Robot jig convenient to adjust
By designing a robotic fixture that is easy to adjust, the slider and moving block are driven by electric push rods and second motors to control the relative position of the grab plate, solving the problem of inconvenient replacement of grippers when dealing with workpieces of different thicknesses in the prior art, and achieving stable clamping and efficient operation of workpieces.
Patent Information
- Application Number
- CN202422209201.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-10
- Publication Date
- 2025-07-01
- Estimated Expiration
- 2034-09-10
AI Technical Summary
When handling workpieces of different thicknesses, existing robot end execution tools need to replace grippers of different specifications, which is inconvenient to use and it is difficult to ensure the stable clamping position of the workpiece.
A robotic fixture is designed for easy adjustment. The slider and moving block are driven by the electric push rod and the second motor to control the relative position of the grab plate to achieve grasping and lowering workpieces of different thicknesses.
It realizes convenient gripping and dropping of workpieces of different thicknesses, simple adjustment operation, ensuring stable clamping position of workpieces and high applicability.
Smart Images
Figure CN223044567U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot fixtures, in particular to a robot fixture that is convenient to adjust. Background Technique
[0002] A robot fixture is a tool for industrial robots, mainly used to assist the robot in completing various operations. The robot fixture can include a variety of devices and components, such as a tool quick-change device, a multi-axis force and torque sensor system, robot burr cleaning, an assembly automatic compliance device, a robot anti-collision sensor, a rotary connector, an end effector, etc.
[0003] Among them, the robot end effector is an important component, also known as the end effector. Its main function is to perform corresponding operations according to different task requirements. The gripper-type end effector is equivalent to the hand of the robot and can grasp and transport workpieces. However, when the existing device is in use, due to the different thicknesses of different workpieces, it is necessary to replace grippers of different specifications, which is very inconvenient to use. Therefore, we design a robot fixture that is convenient to adjust to solve the above technical problems. Content of the Utility Model
[0004] The purpose of the utility model is to provide a robot fixture that is convenient to adjust, so as to solve the problems put forward in the above background technique.
[0005] To achieve the above purpose, the utility model provides the following technical solutions:
[0006] A robot jig that is convenient to adjust, including a base connected to a robotic arm. On the side surface of the base away from the robotic arm, a gripper plate is rotatably connected. Symmetrically arranged cavities are provided on the left and right sides inside the gripper plate. A slider adapted to it is slidably arranged in the cavity. Electric push rods are provided on the inner walls of the two cavities away from each other. The extended end of the electric push rod is fixedly connected to the outer wall of the corresponding slider. Symmetrically arranged chutes are provided on the left and right sides at the bottom of the gripper plate. The chute communicates with the inside of the corresponding cavity. A first connecting block adapted to it is slidably arranged in the chute. The top of the first connecting block is fixedly connected to the bottom of the corresponding slider. A moving plate is fixedly connected to the bottom of the first connecting block. The top of the moving plate is slidably connected to the bottom of the gripper plate. An inner cavity is provided inside the moving plate. A threaded rod is rotatably arranged between the left and right side walls inside the inner cavity. A moving block adapted to it is slidably arranged in the inner cavity. The moving block is threadedly sleeved outside the threaded rod. Symmetrically arranged connecting grooves are opened on the left and right sides at the bottom of the moving plate. A second connecting block adapted to it is slidably arranged in the connecting groove. The top of the second connecting block is fixedly connected to the bottom of the corresponding moving block. A connecting plate is fixedly connected to the bottom of the second connecting block. The other side of the connecting plate is fixedly connected to a gripping plate. Second motors are fixedly installed on the sides of the two moving plates away from each other. The output shaft of the second motor extends into the inner cavity on the corresponding side and is connected to one end of the threaded rod.
[0007] As a preferred solution of the present invention: The vertical cross-section of the connecting plate is "L" shaped. The connecting plate is integrally formed by a vertical plate and a horizontal plate. The top of the vertical plate is slidably connected to the bottom of the gripper plate. The sides of the two horizontal plates close to each other are fixedly connected to the corresponding gripping plates.
[0008] As a further preferred solution of the present invention: Rubber pads are provided on the sides of the two gripping plates close to each other.
[0009] As a further preferred solution of the present invention: Guide rods are fixedly arranged between the left and right side walls in the cavity. The guide rods are located above the electric push rods. The guide rods penetrate through the sliders. The sliders are slidably connected to the guide rods.
[0010] As a further preferred solution of the present invention: A first motor is built into the base. The output shaft of the first motor is fixedly connected to the center of the top of the gripper plate.
[0011] As a further preferred solution of the present invention: When the two connecting plates move to the shortest distance, the two gripping plates are in contact with each other.
