Multi-station multifunctional clamping mechanism of robot
By designing the buffer mechanism and clamping mechanism in the multi-station multi-function clamping mechanism of the robot, the problem of excessive clamping force when clamping fragile materials is solved, and the stable clamping of the workpiece and the improvement of operating accuracy is achieved.
Patent Information
- Application Number
- CN202422087790.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-27
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-08-27
AI Technical Summary
When the existing robot multi-station multi-function clamping mechanism clamps with fragile materials, the lack of buffering leads to excessive clamping force, which may cause scratches, indentations or ruptures of the material, and the instantaneous impact of the clamping force may cause the workpiece to be displaced or deformed, affecting the operating accuracy.
A multi-station multi-function clamping mechanism including an L-shaped support plate, a buffer mechanism and a clamping mechanism is designed. The buffering mechanism cushiones the clamping force through the cooperation of the telescopic rod and the spring; the clamping mechanism uses the mechanical structure of the hydraulic cylinder and the slider to ensure uniform and stable clamping force.
Through the design of the buffer mechanism, the excessive clamping force is avoided to damage the workpiece, ensuring stable clamping of the workpiece, reducing shaking and displacement during clamping, extending the service life of the equipment, and reducing the cost of maintenance and replacement.
Smart Images
Figure CN223029729U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of multi-station multi-functional clamping mechanisms, and particularly relates to a multi-station multi-functional clamping mechanism for a robot. Background Technique
[0002] With the rapid development of the manufacturing industry and the continuous improvement of the automation level, robots are more and more widely used in production lines. In many production scenarios, it is required that robots can efficiently and accurately clamp various different workpieces and operate on multiple stations, which has promoted the emergence of multi-station multi-functional clamping mechanisms.
[0003] However, in the process of using the existing multi-station multi-functional clamping mechanisms of robots, when clamping fragile glass products or components with finely processed surfaces, due to the lack of buffering, excessive clamping force will directly cause scratches, indentations or even breakage on the object surface, and the instantaneous impact of the clamping force may cause small displacements or deformations of the clamped object, thus affecting the subsequent operation accuracy. Summary of the Utility Model
[0004] The purpose of the utility model is to provide a multi-station multi-functional clamping mechanism for a robot. By setting a buffering mechanism, the problems that when clamping fragile glass products or components with finely processed surfaces, due to the lack of buffering, excessive clamping force will directly cause scratches, indentations or even breakage on the object surface, and the instantaneous impact of the clamping force may cause small displacements or deformations of the clamped object, thus affecting the subsequent operation accuracy are solved.
[0005] To solve the above technical problems, the utility model is realized through the following technical solutions:
[0006] The utility model is a multi-station multi-functional clamping mechanism for a robot, including an L-shaped support plate, and a plurality of buffering mechanisms and a plurality of clamping mechanisms are arranged on the L-shaped support plate;
[0007] Two trapezoidal chutes I are opened on the inner wall of the L-shaped support plate. A hydraulic cylinder is slidably connected to the inner wall of the upper trapezoidal chute I, and a rectangular support plate I is slidably connected to the inner wall of the lower trapezoidal chute I. The output shaft of the hydraulic cylinder is fixedly connected with the rectangular support plate I. The buffering mechanism includes a buffering component I and a buffering component II. The buffering component I includes two rectangular support plates II arranged above the L-shaped support plate. Two clamping plates are arranged above the L-shaped support plate. A plurality of telescopic rods are fixedly connected between the two rectangular support plates II and the two clamping plates. A first spring is sleeved on the outer wall of each of the plurality of telescopic rods. One sides of the plurality of first springs away from the clamping plates are respectively fixedly connected with the two rectangular support plates II, and one sides of the plurality of first springs close to the clamping plates are respectively fixedly connected with the two clamping plates.
[0008] Further, the second buffer assembly includes two rectangular support blocks respectively and fixedly connected to the adjacent sides of the two rectangular support plates II, and two slide bars are fixedly connected between several of the rectangular support blocks.
[0009] Further, two sliders are slidably connected to the outer walls of the two slide bars, and two second springs are sleeved on the outer walls of the two slide bars. The front sides and the rear sides of the two second springs are respectively fixedly connected to several sliders.
