ABB robot with stable clamping function

Abstract

The utility model relates to the technical field of ABB robots, in particular to an ABB robot with a stable clamping function, which comprises a base and a clamping assembly, the clamping assembly comprises a rotating disc movably connected with the base, two movable frames are arranged below the rotating disc, and clamping plates are movably mounted on the sides, close to each other, of the two movable frames. Two rotating frames are rotationally mounted on the outer walls of the sides, close to each other, of the two clamping plates, and a plurality of adaptive blocks are rotationally mounted on the rotating frames. The rotating frame is arranged on the clamping plate, and the adapting blocks are rotationally mounted on the rotating frame, so that when the clamping plate clamps an object, the outer contour of the object can be adaptively adapted, and after clamping is completed, the second piston rod is used for jacking the sliding block to enable the clamping plate to stop moving, and materials are prevented from being damaged by clamping.

Description

Technical Field

[0001] The utility model relates to the technical field of ABB robots, and particularly relates to an ABB robot with a stable clamping function. Background Art

[0002] Robots have been widely used in various manufacturing fields. As a transmission and support component, the robot arm is very important.

[0003] The clamping components on the existing robotic arms cannot be flexibly adjusted according to different clamping objects, resulting in different stabilities during the clamping process of different clamping objects and inability to adaptively adjust according to the external shape of the object. Summary of the Utility Model

[0004] Aiming at the above-mentioned shortcomings of the existing technology, the utility model provides an ABB robot with a stable clamping function, which can effectively solve the problem of poor stability and inability to perform adaptive adjustment in the existing technology.

[0005] To achieve the above object, the utility model is realized through the following technical solutions:

[0006] The utility model provides an ABB robot with a stable clamping function, including a base, and further including:

[0007] A clamping assembly, including a rotating disk movably connected to the base. Two movable frames are provided below the rotating disk. Clamping plates are movably installed on one side of the two movable frames close to each other. Two rotating frames are rotatably installed on the outer wall of one side of the two clamping plates close to each other. A plurality of adaptor blocks are rotatably installed on the rotating frames.

[0008] Further, a first bracket is rotatably installed on the base. A second bracket is rotatably installed at one end of the first bracket away from the base. A third bracket is rotatably installed at one end of the second bracket away from the first bracket. The rotating disk is rotatably installed at one end of the third bracket away from the second bracket.

[0009] Further, a first motor for driving the first bracket to rotate is provided at the rotating connection between the base and the first bracket. A second motor for driving the second bracket to rotate is provided at the rotating connection between the first bracket and the second bracket.

[0010] Further, two electric push rods are fixedly installed on the bottom wall of the rotating disk. A fixed frame is fixedly installed on the bottom walls of the two electric push rods together. The two movable frames are slidably installed on the bottom wall of the fixed frame. Output shafts are provided at one end of the two electric push rods away from each other, and the two movable frames are fixedly connected to the output shafts of the two electric push rods one by one.

[0011] Further, first piston tubes are fixedly inserted on both of the movable frames. First piston rods are movably inserted at the closer ends of the two first piston tubes, and two clamping plates are fixedly mounted on the two first piston rods respectively.

[0012] Further, a hinge is fixedly mounted on the clamping plate. The rotating frame is rotatably mounted on the hinge. An adaptation groove is formed on the rotating frame, and the adaptation block is rotatably mounted in the adaptation groove.

[0013] Further, a permanent magnet is fixedly mounted on the side wall of the clamping plate. An electromagnet is provided on the movable frame, and the electromagnet attracts the permanent magnet when the electromagnet is energized.

[0014] Further, a slider is provided on the movable frame. A sliding groove adapted to the slider is formed on the bottom wall of the fixed frame. A second piston tube is provided on the bottom wall of the movable frame. A second piston rod is movably inserted at the top end of the second piston tube. The second piston rod penetrates through the movable frame and is fixedly connected to the slider. A connecting pipe is connected between the second piston tube and the first piston tube.

