Composite clamp for industrial robot

Abstract

The utility model discloses an industrial robot composite clamp, and relates to the technical field of clamps. The device comprises a rack, two mounting frames which synchronously and reversely slide are arranged on the rack, a column rod and a plurality of arc-shaped rods are arranged on the mounting frames in a sliding mode, a first rolling wheel is rotationally arranged at the free end of the column rod, two connecting rods which are both of a V-shaped structure are symmetrically hinged to the mounting frames, and torsion springs are arranged at the hinged positions of the connecting rods; and a second roller is rotationally arranged at one end of the connecting rod. When the tubular workpiece is clamped, the mode of increasing the clamping force on the tubular workpiece in the prior art is abandoned, and the two ends, the outer surface and the inner wall of the tubular workpiece can be clamped together, so that the clamping stability is guaranteed, and the tubular workpiece is prevented from falling off; and meanwhile, the clamping device can be suitable for tubular workpieces with different lengths, different outer diameters and different inner diameters, and the situation that the tubular workpieces deform and are damaged due to the fact that clamping force is too large can be avoided.

Description

Technical Field

[0001] This application relates to the technical field of jigs, and particularly to an industrial robot composite jig. Background Art

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field, which can automatically perform work and is a machine that realizes various functions by its own power and control ability. When an industrial robot is working, it needs to cooperate with a jig to clamp a workpiece. In the prior art, when clamping a tubular workpiece, due to the relatively smooth surface of the tubular workpiece, usually the clamping force on the tubular workpiece is increased to ensure the clamping stability and avoid the tubular workpiece from falling. However, too large a clamping force is likely to cause deformation and damage to the tubular workpiece. Therefore, an industrial robot composite jig is proposed. Summary of the Utility Model

[0003] The purpose of this application is to: solve the technical problem that when clamping a tubular workpiece, due to the relatively smooth surface of the tubular workpiece, usually the clamping force on the tubular workpiece is increased to ensure the clamping stability and avoid the tubular workpiece from falling, but too large a clamping force is likely to cause deformation and damage to the tubular workpiece. This application provides an industrial robot composite jig.

[0004] To achieve the above purpose, this application specifically adopts the following technical solutions:

[0005] An industrial robot composite jig, comprising:

[0006] A frame, on which two synchronously and reversely sliding mounting frames are configured. A column rod and a plurality of arc-shaped rods are slidably arranged on the mounting frame. A first roller is rotatably arranged at the free end of the column rod. Two link rods both configured in a V shape are symmetrically hinged on the mounting frame. A torsion spring is arranged at the hinge of the link rods. A second roller is rotatably arranged at one end of the link rod. Both the first roller and the second roller are in rolling contact with the outer surface of the tubular workpiece. The column rod and the two link rods are linked by a linkage. When the column rod slides, the two link rods are driven to rotate synchronously and reversely through the linkage. The arc-shaped rod is in contact and overlap with the inner wall of the tubular workpiece. A driving member acting on the plurality of arc-shaped rods and driving them to slide synchronously is arranged on the mounting frame.

[0007] Further, a positive and negative lead screw is rotatably arranged on the frame, and the two mounting frames are respectively in threaded cooperation with the positive and negative threaded sections of the positive and negative lead screw.

[0008] Further, the linkage includes two fixing blocks symmetrically arranged on the column rod. A guiding inclined surface is formed on the fixing block. A contact wheel that is in rolling contact with the guiding inclined surface is rotatably arranged at the other end of the link rod.

[0009] Furthermore, the frame is provided with a driving part which acts on the two poles and drives them to slide synchronously.

[0010] Furthermore, the driving part comprises a driving frame slidably arranged on the frame, and the two pillars are both slidably matched with the driving frame.

[0011] Furthermore, the driving member includes a driving disk rotatably mounted on the mounting frame, the arc rod is provided with a protrusion, the driving disk is provided with strip grooves having the same number as the protrusions and corresponding to each other, and the protrusions are slidably matched with the strip grooves.