[0010] Further, two connecting blocks are respectively and fixedly connected to the mutually remote sides of the two clamping plates, and one end of each of several connecting rods I is respectively and hingedly arranged on the mutually adjacent sides of several sliders, and the mutually adjacent sides of several connecting rods I are respectively hinged to several connecting blocks.
[0011] Further, the clamping mechanism includes a first clamping assembly and a second clamping assembly. The first clamping assembly includes a rectangular support plate III fixedly connected to the top of the rectangular support plate I, and a trapezoidal chute II is formed in the top of the rectangular support plate III.
[0012] Further, a first moving block is slidably connected to the inner wall of the trapezoidal chute II, a second connecting rod is fixedly connected to the rear side of the first moving block, and the rear side of the second connecting rod is fixedly connected to the connecting plate.
[0013] Further, the second clamping assembly includes several trapezoidal chutes III formed in the top of the rectangular support plate III, and several second moving blocks are slidably connected to the inner walls of the several trapezoidal chutes III.
[0014] Further, one end of each of several third connecting rods is respectively and hingedly arranged on the tops of several second moving blocks. One side of several third connecting rods close to the first moving block is hinged to the first moving block, and two arc-shaped connecting rods are hingedly arranged on the tops of several third connecting rods. One side of the two arc-shaped connecting rods close to each other is respectively hinged to the two rectangular support plates II.
[0015] The utility model has the following beneficial effects:
[0016] 1. By setting up a buffer mechanism, during clamping, when the clamping plate touches the workpiece, the clamping plate will temporarily stop moving. At this time, the rectangular support plate II will continue to move closer to the clamping plate and apply a clamping force to the clamping plate. The clamping force applied by the rectangular support plate II to the clamping plate will be buffered under the action of the telescopic rod and the first spring. Since the rectangular support plate II moves closer to the clamping plate, the sliding blocks will move closer to each other under the action of the connecting block and the first connecting rod, and force the second spring to compress. Thus, while further increasing the buffering effect of the device, the fatigue degree of the telescopic rod and the first spring is reduced, so that when the clamping plate touches the workpiece, it will temporarily stop moving, and the subsequent clamping force is applied through buffering, which can effectively avoid damage to the workpiece caused by instantaneous excessive clamping force. For example, when clamping the shell of a precision instrument, it can prevent surface indentations or damage to internal parts due to excessive force. The gradually increasing clamping force is transmitted through buffering, so that the workpiece is clamped more stably, reducing the shaking and displacement during the clamping process. The impact force borne by the telescopic rod and the first spring is buffered, reducing the fatigue degree, thereby extending the service life of these components and reducing the costs of maintenance and replacement;
[0017] 2. By setting up a clamping mechanism, when it is necessary to clamp a workpiece using the device, the hydraulic cylinder can be started. The hydraulic cylinder drives a plurality of second connecting rods to move forward simultaneously through the connecting plate, thereby pushing the first moving block to move forward in the trapezoidal chute II. When the first moving block moves forward, it will drive them to move closer to each other under the action of the third connecting rod, and then stably clamp the workpiece through the clamping plate. The hydraulic cylinder drives a plurality of second connecting rods to move simultaneously through the connecting plate, which can ensure the synchronous movement of multiple clamping components, thereby ensuring the uniformity and stability of the clamping of the workpiece, ensuring that the workpiece maintains a stable position during processing, preventing it from moving or shaking, thereby ensuring the accuracy and precision of the operation, and reducing the risk of personal injury and equipment damage caused by accidental detachment of the workpiece.