[0015] The technical solution provided by the present utility model has the following beneficial effects compared with the known prior art:

[0016] A rotating frame is arranged on the clamping plate, and a plurality of adaptation blocks are rotatably mounted on the rotating frame, which can adaptively adapt to the external contour of the object when the clamping plate clamps the object. After the clamping is completed, the slider is pushed up by the second piston rod to stop the movement of the clamping plate, preventing the material from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings according to these drawings without creative efforts.

[0018] Figure 1 is the overall schematic diagram of the present utility model;

[0019] Figure 2 is the structural schematic diagram of the clamping plate part in the present utility model;

[0020] Figure 3 is Figure 2 the enlarged view of the structure of part A in

[0021] Figure 4 is Figure 2 the front view of

[0022] Figure 5It is a schematic structural diagram of the slider part.

[0023] The reference numerals in the figure respectively represent: 1, base; 2, first bracket; 3, second bracket; 4, third bracket; 5, rotating disk; 6, electric push rod; 7, output shaft; 8, movable frame; 9, first piston tube; 10, clamping plate; 11, hinge; 12, rotating frame; 13, fitting groove; 14, fitting block; 15, second piston tube; 16, second piston rod; 17, slider; 18, chute; 19, connecting pipe; 20, permanent magnet; 21, electromagnet; 22, first motor; 23, second motor. Specific implementation mode

[0024] In order to make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, 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. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0025] The present utility model will be further described below with reference to the embodiments.

[0026] Embodiment: Refer to Figures 1 - 5 , an ABB robot with a stable clamping function, including a base 1, and further including a clamping assembly, including a rotating disk 5 movably connected to the base 1, a first bracket 2 is rotatably installed on the base 1, a second bracket 3 is rotatably installed at one end of the first bracket 2 away from the base 1, a third bracket 4 is rotatably installed at one end of the second bracket 3 away from the first bracket 2, the rotating disk 5 is rotatably installed at one end of the third bracket 4 away from the second bracket 3, a first motor 22 for driving the first bracket 2 to rotate is provided at the rotating connection between the base 1 and the first bracket 2, a second motor 23 for driving the second bracket 3 to rotate is provided at the rotating connection between the first bracket 2 and the second bracket 3, two movable frames 8 are provided below the rotating disk 5, clamping plates 10 are movably installed on one side of the two movable frames 8 close to each other, two electric push rods 6 are fixedly installed on the bottom wall of the rotating disk 5, a fixed frame is fixedly installed on the bottom walls of the two electric push rods 6 together, the two movable frames 8 are slidably installed on the bottom wall of the fixed frame, output shafts 7 are provided at one end of the two electric push rods 6 away from each other, and the two movable frames 8 are fixedly connected to the output shafts 7 of the two electric push rods 6 one by one, two rotating frames 12 are rotatably installed on the outer walls of one side of the two clamping plates 10 close to each other, a plurality of fitting blocks 14 are rotatably installed on the rotating frames 12, a hinge 11 is fixedly installed on the clamping plate 10, the rotating frame 12 is rotatably installed on the hinge 11, a fitting groove 13 is formed in the rotating frame 12, and the fitting block 14 is rotatably installed in the fitting groove 13.

[0027] Drive two movable frames 8 to slide through two electric push rods 6, so that the two clamping plates 10 approach each other, thereby driving the rotating frame 12 and the adapter block 14 to approach the object, and realizing self-adaptation according to the contour of the object.

[0028] Reference Figures 1 - 5 , a permanent magnet 20 is fixedly installed on the side wall of the clamping plate 10, an electromagnet 21 is provided on the movable frame 8, and when the electromagnet 21 is energized, it attracts the permanent magnet 20. A first piston tube 9 is fixedly inserted on both movable frames 8. A first piston rod is movably inserted at one end of the two first piston tubes 9 close to each other. The two clamping plates 10 are fixedly installed on the two first piston rods respectively. A slider 17 is provided on the movable frame 8, and a chute 18 adapted to the slider 17 is opened on the bottom wall of the fixed frame. A second piston tube 15 is provided on the bottom wall of the movable frame 8. A second piston rod 16 is movably inserted at the top end of the second piston tube 15. The second piston rod 16 penetrates through the movable frame 8 and is fixedly connected to the slider 17. A connecting pipe 19 is connected between the second piston tube 15 and the first piston tube 9.