[0012] Furthermore, a driving rod is rotatably provided on the frame, and the driving rod is linked to the two driving disks via a linkage part. When the driving rod rotates, the two driving disks are driven to rotate synchronously via the linkage part.

[0013] Furthermore, the linkage part includes a spline groove formed on the driving rod, a spline rod slidably matched with the spline groove is rotatably provided on the mounting frame, and the spline rod is transmission-connected to the driving disk via a pulley assembly.

[0014] The beneficial effects of this application are as follows:

[0015] When clamping a tubular workpiece, the present application abandons the method of increasing the clamping force on the tubular workpiece in the prior art, and can clamp both ends, the outer surface and the inner wall of the tubular workpiece together to ensure the clamping stability and prevent the tubular workpiece from falling. At the same time, it can be applicable to tubular workpieces of different lengths, different outer diameters and different inner diameters, and can avoid deformation and damage of the tubular workpiece due to excessive clamping force, so it is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the structure of this application;

[0017] Figure 2 It is a three-dimensional diagram of the structure of part of this application;

[0018] Figure 3 This application Figure 2 A three-dimensional cross-sectional view of

[0019] Figure 4 This application Figure 2 A three-dimensional cross-sectional view from another perspective;

[0020] Figure 5 This application Figure 4 The enlarged view of point A in the middle;

[0021] Figure 6 This application Figure 4 Enlarged view of point B in the middle.

[0022] Reference numerals: 1, frame; 2, mounting bracket; 3, column rod; 4, arc rod; 5, first roller; 6, connecting rod; 7, torsion spring; 8, second roller; 9, positive and negative lead screw; 10, fixed block; 11, abutting wheel; 12, driving frame; 13, driving disc; 14, convex block; 15, strip groove; 16, driving rod; 17, spline groove; 18, spline rod; 19, pulley assembly. Detailed implementation mode

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0024] As Figures 1 - 5 shown, an industrial robot composite fixture proposed in an embodiment of the present application includes:

[0025] A frame 1, on which two mounting brackets 2 that slide synchronously and in opposite directions are configured. The frame 1 is connected to an industrial robot, and the connection method can be by bolts. The two mounting brackets 2 both slide in the horizontal direction. A column rod 3 and a plurality of arc rods 4 are slidably arranged on the mounting bracket 2. The column rod 3 slides in the vertical direction, and the sliding direction of the arc rod 4 is perpendicular to the sliding direction of the mounting bracket 2. A first roller 5 is rotatably arranged at the free end of the column rod 3, and the first roller 5 is in the vertical direction. Two connecting rods 6 both configured in a V shape are symmetrically hinged on the mounting bracket 2. The connecting rods 6 are in the vertical direction. A torsion spring 7 is arranged at the hinge of the connecting rods 6. The torsion spring 7 is in the horizontal direction and its two ends are respectively fixedly connected to the connecting rod 6 and the mounting bracket 2. A second roller 8 is rotatably arranged at one end of the connecting rod 6, and the second roller 8 is in the vertical direction. Both the first roller 5 and the second roller 8 are in rolling contact with the outer surface of the tubular workpiece. The column rod 3 and the two connecting rods 6 are linked by a linkage. When the column rod 3 slides, the two connecting rods 6 are driven to rotate synchronously and in opposite directions through the linkage. The arc rod 4 is in abutting contact with the inner wall of the tubular workpiece. A driving member acting on the plurality of arc rods 4 and driving them to slide synchronously is arranged on the mounting bracket 2;

