Composite robot clamp

Abstract

The utility model relates to the technical field of composite robots, and discloses a composite robot clamp which comprises a robot body, a mechanical arm is arranged on the upper surface of the robot body, a fixing cover is fixedly connected to one end of the mechanical arm, a fixing shell is fixedly connected to the lower surface of the fixing cover, and a motor is fixedly connected to the upper surface of the fixing shell. The output end of the motor is fixedly connected with a lead screw, the outer wall of the lead screw is in threaded connection with a threaded sleeve, one side of the outer wall of the threaded sleeve is fixedly connected with a first limiting rod, and the lower surface of the threaded sleeve is fixedly connected with a sliding plate. According to the utility model, the robot body controls the mechanical arm to drive the clamp to the workpiece position; a motor drives a lead screw to enable a threaded sleeve to push a sliding plate to move, and a rotating plate drives a clamping block to clamp a workpiece. And meanwhile, the sliding plate drives the suction cups below the connecting columns to suck the workpieces, the clamping area is increased, falling is prevented, and the practicability of the composite robot clamp is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of composite robots, in particular to a composite robot clamp. Background Art

[0002] A hybrid robot is a highly integrated intelligent device that combines the functions of a mobile platform and a robotic arm. It can autonomously navigate within a pre-defined work environment, and its robotic arm possesses multiple degrees of freedom for performing various actions. Fixtures are used because they ensure operational precision, adapt to the shapes and characteristics of different objects, expand the robot's functional versatility, and improve work safety and efficiency. For example, in automotive parts assembly, fixtures ensure precise operation. Different fixture designs can be tailored to the object, such as a wraparound design for circular pipes or a soft-wrapped fixture for fragile glass. By installing different fixtures, the robot can perform a variety of functions, including welding, gluing, and handling. In hazardous environments, gripper robots can replace manual labor in handling dangerous objects.

[0003] Clamps usually include pneumatic clamps, electric clamps, hydraulic clamps, magnetic clamps and air suction clamps (vacuum suction cup clamps). Electric clamps are generally composed of a drive part, a transmission part and a clamping part. The above parts cooperate with each other to control the opening and closing degree of the clamping jaws and the clamping force, and have high control accuracy and stability.

[0004] Existing electric clamps usually use claws to clamp the workpiece during use. However, due to the small contact area between some workpieces and the claws during use, the claws are unstable when clamping the workpiece, which may cause the workpiece to fall off and be damaged. Therefore, a composite robot clamp is proposed to solve the above problem. Utility Model Content

[0005] In order to make up for the above shortcomings, the present utility model provides a composite robot clamp, which aims to improve the problem in the prior art that the contact area between some workpieces and the clamping claws is small, which leads to unstable clamping and thus damage to the workpiece.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a composite robot fixture, comprising a robot body, a robot arm provided on the upper surface of the robot body, a fixed cover fixedly connected to one end of the robot arm, a fixed shell fixedly connected to the lower surface of the fixed cover, and a clamping assembly for clamping a workpiece mounted on the upper surface of the fixed shell;

[0007] The clamping assembly includes a motor, one side of the outer wall of the motor is fixedly connected to the upper surface of the fixed shell, the output end of the motor is fixedly connected to a screw rod, the outer wall of the screw rod is threadedly connected to a threaded sleeve, one side of the outer wall of the threaded sleeve is fixedly connected to a limiting rod, the lower surface of the threaded sleeve is fixedly connected to a sliding plate, the sliding plate is rotatably connected to a left-right symmetrical rotating plate, the outer wall of the rotating plate is rotatably connected to a clamping plate, the clamping plate is rotatably connected to the lower surface of the clamping plate, and a clamping block is fixedly connected to the lower surface of the clamping plate, and an auxiliary component for auxiliary clamping is installed on the lower surface of the sliding plate.

[0008] Furthermore, the auxiliary component includes a connecting column, the upper surface of the connecting column is fixedly connected to the lower surface of the sliding plate, and the lower surface of the connecting column is provided with a suction cup.

[0009] Furthermore, a piston cylinder is fixedly connected to one side of the outer wall of the fixed shell, a negative pressure component is installed inside the piston cylinder, a limiting rod 2 is fixedly connected inside the connecting column, a sliding block is slidably connected to the outer wall of the limiting rod 2, and a quick release component is installed on the outer wall of the sliding block.

[0010] Furthermore, the negative pressure assembly includes a piston block, the outer wall of the piston block is slidably connected to the inner wall of the piston cylinder, the upper surface of the piston block is fixedly connected to a connecting frame, a connecting tube is provided inside the piston cylinder, a connecting nozzle is slidably connected to one side of the connecting tube, and the outer wall of the connecting nozzle is provided inside the suction cup.

