads, and the air bags are attached to the surface of the workpiece after being inflated, so that the clamping area is increased, the friction force is improved, and the clamp is higher in stability when being used for clamping the workpiece with the complex appearance and wide in application range.

Description

Technical Field

[0001] The utility model relates to the technical field of jigs, in particular to a robot arm jig. Background Art

[0002] In some working scenarios that require flexible clamping, a jig can be installed at the end of a robot arm to clamp, grasp, fix, and operate various objects and workpieces. Such a jig usually consists of adjustable jaws or fixtures. The robot arm jig can be used for material handling, assembly, and processing processes on an automated production line.

[0003] However, the outer shape of the clamping end of the current robot arm jigs is mostly of a fixed shape. When clamping some workpieces with irregular shapes, due to the small clamping contact area, the clamping stability is not strong enough. Therefore, it is often necessary to replace the special jig, and the applicability is not strong enough. Therefore, the technical personnel in the field provide a robot arm jig to solve the problems raised in the above background art. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the disadvantages existing in the prior art, and a robot arm jig is proposed. When in use, air bags are arranged on the inner sides of two chucks. After the air bags are inflated, they fit with the surface of the workpiece, thereby increasing the clamping area and improving the friction force, making the jig more stable when clamping workpieces with complex shapes. By setting a worm gear and a worm to drive the two chucks to clamp, the worm gear and worm structure has a self-locking ability, and the two chucks are not prone to creeping after clamping, and the reliability is strong.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] A robot arm jig includes a connection shell and two connection heads. Openings are arranged on both sides of the connection shell. Second rotating shafts are rotatably connected to both inner sides of the connection shell. Fourth rotating shafts are rotatably connected to both inner sides of the two connection heads. Inner connecting rods are fixedly connected between the two second rotating shafts and the fourth rotating shafts respectively;

[0007] Clamping heads are fixedly connected to opposite ends of the two connection heads. Two through grooves with open outer ends are formed in the inner sides of the clamping heads. An air bag is fixedly connected inside the through grooves. A plurality of convex edges are fixedly arranged on the outer surface of the air bag;

[0008] Through the above technical solution, when clamping a relatively regular workpiece, the airbag is retracted into the groove of the chuck, which does not affect clamping. When clamping some workpieces with irregular surfaces, the airbag can be inflated. The airbag is made of elastic material, has good elasticity, and the surface of the airbag is rough. After the airbag is inflated, it fits with the surface of the workpiece, thereby increasing the clamping area and improving the friction force, making the fixture more stable when clamping workpieces with complex shapes.

[0009] Further, worm wheels are fixedly sleeved in the middle of the outer ends of the two second rotating shafts, a worm is rotatably connected to the middle of the inside of the connecting shell, and the worm is meshed with the worm wheel;

[0010] Through the above technical solution, when in use, the worm rotates, drives the two worm wheels to rotate through the worm, thereby adjusting the angles of the two inner connecting rods and changing the distance between the two chucks for clamping.

[0011] Further, the rear end of the connecting shell is fixedly connected with an outer shell, a motor is fixedly arranged inside the outer shell, and the output end of the motor is fixedly connected with the worm;

[0012] Through the above technical solution, the provided motor provides power to drive the worm to rotate.

[0013] Further, the rear end face of the outer shell is fixedly connected with a mounting plate, and a plurality of mounting holes are formed in the periphery of the mounting plate;

[0014] Through the above technical solution, the mounting plate provided with the mounting holes facilitates the connection and fixation of the fixture to the robot arm.

[0015] Further, first rotating shafts are rotatably connected to the outer peripheries on both sides inside the connecting shell, third rotating shafts are rotatably connected to the inner peripheries of the two connecting heads, and outer connecting rods are fixedly connected between the two first rotating shafts and the third rotating shafts respectively;

[0016] Through the above technical solution, the provided outer connecting rods facilitate the stable clamping of the two chucks.

[0017] Further, the adjacent outer connecting rods and inner connecting rods are arranged in parallel;

[0018] Through the above technical solution, the parallel outer connecting rods and inner connecting rods can ensure stable clamping.

[0019] Further, a plurality of grooves are formed on the outer surfaces of the two chucks;

[0020] Through the above technical solution, the provided grooves can improve the roughness of the clamping surface of the chuck and improve the clamping stability.