[0026] In the initial state, the two mounting brackets 2 are close to each other, the column rod 3 and the connecting rod 6 are both in the initial position, the multiple arc-shaped rods 4 are close to each other, the torsion spring 7 is in the natural state, and the two second rollers 8 are far from each other. When clamping the tubular workpiece, the two mounting brackets 2 are driven to slide synchronously and reversely away from each other. The tubular workpiece is located between the two mounting brackets 2. Then, the two mounting brackets 2 are driven to slide synchronously and reversely closer to each other until the two mounting brackets 2 respectively abut and overlap with the two ends of the tubular workpiece to be applicable to tubular workpieces of different lengths. After that, the column rod 3 is driven to slide upward to the limit position. During this process, the two connecting rods 6 are driven to rotate synchronously and reversely to the limit position through the linkage member, and the torsion spring 7 is compressed. The first roller 5 and the two second rollers 8 both roll and overlap with the outer surface of the tubular workpiece to clamp the outer surface of the tubular workpiece, and at the same time, it can be applicable to tubular workpieces of different outer diameters. At the same time, through the driving member, the multiple arc-shaped rods 4 are driven to slide synchronously and reversely away from each other until the multiple arc-shaped rods 4 all abut and overlap with the inner wall of the tubular workpiece to clamp the inner wall of the tubular workpiece, and at the same time, it can be applicable to tubular workpieces of different inner diameters. On the contrary, when releasing the clamping of the tubular workpiece, through the driving member, the multiple arc-shaped rods 4 are driven to slide synchronously and reversely closer to each other, and the multiple arc-shaped rods 4 all move away from the inner wall of the tubular workpiece. The column rod 3 is driven to slide downward to the initial position, the torsion spring 7 returns to the natural state, the two connecting rods 6 rotate synchronously and reversely to the initial position, the first roller 5 and the two second rollers 8 both move away from the outer surface of the tubular workpiece, and finally, the two mounting brackets 2 are driven to slide synchronously and reversely away from each other;

[0027] In summary, when clamping the tubular workpiece, the present application abandons the method of increasing the clamping force on the tubular workpiece in the prior art, and can clamp the two ends, the outer surface and the inner wall of the tubular workpiece together to ensure the clamping stability and prevent the tubular workpiece from falling. At the same time, it can be applicable to tubular workpieces of different lengths, different outer diameters and different inner diameters, and can avoid deformation and damage of the tubular workpiece caused by excessive clamping force. Therefore, it is more practical.

[0028] As Figure 2 shown, in some embodiments, a forward and reverse lead screw 9 is rotatably provided on the frame 1. The forward and reverse lead screw 9 is in the horizontal direction, and the two mounting brackets 2 are respectively in threaded cooperation with the forward and reverse threaded sections of the forward and reverse lead screw 9;

[0029] Referring to the above, during use, by driving the forward and reverse lead screw 9 to rotate forward or reverse, the two mounting brackets 2 respectively slide synchronously and reversely away from or close to each other due to the action of the forward and reverse threads, so as to drive the two mounting brackets 2 to slide synchronously and reversely.

[0030] As Figure 3As shown, in some embodiments, the linkage member includes two fixed blocks 10 symmetrically arranged on the column rod 3. The two fixed blocks 10 are both in the vertical direction and are respectively fixed on the opposite sides of the column rod 3. A guiding inclined surface is formed on the fixed block 10. The guiding inclined surface has an initial point and a limit point distributed relatively. The other end of the connecting rod 6 is rotatably provided with a contact wheel 11 that rolls and abuts against the guiding inclined surface. The contact wheel 11 is in the vertical direction;

[0031] Referring to the above, in the initial state, the column rod 3 and the two connecting rods 6 are both in the initial position, the torsion spring 7 is in the natural state, and the two contact wheels 11 are respectively located at the initial points of the two guiding inclined surfaces. When the column rod 3 slides upward to the limit position, it drives the two fixed blocks 10 to move upward together. The contact wheel 11 rolls from the initial point of the guiding inclined surface to the limit point. During this process, the connecting rod 6 rotates to the limit position, and the torsion spring 7 is compressed to realize that when the column rod 3 slides, it drives the two connecting rods 6 to rotate synchronously and in the opposite direction. Conversely, when the column rod 3 slides downward to the initial position, it drives the two fixed blocks 10 to move downward together, the torsion spring 7 returns to the natural state, the connecting rod 6 rotates to the initial position, and the contact wheel 11 rolls from the limit point of the guiding inclined surface to the initial point.

