Industrial robot with clamping anti-skid structure

Abstract

The utility model provides an industrial robot with a clamping anti-skidding structure, which comprises a ground rail, an industrial robot body and a clamp assembly, the industrial robot body is installed on the upper side of the ground rail in a sliding mode, and the clamp assembly is installed at the upper end of the industrial robot body in a rotating mode. Compared with the prior art, the clamp has the advantages that the clamp assembly, the first clamping piece and the second clamping piece are arranged to be matched with the anti-disengaging piece, a workpiece can be effectively fixed and clamped, the stability of the clamp assembly for grabbing the workpiece is greatly improved, the claw plate is arranged to be matched with the anti-disengaging piece, the hook plate and the inner wall of the lower end of the claw plate are integrally arranged, and the clamping effect is good. The lower side of one end of a workpiece needing to be fixed can be limited, the upper side of the workpiece can be subjected to negative pressure adsorption and fixation through a negative pressure suction cup on the anti-falling piece, then the phenomenon that the workpiece slides and falls off in the clamping process can be effectively avoided, and the grabbing stability of the workpiece is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial robot with a clamping anti-slip structure. Background Art

[0002] Existing industrial robots have some significant shortcomings in terms of stable clamping of products, which will affect production efficiency and product quality. Improper clamping design and material selection can also lead to unstable clamping. For example, insufficient friction on the clamp surface or the shape of the clamp not adapting to the geometry of the product will affect the clamping effect. In addition, during the high-speed movement of the robot, inertia and vibration may also cause unstable clamping.

[0003] Conventional countermeasures include optimizing fixture design and material selection, and adjusting the robot's motion trajectory through software to reduce inertia and vibration. However, these methods also have certain drawbacks. Optimizing fixture design and material selection often requires customized solutions, resulting in longer production cycles and higher costs. In addition, although adjusting the motion trajectory through software can reduce the effects of inertia and vibration to a certain extent, it cannot completely eliminate the effects of these physical factors, especially under high speed and high load conditions. Therefore, although these countermeasures can alleviate the problem of unstable clamping to a certain extent, they cannot completely solve the problem of stable clamping in all scenarios, and still need to be continuously optimized and improved in practical applications. Therefore, we hope to design an industrial robot with a new structure to solve this problem. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model aims to provide an industrial robot with a clamping and anti-slip structure to solve the problems raised in the above-mentioned background technology.

[0005] The utility model is realized by the following technical scheme: an industrial robot with a clamping anti-slip structure, comprising: a ground rail, an industrial robot body and a clamp assembly, the industrial robot body is slidably mounted on the upper side of the ground rail, and the clamp assembly is rotatably mounted on the upper end of the industrial robot body;

[0006] A drag chain is installed on the front side of the floor rail, a slide seat is slidably installed on the upper side of the floor rail, and the clamp assembly includes a mounting part, a clamping part 1, a clamping part 2 and an anti-slip part;

[0007] A clamping piece 1 is fixed to the left end of the mounting piece, a clamping piece 2 is fixed to the right end of the mounting piece, and a plurality of anti-slip pieces distributed at equal intervals are fixed to the top end of the mounting piece.

[0008] As a preferred embodiment, the mounting member includes a mounting plate, a connecting seat and a limiting plate, a connecting seat is fixed in the middle of the upper surface of the mounting plate, and an upper end of the connecting seat is fixedly connected to an upper end of the industrial robot body;

[0009] A limiting plate is fixed by bolts in the middle of the left side and the middle of the right side of the lower surface of the mounting plate.

[0010] As a preferred embodiment, the clamping member 1 includes a rotary cylinder, a bending rod and a clamping plate. A bending rod is fixed to the front end of the rotary cylinder. The lower end of the bending rod is fixedly connected to the front side of the outer wall of the clamping plate. A rubber sheet is provided on the inner wall of the clamping plate. The clamping member 1 cooperates with the clamping member 2 to clamp and fix both sides of the workpiece.

[0011] As a preferred embodiment, the second clamping member includes a side plate, a telescopic cylinder, a hinge and a claw plate, the upper end of the side plate is fixedly connected to the left end of the mounting plate, and the height of the side plate is greater than the height of the clamping plate.