[0018] Of course, it is not necessary for any product implementing the present utility model to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0020] Figure 1 is the overall structural schematic diagram of the present utility model;
[0021] Figure 2 is the right-side sectional structural schematic diagram of the present utility model;
[0022] Figure 3For the present utility model Figure 2 Schematic enlarged structure diagram of A in
[0023] Figure 4 For the present utility model Figure 2 Schematic enlarged structure diagram of B in
[0024] Figure 5 For the present utility model Figure 2 Schematic enlarged structure diagram of C in
[0025] In the attached drawings, the list of components represented by each reference numeral is as follows:
[0026] 1. L-shaped support plate; 101. First trapezoidal chute; 102. Hydraulic cylinder; 103. First rectangular support plate; 104. Connecting plate; 2. Buffer mechanism; 21. First buffer assembly; 211. Second rectangular support plate; 212. Clamping plate; 213. Telescopic rod; 214. First spring; 22. Second buffer assembly; 221. Rectangular support block; 222. Slide bar; 223. Slide block; 224. Second spring; 225. Connecting block; 226. First connecting rod; 3. Clamping mechanism; 31. First clamping assembly; 311. Third rectangular support plate; 312. Second trapezoidal chute; 313. First moving block; 314. Second connecting rod; 32. Second clamping assembly; 321. Third trapezoidal chute; 322. Second moving block; 323. Third connecting rod; 324. Arc-shaped connecting rod. Specific embodiments
[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.
[0028] Please refer to Figures 1-5As shown in the figure, the utility model is a multi-station and multi-functional clamping mechanism for a robot, including an L-shaped support plate 1. A number of buffer mechanisms 2 and a number of clamping mechanisms 3 are arranged on the L-shaped support plate 1. Two trapezoidal chutes 101 are opened on the inner wall of the L-shaped support plate 1. A hydraulic cylinder 102 is slidably connected to the inner wall of the upper trapezoidal chute 101, and a rectangular support plate 103 is slidably connected to the inner wall of the lower trapezoidal chute 101. The output shaft of the hydraulic cylinder 102 is fixedly connected to the rectangular support plate 103. The buffer mechanism 2 includes a first buffer component 21 and a second buffer component 22. The first buffer component 21 includes two rectangular support plates 211 arranged above the L-shaped support plate 1. Two clamping plates 212 are arranged above the L-shaped support plate 1. A number of telescopic rods 213 are fixedly connected between the two rectangular support plates 211 and the two clamping plates 212. A first spring 214 is sleeved on the outer wall of each of the number of telescopic rods 213. The sides of the number of first springs 214 away from the clamping plates 212 are respectively fixedly connected to the two rectangular support plates 211, and the sides of the number of first springs 214 close to the clamping plates 212 are respectively fixedly connected to the two clamping plates 212. The second buffer component 22 includes two rectangular support blocks 221 respectively fixedly connected to the sides of the two rectangular support plates 211 close to each other. Two slide rods 222 are fixedly connected between the number of rectangular support blocks 221. Two sliders 223 are slidably connected to the outer walls of the two slide rods 222. A second spring 224 is sleeved on the outer walls of the two slide rods 222. The front sides and the rear sides of the two second springs 224 are respectively fixedly connected to the number of sliders 223. Connecting blocks 225 are respectively fixedly connected to the sides of the two clamping plates 212 away from each other. One end of a first connecting rod 226 is hinged to the side of each of the number of sliders 223 close to each other, and the other end of the first connecting rod 226 is hinged to each of the number of connecting blocks 225. By arranging the buffer mechanism 2, when the clamping plate 212 touches the workpiece, the clamping plate 212 will temporarily stop moving. At this time, the rectangular support plate 211 will continue to move closer to the clamping plate 212 and apply a clamping force to the clamping plate 212. The clamping force applied by the rectangular support plate 211 to the clamping plate 212 will be buffered under the action of the telescopic rod 213 and the first spring 214. Since the rectangular support plate 211 moves closer to the clamping plate 212, under the action of the connecting block 225 and the first connecting rod 226, the sliders 223 will move closer to each other and force the second spring 224 to compress, thereby further increasing the buffer effect of the device while reducing the fatigue degree of the telescopic rod 213 and the first spring 214, so that the clamping plate 212 temporarily stops moving when it touches the workpiece, and the subsequent clamping force is applied through buffering, effectively avoiding damage to the workpiece caused by instantaneously excessive clamping force.For example, when clamping the outer shell of a precision instrument, it can prevent surface indentations or damage to internal parts due to excessive force. The gradually increasing clamping force is transmitted through buffering, enabling the workpiece to be clamped more stably, reducing shaking and displacement