[0032] As Figure 2 shown, in some embodiments, a driving part for acting on the two column rods 3 and driving them to slide synchronously is provided on the frame 1;

[0033] Referring to the above, in use, the two column rods 3 are driven to slide synchronously by the driving part, which is more convenient to use. At the same time, the driving part is not affected by the synchronous reverse sliding of the two mounting brackets 2.

[0034] As Figure 2 shown, in some embodiments, the driving part includes a driving frame 12 slidably arranged on the frame 1. The driving frame 12 slides in the vertical direction. A vertical cylinder push rod is fixed on the frame 1. The movable end of the cylinder push rod is connected to the driving frame 12. Both column rods 3 are slidably matched with the driving frame 12, and the column rods 3 are horizontally slidably matched with the driving frame 12;

[0035] Referring to the above, in the initial state, the movable end of the cylinder push rod retracts, and the driving frame 12 is in the initial position. When the two mounting brackets 2 slide synchronously and in the opposite direction, the two column rods 3 slide horizontally on the driving frame 12 together. In use, the movable end of the cylinder push rod is extended to drive the driving frame 12 to slide upward to the limit position, thereby driving the two column rods 3 to slide synchronously upward to the limit position. Conversely, the movable end of the cylinder push rod is retracted to drive the driving frame 12 to slide downward to the initial position, thereby driving the two column rods 3 to slide synchronously downward to the initial position.

[0036] As Figure 5As shown, in some embodiments, the driving member includes a driving disk 13 rotatably arranged on the mounting frame 2, the driving disk 13 is in a vertical direction, a protrusion 14 is arranged on the arc rod 4, the protrusion 14 is in a horizontal direction and fixed on the arc rod 4, and the driving disk 13 is provided with strip grooves 15 having the same number as the protrusions 14 and corresponding to each other, and the plurality of strip grooves 15 are distributed in an annular array, the protrusions 14 are slidably matched with the strip grooves 15, and the strip grooves 15 have an initial point and an extreme point of relative distribution;

[0037] Referring to the above, in the initial state, the multiple arc rods 4 are close to each other and are all close to the axis of the driving disk 13, and the multiple protrusions 14 are respectively located at the initial points of the multiple strip grooves 15. When in use, the driving disk 13 is driven to rotate forward, and the protrusion 14 slides from the initial point of the strip groove 15 to the limit point. Through the cooperation of the protrusion 14 and the strip groove 15, the arc rod 4 is driven to slide to the limit position and away from the axis of the driving disk 13. Conversely, the driving disk 13 is driven to reverse, and the protrusion 14 slides from the limit point of the strip groove 15 to the initial point. Through the cooperation of the protrusion 14 and the strip groove 15, the arc rod 4 is driven to slide to the initial position and close to the axis of the driving disk 13, so as to realize driving the multiple arc rods 4 to slide in the opposite direction synchronously.

[0038] like Figures 5 - 6 As shown, in some embodiments, a driving rod 16 is rotatably provided on the frame 1, and the driving rod 16 is in a horizontal direction. The driving rod 16 is linked with the two driving disks 13 through a linkage part. When the driving rod 16 rotates, the two driving disks 13 are driven to rotate synchronously through the linkage part.

[0039] Referring to the above, when in use, the driving rod 16 is driven to rotate, and the two driving disks 13 are driven to rotate synchronously through the linkage part, which is more convenient to use. At the same time, the linkage part is not affected by the synchronous reverse sliding of the two mounting frames 2.