[0012] As a preferred embodiment, the middle of the upper side of the outer wall of the side panel is hinged to the upper end of the telescopic cylinder, the lower end of the side panel is hinged to the upper end of the claw plate through a hinge, and the lower end of the piston rod of the telescopic cylinder is hinged to the middle of the outer wall of the claw plate;

[0013] The cross-section of the claw plate is an L-shaped structure, and the height of the upper end of the claw plate is lower than the height of the lower end of the clamping plate. In actual use, a hook plate is provided at the lower end of the claw plate, and the hook plate is integrally arranged with the inner wall of the lower end of the claw plate, which can limit the workpiece to be fixed and prevent it from slipping.

[0014] As a preferred embodiment, the anti-dropping member includes a mounting frame and a negative pressure suction cup, the mounting frame is fixed to the lower surface of the mounting plate by bolts, and a negative pressure suction cup is fixed at the front end and the rear end of each mounting frame;

[0015] The height of the lowermost end of the negative pressure suction cup in a natural state is lower than the height of the lower surface of the limiting plate.

[0016] After adopting the above technical scheme, the beneficial effect of the utility model is as follows: by setting the clamp assembly, the ground rail drives the industrial robot to move to the position designated to grab the product, and then the industrial robot controls the clamp assembly to the top of the product, and then starts the clamping part 1 and the clamping part 2 to move away from the product synchronously, that is, flip upward by a certain angle, and then the industrial robot controls the clamp assembly to continue to move downward until the bottom of the negative pressure suction cup on the multiple anti-slip parts abuts against the workpiece, and the upper end of the workpiece abuts against the limit plate, and then starts the external negative pressure equipment to make the inside of the negative pressure suction cup in negative pressure. The clamping plate is in a state and the upper end of the product is adsorbed, and then the rotary cylinder and telescopic cylinder on the clamping part 1 and the clamping part 2 are started synchronously. The rotary cylinder drives the bending rod to rotate clockwise until the inner wall of the clamping plate abuts against the right surface of the workpiece. The telescopic cylinder extends the piston rod and pushes the claw plate to rotate counterclockwise, gradually aligning it vertically with the lower end of the side plate, so that the product can be firmly fixed. Then the ground rail and industrial robot can be controlled to operate the product. The clamping part 1 and the clamping part 2 cooperate with the anti-slip part to effectively fix and clamp the workpiece, greatly improving the stability of the fixture assembly in grasping the workpiece.

[0017] The setting of the claw plate, in conjunction with the anti-slip part, the hook plate and the inner wall of the lower end of the claw plate are integrally arranged, which can limit the lower side of one end of the workpiece to be fixed, and the negative pressure suction cup on the anti-slip part can fix the upper side of the workpiece by negative pressure adsorption, thereby effectively preventing the workpiece from slipping or sliding off during the clamping process, greatly improving the stability of the workpiece being grasped. 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 only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 The utility model is a schematic diagram of the overall structure of an industrial robot with a clamping and anti-slip structure.

[0020] Figure 2 The utility model is a schematic diagram of a clamp assembly structure of an industrial robot with a clamping anti-slip structure.

[0021] Figure 3 The utility model is a schematic diagram of an anti-slip structure of an industrial robot with a clamping anti-slip structure.

[0022] Figure 4 The utility model is a schematic diagram of a clamping member of an industrial robot with a clamping anti-slip structure.

[0023] Figure 5 The utility model is a schematic diagram of a limit plate structure of an industrial robot with a clamping anti-slip structure.

[0024] In the figure, 100-ground rail, 110-drag chain, 120-sliding seat;

[0025] 200-Industrial robot body;

[0026] 300-clamp assembly, 310-mounting part, 311-mounting plate, 312-connecting seat, 313-limiting plate, 320-clamping part 1, 321-rotating cylinder, 322-bending rod, 323-clamping plate, 330-clamping part 2, 331-side plate, 332-telescopic cylinder, 333-hinge, 334-claw plate, 340-anti-slip part, 341-mounting frame, 342-negative pressure suction cup. DETAILED DESCRIPTION

[0027] 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.