[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows: When the present utility model is in use, the staff first starts the electric push rod to push the corresponding slider to move until it abuts against the inner wall of the adjacent cavity. At this time, two second motors are started simultaneously. The second motors drive the moving block to move along the length direction of the threaded rod, so that the two moving blocks can be controlled to approach or move away from each other. Therefore, control the two moving blocks to approach each other until the workpiece can be clamped. Next, by continuously controlling the elongation and shortening of the two electric push rods, drive the two moving plates to approach or move away from each other, and then drive the two grasping plates to approach or move away from each other, so as to realize the grasping and putting down of the workpiece. This device is applicable to the grasping operation of workpieces with different thicknesses, and the adjustment operation is convenient and the applicability is high. At the same time, when the two second motors are started simultaneously, that is, when adjusting the position of the grasping plate, it can be ensured that the two grasping plates approach or move away at the same time, so as to ensure that the position of the workpiece will not shift when it is clamped. And the second motor has a self-locking function, which plays a role in locking the threaded rod. That is, during the normal use of the device, it can be ensured that the threaded rod will not rotate easily, and then ensure that the adjusted position of the grasping plate will not shift, ensuring the stable progress of the clamping operation and high practicability. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 is the main sectional view of the overall structure of the present utility model;
[0014] Figure 2 is Figure 1 the enlarged view of part A in
[0015] Figure 3 is the schematic structural diagram of the whole of the present utility model in another state.
[0016] Wherein: 1 - robotic arm, 2 - base, 3 - slider, 4 - gripper plate, 5 - electric push rod, 6 - connecting plate, 7 - rubber pad, 8 - grasping plate, 9 - moving plate, 11 - guide rod, 12 - first motor, 13 - cavity, 14 - second motor, 15 - inner cavity, 16 - threaded rod, 17 - moving block, 18 - second connecting block, 19 - first connecting block. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0017] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.
[0018] Please refer to Figures 1-3 In the embodiment of the present utility model, a robot fixture that is convenient to adjust includes a base 2 connected to a robotic arm 1. A gripper plate 4 is rotatably connected to one side surface of the base 2 away from the robotic arm 1. Symmetrically arranged cavities 13 are provided on the left and right sides inside the gripper plate 4. Sliders 3 adapted to the cavities 13 are slidably arranged in the cavities 13. Electric push rods 5 are provided on the inner walls of the two cavities 13 away from each other. The extended ends of the electric push rods 5 are fixedly connected to the outer walls of the corresponding sliders 3. Symmetrically arranged chutes are provided on the left and right sides at the bottom of the gripper plate 4. The chutes communicate with the interiors of the corresponding cavities 13. First connecting blocks 19 adapted to the chutes are slidably arranged in the chutes. The tops of the first connecting blocks 19 are fixedly connected to the bottoms of the corresponding sliders 3. A moving plate 9 is fixedly connected to the bottom of the first connecting block 19. The top of the moving plate 9 is slidably connected to the bottom of the gripper plate 4. An inner cavity 15 is provided inside the moving plate 9. A threaded rod 16 is rotatably arranged between the left and right side walls inside the inner cavity 15. A moving block 17 adapted to the inner cavity 15 is slidably arranged in the inner cavity 15. The moving block 17 is threadedly sleeved outside the threaded rod 16. Symmetrically arranged connecting grooves are provided on the left and right sides at the bottom of the moving plate 9. Second connecting blocks 18 adapted to the connecting grooves are slidably arranged in the connecting grooves. The tops of the second connecting blocks 18 are fixedly connected to the bottoms of the corresponding moving blocks 17. A connecting plate 6 is fixedly connected to the bottom of the second connecting block 18. A grasping plate 8 is fixedly connected to the other side of the connecting plate 6. Second motors 14 are fixedly installed on the mutually remote sides of the two moving plates 9. The output shafts of the second motors 14 extend into the inner cavity 15 on the corresponding side and are connected to one end of the threaded rod 16.
[0019] The vertical cross-section of the connecting plate 6 is "L" shaped. The connecting plate 6 is integrally formed by a vertical plate and a horizontal plate. The top of the vertical plate is slidably connected to the bottom of the gripper plate 4. The mutually close sides of the two horizontal plates are fixedly connected to the corresponding grasping plates 8.
[0020] Rubber pads 7 are provided on the mutually close sides of the two grasping plates 8; the setting of the rubber pads 7 can, on the one hand, increase the friction during clamping, and on the other hand, effectively prevent the surface of the object to be clamped from being damaged.
[0021] Guide rods 11 are fixedly arranged between the left and right side walls inside the cavity 13. The guide rods 11 are located above the electric push rods 5. The guide rods 11 penetrate through the sliders 3. The sliders 3 are slidably connected to the guide rods 11; the setting of the guide rods 11 plays a guiding and stabilizing role in the movement of the sliders 3.
[0022] A first motor 12 is built in the base 2. The output shaft of the first motor 12 is fixedly connected to the center of the top of the gripper plate 4; according to the actual requirements of on-site operations, the staff can start the first motor 12. The first motor 12 drives the gripper plate 4 to rotate, that is, drives the two grasping plates 8 to rotate and move. Therefore, it is convenient to adjust the grasping angle and the angle when placing after handling, and the practicability is high.