[0011] Furthermore, the quick-release assembly includes a card block, one side of the outer wall of the card block is fixedly connected to one side of the outer wall of the sliding block, the outer wall of the sliding block is fixedly connected to a spring, the outer wall of the connecting column is slidably connected to a fixed sleeve, the lower surface of the fixed sleeve is fixedly connected to the upper surface of the suction cup, and the outer wall of the card block is slidably connected to the outer wall of the fixed sleeve.

[0012] Furthermore, the spring is sleeved on the outer wall of the second limiting rod, and the second limiting rod is used to limit the movement of the spring.

[0013] Furthermore, an outer wall of the limiting rod is slidably connected to the interior of the fixed shell, and a sliding groove for the limiting rod to move is provided inside the fixed shell.

[0014] Furthermore, the interior of the clamping plate is rotatably connected to a limiting plate, and one side of an outer wall of the limiting plate is rotatably connected to the interior of the fixed shell.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the utility model, the robot body controls the movement of the mechanical arm so as to drive the clamp to the workpiece position, and the motor drives the screw rod so that the threaded sleeve pushes the sliding plate to move, and the rotation of the rotating plate drives the clamping block on one side of the clamping plate to clamp the workpiece, and the sliding plate drives the suction cup on the lower side of the connecting column to adsorb the workpiece, thereby increasing the clamping area between the clamp and the workpiece to prevent the workpiece from falling, thereby improving the practicality of the clamp.

[0017] 2. In the utility model, the movement of the threaded sleeve drives the connecting frame to move, so that the piston block makes the inside of the piston cylinder present a negative pressure state, and the suction cup is connected through the connecting pipe to further adsorb the workpiece. At the same time, by pressing the card block to detach from the inside of the fixed sleeve, the suction cup is easily replaced, thereby improving the practicality of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a composite robot fixture proposed in the present invention;

[0019] Figure 2 This is a schematic structural diagram of a threaded sleeve portion of a composite robot fixture proposed in the present invention;

[0020] Figure 3 This is a schematic structural diagram of a limiting plate portion of a composite robot fixture proposed in the present invention;

[0021] Figure 4 This is a schematic structural diagram of the connecting column portion of a composite robot fixture proposed in the present invention;

[0022] Figure 5 for Figure 4 A in the enlarged view.

[0023] Legend:

[0024] 1. Robot body; 2. Robot arm; 3. Fixed cover; 4. Fixed shell; 5. Motor; 6. Screw; 7. Threaded sleeve; 8. Limit rod; 9. Sliding plate; 10. Rotating plate; 11. Clamping plate; 12. Connecting column; 13. Limit plate; 14. Suction cup; 15. Piston cylinder; 16. Piston block; 17. Connecting frame; 18. Connecting pipe; 19. Connecting nozzle; 20. Fixed shell; 21. Limit rod; 22. Sliding block; 23. Block; 24. Spring; 25. Clamping block. DETAILED DESCRIPTION

[0025] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Reference Figure 1 、 Figure 2 and Figure 3 The utility model provides an embodiment: a composite robot fixture, including a robot body 1, the robot body 1 is the basic support of the entire fixture, a mechanical arm 2 is provided on the upper surface of the robot body 1, the mechanical arm 2 can move flexibly, and drive the fixture to different positions, one end of the mechanical arm 2 is fixedly connected to a fixed cover 3, the fixed cover 3 plays a protective and connecting role, the lower surface of the fixed cover 3 is fixedly connected to a fixed shell 4, the fixed shell 4 provides an installation space for the clamping component, and the upper surface of the fixed shell 4 is installed with a clamping component for clamping a workpiece;

[0027] The clamping assembly includes a motor 5, one side of the outer wall of the motor 5 is fixedly connected to the upper surface of the fixed shell 4, the motor 5 provides power for the clamping action, the output end of the motor 5 is fixedly connected to a screw rod 6, the screw rod 6 rotates under the drive of the motor 5, the outer wall of the screw rod 6 is threadedly connected to a threaded sleeve 7, the threaded sleeve 7 moves under the rotation of the screw rod 6, one side of the outer wall of the threaded sleeve 7 is fixedly connected to a limit rod 8, the limit rod 8 limits the rotation of the threaded sleeve 7 so that it can only move up and down, the lower surface of the threaded sleeve 7 is fixedly connected to a sliding plate 9, the sliding plate 9 moves with the threaded sleeve 7, and the sliding plate 9 is internally connected to a left-right symmetrical rotating plate 10, which rotates. Under certain circumstances, the movable plate 10 rotates to drive the clamping plate 11 to move. The outer wall of the rotating plate 10 is rotatably connected to the clamping plate 11. The clamping plate 11 is used to directly clamp the workpiece. The lower surface of the clamping plate 11 is fixedly connected to the clamping block 25. The clamping block 25 increases the clamping stability. The lower surface of the sliding plate 9 is installed with an auxiliary component for assisting clamping. The auxiliary component includes a connecting column 12. The upper surface of the connecting column 12 is fixedly connected to the lower surface of the sliding plate 9. The connecting column 12 plays a connecting and supporting role. The lower surface of the connecting column 12 is provided with a suction cup 14. The suction cup 14 assists clamping through adsorption, thereby increasing clamping reliability.