[0040] like Figures 5 - 6 As shown, in some embodiments, the linkage portion includes a spline groove 17 provided on the driving rod 16, the spline groove 17 is provided in the horizontal direction, a spline rod 18 is rotatably provided on the mounting frame 2 and is slidably matched with the spline groove 17, the spline rod 18 is in the horizontal direction, the spline rod 18 and the driving disk 13 are connected through a pulley assembly 19, the pulley assembly 19 includes two pulleys and a connecting belt, the two pulleys are respectively fixed on the spline rod 18 and the driving disk 13, and the connecting belt is wound around the two pulleys;

[0041] Referring to the above, when the two mounting brackets 2 slide synchronously in opposite directions, the two spline rods 18 slide horizontally in the spline grooves 17 together. In use, the drive rod 16 is driven to rotate. Through the cooperation of the spline grooves 17 and the two spline rods 18, the two spline rods 18 are driven to rotate synchronously, and then the two drive discs 13 are driven to rotate synchronously through the two pulley assemblies 19 respectively, so as to realize that when the drive rod 16 rotates, the two drive discs 13 are driven to rotate synchronously.

[0042] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Industrial robot composite fixture, characterized in that: include: A frame (1) is provided with two mounting frames (2) which slide synchronously in opposite directions. A column (3) and a plurality of arc-shaped rods (4) are slidably arranged on the mounting frames (2). A first roller (5) is rotatably arranged at the free end of the column (3). Two connecting rods (6) both of which are V-shaped are symmetrically hinged on the mounting frame (2). A torsion spring (7) is arranged at the hinge of the connecting rod (6). A second roller (8) is rotatably arranged at one end of the connecting rod (6). The first roller (5) and the second roller (8) are both in rolling overlap with the outer surface of the tubular workpiece. The column (3) and the two connecting rods (6) are linked by a linkage. When the column (3) slides, the two connecting rods (6) are driven by the linkage to rotate synchronously in opposite directions. The arc-shaped rods (4) are in contact overlap with the inner wall of the tubular workpiece. A driving member which acts on the plurality of arc-shaped rods (4) and drives the plurality of arc-shaped rods to slide synchronously is arranged on the mounting frame (2).

2. The industrial robot composite fixture according to claim 1, characterized in that: A forward and reverse screw rod (9) is rotatably arranged on the frame (1), and the two mounting frames (2) are respectively threadably matched with the forward and reverse thread sections of the forward and reverse screw rod (9).

3. The industrial robot composite fixture according to claim 1, characterized in that: The linkage member comprises two fixed blocks (10) symmetrically arranged on the column rod (3), the fixed blocks (10) being provided with a guide slope, and the other end of the connecting rod (6) being rotatably provided with a contact wheel (11) which rolls and overlaps with the guide slope.

4. The industrial robot composite fixture according to claim 1, characterized in that: The frame (1) is provided with a driving part which acts on the two poles (3) and drives the two poles to slide synchronously.

5. The industrial robot composite fixture according to claim 4, characterized in that: The driving part comprises a driving frame (12) slidably arranged on the frame (1), and the two pillars (3) are both slidably matched with the driving frame (12).

6. The industrial robot composite fixture according to claim 1, characterized in that: The driving member comprises a driving disk (13) rotatably arranged on the mounting frame (2), a protrusion (14) is arranged on the arc-shaped rod (4), and strip grooves (15) are provided on the driving disk (13) in the same number as the protrusions (14) and in one-to-one correspondence, and the protrusions (14) are slidably matched with the strip grooves (15).

7. The industrial robot composite fixture according to claim 6, characterized in that: A driving rod (16) is rotatably provided on the frame (1), and the driving rod (16) is linked to the two driving disks (13) via a linkage portion. When the driving rod (16) rotates, the two driving disks (13) are driven to rotate synchronously via the linkage portion.

8. The industrial robot composite fixture according to claim 7, characterized in that: The linkage part comprises a spline groove (17) formed on a driving rod (16); a spline rod (18) slidably matched with the spline groove (17) is rotatably arranged on the mounting frame (2); the spline rod (18) is transmission-connected to the driving disc (13) via a pulley assembly (19).

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