during the clamping process. The impact forces borne by the telescopic rod 213 and the first spring 214 are buffered, reducing fatigue and thus extending the service life of these components, and reducing the costs of maintenance and replacement. The clamping mechanism 3 includes a first clamping component 31 and a second clamping component 32. The first clamping component 31 includes a third rectangular support plate 311 fixedly connected to the top of the first rectangular support plate 103. A second trapezoidal chute 312 is provided at the top of the third rectangular support plate 311. A first moving block 313 is slidably connected to the inner wall of the second trapezoidal chute 312. A second connecting rod 314 is fixedly connected to the rear side of the first moving block 313. The rear side of the second connecting rod 314 is fixedly connected to the connecting plate 104. The second clamping component 32 includes a plurality of third trapezoidal chutes 321 provided at the top of the third rectangular support plate 311. A second moving block 322 is slidably connected to the inner wall of each of the plurality of third trapezoidal chutes 321. A third connecting rod 323 is hingedly provided at the top of each of the plurality of second moving blocks 322. One side of each of the plurality of third connecting rods 323 close to the first moving block 313 is hinged to the first moving block 313. Two arc-shaped connecting rods 324 are hingedly provided at the top of each of the plurality of third connecting rods 323. One side of the two arc-shaped connecting rods 324 close to each other is respectively hinged to the two second rectangular support plates 211. By providing the clamping mechanism 3, the hydraulic cylinder 102 can drive a plurality of second connecting rods 314 to move simultaneously through the connecting plate 104, ensuring the synchronous movement of multiple clamping components, thereby guaranteeing the uniformity and stability of the clamping of the workpiece, ensuring that the workpiece maintains a stable position during processing, preventing it from moving or shaking, and thus ensuring the accuracy and precision of the operation. The risk of personal injury and equipment damage caused by accidental dropping of the workpiece can be reduced.
[0029] A specific application of this embodiment is as follows: When in use, first install the device at the corresponding position, start the hydraulic cylinder 102, and the hydraulic cylinder 102 drives a plurality of second connecting rods 314 to move forward simultaneously through the connecting plate 104, thereby pushing the first moving block 313 to move forward in the second trapezoidal chute 312. When the first moving block 313 moves forward, it will drive 3234 to approach each other under the action of the third connecting rod 323, and then clamp the workpiece stably through the clamping plate 212. The hydraulic cylinder 102 drives a plurality of second connecting rods 314 to move through the connecting plate 104, which can ensure the synchronous movement of multiple clamping components, thereby ensuring the uniformity and stability of the clamping of the workpiece, ensuring that the workpiece maintains a stable position during the processing, preventing it from moving or shaking, thus ensuring the accuracy and precision of the operation, and reducing the risk of personal injury and equipment damage caused by accidental falling of the workpiece. When clamping, when the clamping plate 212 touches the workpiece, the clamping plate 212 will temporarily stop moving, and at this time, the second rectangular support plate 211 will continue to approach the clamping plate 212 and apply a clamping force to the clamping plate 212. The clamping force applied by the second rectangular support plate 211 to the clamping plate 212 will be buffered under the action of the telescopic rod 213 and the first spring 214. Since the second rectangular support plate 211 approaches the clamping plate 212, the sliding blocks 223 will approach each other under the action of the connecting block 225 and the first connecting rod 226, and force the second spring 224 to compress, thereby further increasing the buffering effect of the device while reducing the fatigue degree of the telescopic rod 213 and the first spring 214. When the clamping plate 212 touches the workpiece and temporarily stops moving, the subsequent clamping force is applied through the buffering effect, which can effectively avoid damaging the workpiece due to excessive instantaneous clamping force. For example, when clamping the shell of a precision instrument, it can prevent surface indentations or damage to internal parts due to excessive force. The gradually increasing clamping force is transmitted through buffering, enabling the workpiece to be clamped more stably, reducing shaking and displacement during the clamping process, buffering the impact force borne by the telescopic rod 213 and the first spring 214, reducing the fatigue degree, thereby extending the service life of these components and reducing the cost of maintenance and replacement.
[0030] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.
[0031] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present utility model, so that those skilled in the relevant art can well understand and utilize the present utility model. The present utility model is only limited by the claims and their full scope and equivalents.