[0028] See also Figures 1 to 5 The utility model provides a technical solution: an industrial robot with a clamping anti-slip structure, comprising: a ground rail 100, an industrial robot body 200 and a clamp assembly 300, the industrial robot body 200 is slidably mounted on the upper side of the ground rail 100, and the clamp assembly 300 is rotatably mounted on the upper end of the industrial robot body 200;

[0029] A drag chain 110 is installed on the front side of the floor rail 100, a slide seat 120 is slidably installed on the upper side of the floor rail 100, and the clamp assembly 300 includes a mounting member 310, a clamping member 1 320, a clamping member 2 330 and an anti-slip member 340;

[0030] A clamping member 1 320 is fixed to the left end of the mounting member 310 , a clamping member 2 330 is fixed to the right end of the mounting member 310 , and a plurality of anti-dropping members 340 are fixed to the top end of the mounting member 310 at equal intervals.

[0031] See also Figures 1 to 5 The mounting member 310 includes a mounting plate 311, a connecting seat 312 and a limiting plate 313. The connecting seat 312 is fixed in the middle of the upper surface of the mounting plate 311, and the upper end of the connecting seat 312 is fixedly connected to the upper end of the industrial robot body 200;

[0032] A limiting plate 313 is fixed by bolts at the middle of the left side and the middle of the right side of the lower surface of the mounting plate 311 .

[0033] The clamping member 320 includes a rotary cylinder 321, a bending rod 322 and a clamping plate 323. The bending rod 322 is fixed to the front end of the rotary cylinder 321. The lower end of the bending rod 322 is fixedly connected to the front side of the outer wall of the clamping plate 323. The inner wall of the clamping plate 323 is provided with a rubber sheet. The clamping member 320 cooperates with the clamping member 330 to clamp and fix both sides of the workpiece.

[0034] The second clamping member 330 includes a side plate 331 , a telescopic cylinder 332 , a hinge 333 and a claw plate 334 . The upper end of the side plate 331 is fixedly connected to the left end of the mounting plate 311 . The height of the side plate 331 is greater than the height of the clamping plate 323 .

[0035] As the first embodiment of the utility model, in actual use, the ground rail 100 drives the industrial robot to move to the designated position for grabbing the product, and then the industrial robot controls the clamp assembly 300 to the top of the product, and then starts the clamping member 1 320 and the clamping member 2 330 to move away from the product synchronously, that is, flip upward by a certain angle, and then the industrial robot controls the clamp assembly 300 to continue to move downward until the bottom of the negative pressure suction cup 342 on the multiple anti-slip parts 340 abuts against the workpiece, and the upper end of the workpiece abuts against the limit plate 313, and then starts the external negative pressure device to make the inside of the negative pressure suction cup 342 in a negative pressure state and adsorb the upper end of the product. Then, the rotary cylinder 321 and the telescopic cylinder 332 on the clamping part 1 320 and the clamping part 2 330 are started synchronously. The rotary cylinder 321 drives the bending rod 322 to rotate clockwise until the inner wall of the clamping plate 323 abuts against the right surface of the workpiece. The telescopic cylinder 332 extends the piston rod and pushes the claw plate 334 to rotate counterclockwise, gradually aligning it vertically with the lower end of the side plate 331, so that the product can be firmly fixed. Then, the ground rail 100 and the industrial robot can be controlled to operate the product. The clamping part 1 320 and the clamping part 2 330 cooperate with the anti-slip part 340 to effectively fix and clamp the workpiece, greatly improving the stability of the clamp assembly 300 in grasping the workpiece.

[0036] See also Figures 2 to 5 The middle of the upper side of the outer wall of the side plate 331 is hinged to the upper end of the telescopic cylinder 332, the lower end of the side plate 331 is hinged to the upper end of the claw plate 334 through the hinge 333, and the lower end of the piston rod of the telescopic cylinder 332 is hinged to the middle of the outer wall of the claw plate 334;

[0037] The cross section of the claw plate 334 is an L-shaped structure. The height of the upper end of the claw plate 334 is lower than the height of the lower end of the clamping plate 323. In actual use, a hook plate is provided at the lower end of the claw plate 334. The hook plate is integrally arranged with the inner wall of the lower end of the claw plate 334, which can limit the workpiece to be fixed and prevent it from slipping.