[0021] Further, a ventilation pipe is fixedly connected to the rear side of the chuck, and both ends of the ventilation pipe extend into the through groove and are respectively communicated with the two air bags;

[0022] Through the above technical solution, the provided ventilation pipe facilitates the connection of pressure gas and supplies gas to the air bags.

[0023] The utility model has the following beneficial effects:

[0024] 1. A robot arm fixture proposed by the utility model. When the fixture is in use, air bags are arranged on the inner sides of the two chucks. When clamping relatively regular workpieces, the air bags are received in the grooves of the chucks without affecting clamping. When clamping some workpieces with irregular surfaces, the air bags can be inflated. The air bags are made of elastic materials and have good elasticity, and the surfaces of the air bags are rough. After the air bags are inflated, they fit with the surface of the workpiece, thereby increasing the clamping area and improving the friction force, making the fixture more stable when clamping workpieces with complex shapes and having a wide application range.

[0025] 2. A robot arm fixture proposed by the utility model. When in use, the two chucks are driven to clamp by the provided worm and worm gear. The worm and worm gear structure has a self-locking ability, and the two chucks are not prone to creeping after clamping, further improving the clamping stability and having strong reliability. Description of the Drawings

[0026] Figure 1 is a three-dimensional view of a robot arm fixture proposed by the utility model Figure 1 ;

[0027] Figure 2 is a three-dimensional view of a robot arm fixture proposed by the utility model Figure 2 ;

[0028] Figure 3 is a top view of a robot arm fixture proposed by the utility model;

[0029] Figure 4 is Figure 2 the enlarged view at A in

[0030] Figure 5 is the internal structure diagram of the connection shell of a robot arm fixture proposed by the utility model.

[0031] Legend Explanation:

[0032] 1. Connecting shell; 2. Outer shell; 3. Mounting plate; 4. Mounting holes; 5. Outer link; 6. First rotating shaft; 7. Inner link; 8. Second rotating shaft; 9. Connector; 10. Third rotating shaft; 11. Fourth rotating shaft; 12. Chuck; 13. Through groove; 14. Airbag; 15. Ridge; 16. Groove; 17. Vent pipe; 18. Motor; 19. Worm; 20. Worm gear. Detailed implementation

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Refer to Figures 1-5 , an embodiment provided by the present invention: A robot arm clamp includes a connecting shell 1 and two connectors 9. Openings are provided on both sides of the connecting shell 1. The inner sides of both sides of the connecting shell 1 are rotatably connected to second rotating shafts 8. The inner sides of the two connectors 9 are rotatably connected to fourth rotating shafts 11. Inner links 7 are fixedly connected between the two second rotating shafts 8 and fourth rotating shafts 11 respectively.

[0035] Chucks 12 are fixedly connected to the opposite ends of the two connectors 9. Two through grooves 13 with open outer ends are provided inside the chucks 12. Airbags 14 are fixedly connected inside the through grooves 13. A plurality of ridges 15 are fixedly arranged on the outer surface of the airbags 14. The provided ridges 15 can increase the surface roughness of the airbags 14 and enhance the friction during clamping.

[0036] Worm gears 20 are fixedly sleeved in the middle of the outer ends of the two second rotating shafts 8. A worm 19 is rotatably connected in the middle of the connecting shell 1. The worm 19 is meshed with the worm gears 20. During use, the worm 19 rotates, driving the two worm gears 20 to rotate, thereby adjusting the angles of the two inner links 7 and changing the distance between the two chucks 12 for clamping.

[0037] The rear end of the connecting shell 1 is fixedly connected to an outer shell 2. A motor 18 is fixedly arranged inside the outer shell 2. The output end of the motor 18 is fixedly connected to the worm 19. The provided motor 18 provides power to drive the worm 19 to rotate.

[0038] The rear end face of the outer shell 2 is fixedly connected to a mounting plate 3. A plurality of mounting holes 4 are provided on the periphery of the mounting plate 3. The mounting plate 3 provided with the mounting holes 4 is convenient for connecting and fixing the clamp to the robot arm.