[0023] When the two connecting plates 6 move to the shortest distance, the two gripping plates 8 are in contact with each other; as Figure 3 shown, by starting the electric push rod 5 and the second motor 14, the two gripping plates 8 can be adjusted to be in contact with each other. This design enables the device to clamp workpieces with very thin thickness, further expanding the scope of application.
[0024] Working principle: During use, the staff first starts the electric push rod 5 to push the corresponding slider 3 to move until it abuts against the inner wall of the adjacent cavity 13. At this time, the two second motors 14 are started simultaneously. The second motor 14 drives the moving block 17 to move along the length direction of the threaded rod 16, so as to control the two moving blocks 17 to approach or move away from each other. Therefore, control the two moving blocks 17 to approach each other until the workpiece can be clamped. Next, by continuously controlling the elongation and shortening of the two electric push rods 5, drive the two moving plates 9 to approach or move away from each other, and then drive the two gripping plates 8 to approach or move away from each other, so as to realize the grasping and releasing of the workpiece. This device is suitable for grasping workpieces with different thicknesses, and the adjustment operation is convenient and the applicability is high. At the same time, when the two second motors 14 are started simultaneously, that is, when adjusting the position of the gripping plate 8, it can be ensured that the two gripping plates 8 approach or move away simultaneously, so as to ensure that the position of the workpiece will not shift when it is clamped. And the second motor 14 has a self-locking function, which plays a role in locking the threaded rod 16. That is, during the normal use of the device, it can be ensured that the threaded rod 16 will not rotate easily, and then ensure that the adjusted position of the gripping plate 8 will not shift, ensuring the stable progress of the clamping operation, and the practicability is high.
[0025] It should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A robot fixture that is easy to adjust, comprising a base (2) connected to a robot arm (1); characterized in that: The surface of the base (2) on one side away from the machine arm (1) is rotatably connected to a gripper plate (4), and cavities (13) are symmetrically arranged on the left and right sides of the gripper plate (4), and a sliding block (3) adapted thereto is slidably arranged in the cavity (13), and an electric push rod (5) is arranged on the inner wall of the two cavities (13) away from each other, and the extended end of the electric push rod (5) is fixedly connected to the outer wall of the corresponding sliding block (3), and the bottom of the gripper plate (4) is symmetrically arranged on the left and right sides, and the sliding groove is connected to the inside of the corresponding cavity (13), and a first connecting block (19) adapted thereto is slidably arranged in the sliding groove, and the top of the first connecting block (19) is fixedly connected to the bottom of the corresponding sliding block (3), and the bottom of the first connecting block (19) is fixedly connected to a moving plate (9), and the top of the moving plate (9) is slidably connected to the bottom of the gripper plate (4), and the inside of the moving plate (9) An inner cavity (15) is provided, a threaded rod (16) is rotatably provided between the left and right side walls of the inner cavity (15), a movable block (17) adapted thereto is slidably provided therein, the movable block (17) being threadedly sleeved on the outside of the threaded rod (16), connecting grooves are symmetrically provided on the left and right sides of the bottom of the movable plate (9), a second connecting block (18) adapted thereto is slidably provided therein, the top of the second connecting block (18) is fixedly connected to the bottom of the corresponding movable block (17), the bottom of the second connecting block (18) is fixedly connected to a connecting plate (6), the other side of the connecting plate (6) is fixedly connected to a grab plate (8), and second motors (14) are fixedly installed on the sides of the two movable plates (9) away from each other, the output shaft of the second motor (14) extends into the inner cavity (15) on the corresponding side and is connected to one end of the threaded rod (16).
2. The easily adjustable robot fixture according to claim 1, characterized in that: The vertical cross-section of the connecting plate (6) is "L"-shaped. The connecting plate (6) is formed integrally of a vertical plate and a horizontal plate. The top of the vertical plate is slidably connected to the bottom of the gripping plate (4), and the sides of the two horizontal plates that are close to each other are fixedly connected to the corresponding gripping plates (8).
3. The robot fixture that is easy to adjust according to claim 2, characterized in that: A rubber pad (7) is provided on one side of the two grab plates (8) that are close to each other.
4. The robot fixture that is easy to adjust according to claim 3 is characterized in that: A guide rod (11) is fixedly provided between the left and right side walls in the cavity (13); the guide rod (11) is located above the electric push rod (5); the guide rod (11) penetrates the slider (3); and the slider (3) is slidably connected to the guide rod (11).
5. The easily adjustable robot fixture according to claim 4, characterized in that: The base (2) has a first motor (12) built in, and an output shaft of the first motor (12) is fixedly connected to the center of the top of the gripper plate (4).
6. The easily adjustable robot fixture according to claim 5, characterized in that: When the two connecting plates (6) move to a position where the distance between them is the shortest, the two grabbing plates (8) fit each other.