[0038] The anti-dropping member 340 includes a mounting frame 341 and a negative pressure suction cup 342. The mounting frame 341 is fixed to the lower surface of the mounting plate 311 by bolts. A negative pressure suction cup 342 is fixed to the front and rear ends of each mounting frame 341.

[0039] The height of the lowermost end of the negative pressure suction cup 342 in a natural state is lower than the height of the lower surface of the limiting plate 313 .

[0040] As the second embodiment of the utility model, in actual use, the hook plate and the inner wall of the lower end of the claw plate 334 are integrally arranged, which can limit the lower side of one end of the workpiece to be fixed, and the negative pressure suction cup 342 on the anti-slip component 340 can fix the upper side of the workpiece by negative pressure adsorption, thereby effectively preventing the workpiece from slipping or sliding off during the clamping process, thereby greatly improving the stability of the workpiece being grasped.

[0041] The above description is only a preferred embodiment of the present invention and is 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. An industrial robot with a clamping and anti-slip structure, comprising: A ground rail (100), an industrial robot body (200), and a fixture assembly (300), characterized in that the industrial robot body (200) is slidably mounted on the upper side of the ground rail (100), and the fixture assembly (300) is rotatably mounted on the upper end of the industrial robot body (200); A drag chain (110) is installed on the front side of the floor rail (100), a slide seat (120) is slidably installed on the upper side of the floor rail (100), and the clamp assembly (300) comprises a mounting part (310), a clamping part 1 (320), a clamping part 2 (330), and an anti-slip part (340); A first clamping piece (320) is fixed to the left end of the mounting piece (310), a second clamping piece (330) is fixed to the right end of the mounting piece (310), and a plurality of anti-slip pieces (340) distributed at equal intervals are fixed to the top end of the mounting piece (310).

2. An industrial robot with a clamping and anti-slip structure as claimed in claim 1, characterized in that: The mounting member (310) comprises a mounting plate (311), a connecting seat (312) and a limiting plate (313); a connecting seat (312) is fixed in the middle of the upper surface of the mounting plate (311); an upper end of the connecting seat (312) is fixedly connected to an upper end of the industrial robot body (200); A limiting plate (313) is respectively fixed by bolts in the middle of the left side and the middle of the right side of the lower surface of the mounting plate (311).

3. An industrial robot with a clamping and anti-slip structure as claimed in claim 2, characterized in that: The clamping member 1 (320) comprises a rotary cylinder (321), a bent rod (322) and a clamping plate (323); the bent rod (322) is fixed to the front end of the rotary cylinder (321); the lower end of the bent rod (322) is fixedly connected to the front side of the outer wall of the clamping plate (323); and the inner wall of the clamping plate (323) is provided with a rubber sheet.

4. An industrial robot with a clamping and anti-slip structure as claimed in claim 3, characterized in that: The second clamping member (330) comprises a side plate (331), a telescopic cylinder (332), a hinge (333) and a claw plate (334); the upper end of the side plate (331) is fixedly connected to the left end of the mounting plate (311); and the height of the side plate (331) is greater than the height of the clamping plate (323).

5. An industrial robot with a clamping and anti-slip structure as claimed in claim 4, characterized in that: The middle of the upper side of the outer wall of the side plate (331) is hinged to the upper end of the telescopic cylinder (332); the lower end of the side plate (331) is hinged to the upper end of the claw plate (334) via a hinge (333); the lower end of the piston rod of the telescopic cylinder (332) is hinged to the middle of the outer wall of the claw plate (334); The cross section of the claw plate (334) is in an L-shaped structure, and the height of the upper end of the claw plate (334) is lower than the height of the lower end of the clamping plate (323).

6. An industrial robot with a clamping and anti-slip structure as claimed in claim 5, characterized in that: The anti-dropping member (340) comprises a mounting frame (341) and a negative pressure suction cup (342); the mounting frame (341) is fixed to the lower surface of the mounting plate (311) by means of bolts; a negative pressure suction cup (342) is fixed to the front end and the rear end of each mounting frame (341); The height of the lowest end of the negative pressure suction cup (342) in a natural state is lower than the height of the lower surface of the limiting plate (313).

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