[0029] During the clamping process, the clamping plate 10 is squeezed by the object, so that the first piston rod moves into the first piston tube 9. The air in the first piston tube 9 enters the second piston tube 15 through the connecting pipe 19. The second piston rod 16 extends out of the second piston tube 15, and the friction between the slider 17 and the chute 18 becomes larger, so that the clamping plate 10 cannot move. At this time, start the electromagnet 21 to make the electromagnet 21 attract the permanent magnet 20 to fix the position of the clamping plate 10. When discharging is required, turn off the electromagnet 21.

[0030] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ABB robot with a stable clamping function, comprising a base (1), characterized in that: Also includes: The clamping assembly comprises a rotating disk (5) movably connected to a base (1), two movable frames (8) are arranged below the rotating disk (5), a clamping plate (10) is movably mounted on one side of the two movable frames (8) close to each other, two rotating frames (12) are rotatably mounted on the outer wall of one side of the two clamping plates (10), and a plurality of adapter blocks (14) are rotatably mounted on the rotating frames (12).

2. The ABB robot with stable clamping function according to claim 1, characterized in that: A first bracket (2) is rotatably mounted on the base (1); a second bracket (3) is rotatably mounted on an end of the first bracket (2) away from the base (1); a third bracket (4) is rotatably mounted on an end of the second bracket (3) away from the first bracket (2); and the rotating disk (5) is rotatably mounted on an end of the third bracket (4) away from the second bracket (3).

3. The ABB robot with stable clamping function according to claim 2, characterized in that: A first motor (22) for driving the first bracket (2) to rotate is provided at the rotation connection between the base (1) and the first bracket (2), and a second motor (23) for driving the second bracket (3) to rotate is provided at the rotation connection between the first bracket (2) and the second bracket (3).

4. The ABB robot with stable clamping function according to claim 1, characterized in that: Two electric push rods (6) are fixedly mounted on the bottom wall of the rotating disk (5); a fixed frame is commonly fixedly mounted on the bottom wall of the two electric push rods (6); two movable frames (8) are slidably mounted on the bottom wall of the fixed frame; an output shaft (7) is provided at one end of the two electric push rods (6) away from each other, and the two movable frames (8) are fixedly connected to the output shafts (7) of the two electric push rods (6) one by one.

5. The ABB robot with stable clamping function according to claim 1, characterized in that: A first piston tube (9) is fixedly inserted on the two movable frames (8), a first piston rod is movably inserted at one end of the two first piston tubes (9) close to each other, and the two clamping plates (10) are fixedly mounted on the two first piston rods one by one.

6. The ABB robot with stable clamping function according to claim 1, characterized in that: A hinge (11) is fixedly mounted on the clamping plate (10), the rotating frame (12) is rotatably mounted on the hinge (11), an adapting groove (13) is provided on the rotating frame (12), and the adapting block (14) is rotatably mounted in the adapting groove (13).

7. The ABB robot with stable clamping function according to claim 1, characterized in that: A permanent magnet (20) is fixedly mounted on the side wall of the clamping plate (10), and an electromagnet (21) is provided on the movable frame (8), and when the electromagnet (21) is energized, it attracts the permanent magnet (20).

8. The ABB robot with stable clamping function according to claim 4, characterized in that: The movable frame (8) is provided with a slide block (17), the bottom wall of the fixed frame is provided with a slide groove (18) adapted to the slide block (17), the bottom wall of the movable frame (8) is provided with a second piston tube (15), the top end of the second piston tube (15) is movably inserted with a second piston rod (16), the second piston rod (16) passes through the movable frame (8) and is fixedly connected to the slide block (17), and a connecting tube (19) is connected between the second piston tube (15) and the first piston tube (9).

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