Claims
1. A multi-station multi-functional gripping mechanism of a robot, comprising an L-shaped support plate (1), characterized in that: The L-shaped support plate (1) is provided with a plurality of buffer mechanisms (2) and a plurality of clamping mechanisms (3); The inner wall of the L-shaped support plate (1) is provided with two trapezoidal slide grooves (101); a hydraulic cylinder (102) is slidably connected to the inner wall of the upper trapezoidal slide groove (101); a rectangular support plate (103) is slidably connected to the inner wall of the lower trapezoidal slide groove (101); the output shaft of the hydraulic cylinder (102) is fixedly connected to the rectangular support plate (103); the buffer mechanism (2) comprises a buffer component (21) and a buffer component (22); the buffer component (21) comprises two rectangular slide grooves (102) arranged above the L-shaped support plate (1). Support plate 2 (211), two clamping plates (212) are arranged above the L-shaped support plate (1), a plurality of telescopic rods (213) are fixedly connected between the two rectangular support plates 2 (211) and the two clamping plates (212), a plurality of springs 1 (214) are sleeved on the outer walls of the plurality of telescopic rods (213), a plurality of springs 1 (214) are fixedly connected to the two rectangular support plates 2 (211) on one side away from the clamping plates (212), and a plurality of springs 1 (214) are fixedly connected to the two clamping plates (212) on one side close to the clamping plates (212).
2. The multi-station multi-functional gripping mechanism of a robot according to claim 1, characterized in that: The second buffer assembly (22) comprises two rectangular support blocks (221) respectively fixedly connected to the sides of two rectangular support plates (211) close to each other, and two sliding rods (222) are fixedly connected between a plurality of the rectangular support blocks (221).
3. The multi-station multi-functional gripping mechanism of a robot according to claim 2, characterized in that: Two sliders (223) are slidably connected to the outer walls of the two slide bars (222), and springs (224) are sleeved on the outer walls of the two slide bars (222). The front and rear sides of the two springs (224) are fixedly connected to the plurality of sliders (223) respectively.
4. The multi-station multi-functional gripping mechanism of a robot according to claim 3, characterized in that: Two connecting blocks (225) are fixedly connected to the sides of the two clamping plates (212) that are away from each other, and connecting rods (226) are hingedly provided on the sides of the plurality of sliding blocks (223) that are close to each other. The sides of the plurality of connecting rods (226) that are close to each other are hingedly connected to the plurality of connecting blocks (225).
5. The multi-station multi-functional gripping mechanism of a robot according to claim 4, characterized in that: The clamping mechanism (3) comprises a clamping component 1 (31) and a clamping component 2 (32); the clamping component 1 (31) comprises a rectangular support plate 3 (311) fixedly connected to the top of the rectangular support plate 1 (103); a trapezoidal slide groove 2 (312) is provided on the top of the rectangular support plate 3 (311).
6. The multi-station multi-functional gripping mechanism of a robot according to claim 5, characterized in that: A moving block 1 (313) is slidably connected to the inner wall of the second trapezoidal slide groove (312), a connecting rod 2 (314) is fixedly connected to the rear side of the moving block 1 (313), and a connecting rod 2 (314) is fixedly connected to the connecting plate (104) at the rear side.
7. The multi-station multi-functional gripping mechanism of a robot according to claim 6, characterized in that: The clamping assembly 2 (32) comprises a plurality of trapezoidal slide grooves 3 (321) opened on the top of the rectangular support plate 3 (311), and the inner walls of the plurality of trapezoidal slide grooves 3 (321) are all slidably connected with moving blocks 2 (322).
8. The multi-station multi-functional gripping mechanism of a robot according to claim 7, characterized in that: The tops of several of the moving blocks two (322) are hingedly provided with connecting rods three (323), the sides of several of the connecting rods three (323) close to the moving block one (313) are hinged to the moving block one (313), and the tops of several of the connecting rods three (323) are hingedly provided with two arc-shaped connecting rods (324), and the sides of the two arc-shaped connecting rods (324) close to each other are respectively hinged to the two rectangular support plates two (211).