[0039] On both sides of the interior periphery of the connecting shell 1, a first rotating shaft 6 is rotatably connected. On the inner periphery of the two connecting heads 9, a third rotating shaft 10 is rotatably connected. Outer connecting rods 5 are fixedly connected between the two first rotating shafts 6 and the third rotating shafts 10 respectively. The provided outer connecting rods 5 facilitate the stable clamping of the two chucks 12.

[0040] The adjacent outer connecting rods 5 and inner connecting rods 7 are arranged in parallel. The parallel arrangement of the outer connecting rods 5 and inner connecting rods 7 can ensure stable clamping.

[0041] On the outer surfaces of the two chucks 12, a plurality of grooves 16 are provided. The provided grooves 16 can increase the roughness of the clamping surface of the chucks 12 and improve the clamping stability.

[0042] At the rear side of the chuck 12, a ventilation pipe 17 is fixedly connected. Both ends of the ventilation pipe 17 extend into the through slots 13 and are respectively communicated with the two air bags 14. The provided ventilation pipe 17 facilitates the connection of pressurized gas and supplies gas to the air bags 14.

[0043] Working principle: When in use, the fixture is installed and fixed to the robot arm through the mounting plate 3. When clamping, the motor 18 is started to drive the worm 19 to rotate. Then, the two worm wheels 20 are driven by the worm 19, causing the two chucks 12 to approach each other for clamping. When releasing, the motor 18 rotates in reverse, thus putting down the workpiece. When clamping some workpieces with relatively irregular shapes, after clamping, the air bags 14 can be inflated through the ventilation pipe 17. The air bags 14 are made of elastic materials and have good elasticity. Moreover, the surfaces of the air bags 14 are rough. After the air bags 14 are inflated and expanded, they fit with the surface of the workpiece, thereby increasing the clamping area and improving the friction force, making the fixture more stable when clamping workpieces with complex shapes.

[0044] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot arm fixture, comprising a connecting shell (1) and two connecting heads (9), characterized in that: Both sides of the connecting shell (1) are provided with openings, both sides of the interior of the connecting shell (1) are rotatably connected to second rotating shafts (8), the inner sides of the two connecting heads (9) are rotatably connected to fourth rotating shafts (11), and inner connecting rods (7) are fixedly connected between the two second rotating shafts (8) and the fourth rotating shafts (11); The two connecting heads (9) are fixedly connected to a clamp (12) at one opposite end, the inner side of the clamp (12) is provided with two through grooves (13) with open outer ends, the interior of the through groove (13) is fixedly connected to an air bag (14), and the outer surface of the air bag (14) is fixedly provided with a plurality of convex edges (15).

2. A robot arm fixture according to claim 1, characterized in that: A worm wheel (20) is fixedly sleeved at the middle of the outer ends of the two second rotating shafts (8), and a worm (19) is rotatably connected at the middle of the inner part of the connecting shell (1), and the worm (19) is meshingly connected with the worm wheel (20).

3. A robot arm fixture according to claim 2, characterized in that: The rear end of the connecting shell (1) is fixedly connected to the outer shell (2), a motor (18) is fixedly arranged inside the outer shell (2), and the output end of the motor (18) is fixedly connected to the worm (19).

4. A robot arm fixture according to claim 3, characterized in that: A mounting plate (3) is fixedly connected to the rear end surface of the housing (2), and a plurality of mounting holes (4) are provided on the periphery of the mounting plate (3).

5. The robot arm fixture according to claim 1, characterized in that: The first rotating shaft (6) is rotatably connected to the outer periphery of both sides of the inner part of the connecting shell (1), the third rotating shaft (10) is rotatably connected to the inner periphery of the two connecting heads (9), and an outer connecting rod (5) is fixedly connected between the two first rotating shafts (6) and the third rotating shafts (10), respectively.

6. A robot arm fixture according to claim 5, characterized in that: The adjacent outer connecting rods (5) and inner connecting rods (7) are arranged in parallel.

7. The robot arm fixture according to claim 1, characterized in that: The outer surfaces of the two clamps (12) are each provided with a plurality of grooves (16).

8. The robot arm fixture according to claim 1, characterized in that: A vent pipe (17) is fixedly connected to the rear side of the clamp (12), and both ends of the vent pipe (17) extend into the through groove (13) and are respectively connected to the two air bags (14).

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