[0028] Reference Figure 3 、 Figure 4 and Figure 5, a piston cylinder 15 is fixedly connected to one side of the outer wall of the fixed shell 4, and the piston cylinder 15 provides an installation space for the negative pressure component. The negative pressure component is installed inside the piston cylinder 15, and a limiting rod 21 is fixedly connected inside the connecting column 12. The limiting rod 21 provides a guide for the sliding of the sliding block 22 to ensure that the sliding block 22 moves in a specific direction. The outer wall of the limiting rod 21 is slidably connected to the sliding block 22, and the outer wall of the sliding block 22 is installed with a quick release component. The negative pressure component includes a piston block 16, and the outer wall of the piston block 16 is slidably connected to the movable The inner wall of the plug cylinder 15, the piston block 16 slides in the piston cylinder 15, changing the air pressure in the piston cylinder 15, the upper surface of the piston block 16 is fixedly connected to the connecting frame 17, the connecting frame 17 is used to transmit motion, the piston cylinder 15 is provided with a connecting pipe 18 running through the inside, the connecting pipe 18 is used to transmit gas, the inner side of the connecting pipe 18 is slidably connected to a connecting nozzle 19, the connecting nozzle 19 is used to connect the suction cup 14 and the connecting pipe 18, the outer wall of the connecting nozzle 19 is provided inside the suction cup 14, the quick release assembly includes a card block 23, the card block 23 One side of the outer wall is fixedly connected to one side of the outer wall of the sliding block 22, and the block 23 is used to fix the fixed sleeve 20. The outer wall of the sliding block 22 is fixedly connected to a spring 24. The spring 24 provides elasticity for the block 23 so that it can clamp the fixed sleeve 20. The outer wall of the connecting column 12 is slidably connected to the fixed sleeve 20. The lower surface of the fixed sleeve 20 is fixedly connected to the upper surface of the suction cup 14. The fixed sleeve 20 is used to connect the suction cup 14 and the connecting column 12. The outer wall of the block 23 is slidably connected to the outer wall of the fixed sleeve 20. The spring 24 is sleeved on the outer wall of the limit rod 21 The outer wall of the limit rod 18 is slidably connected to the inside of the fixed shell 4. A slide groove for the movement of the limit rod 18 is provided inside the fixed shell 4. The limit rod 18 cooperates with the slide groove to ensure that the threaded sleeve 7 drives the sliding plate 9 to move up and down stably. The clamping plate 11 is internally rotatably connected to the limit plate 13. One side of the outer wall of the limit plate 13 is rotatably connected to the inside of the fixed shell 4. The limit plate 13 serves to limit the movement range of the clamping plate 11.

[0029] Working principle: When the clamp needs to be used to clamp the workpiece, the robot body 1 first sends a control command to the mechanical arm 2, and the robot body 1 controls the mechanical arm 2 to move, thereby driving the clamp to the workpiece position to operate. At this time, the motor 5 is started, and the motor 5 drives the screw rod 6 to rotate, and then the screw rod 6 drives the threaded sleeve 7 to move. At this time, the threaded sleeve 7 drives the limit rod 8 to slide within the fixed shell 4. At the same time, the threaded sleeve 7 pushes the sliding plate 9 to move, thereby achieving the effect of driving the rotating plate 10 to rotate. At this time, the rotation of the rotating plate 10 realizes the effect of driving the limit plate 13 on one side of the clamping plate 11 to limit and move, and at the same time, the clamping block 25 is driven by the clamping plate 11 to clamp the workpiece, and at the same time, the connecting column 12 is driven down by the sliding plate 9, so that the suction cup 14 adsorbs the workpiece for further fixation;

[0030] Secondly, when the threaded sleeve 7 descends, it will drive the connecting frame 17 to move synchronously, and then the piston block 16 will move inside the piston cylinder 15, so that the workpiece in contact with the suction cup 14 is sucked into a negative pressure state, thereby achieving the effect of further adsorbing the workpiece for fixation. When the suction cup 14 is aged and needs to be replaced, at this time, by pressing the block 23, the sliding block 22 is driven to squeeze the spring 24, and then detach from the inside of the fixed sleeve 20, and then by pulling the suction cup 14, the effect of facilitating the replacement of the suction cup 14 is achieved.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A composite robot fixture, comprising a robot body (1), characterized in that: A mechanical arm (2) is provided on the upper surface of the robot body (1); one end of the mechanical arm (2) is fixedly connected to a fixed cover (3); a lower surface of the fixed cover (3) is fixedly connected to a fixed shell (4); and a clamping assembly for clamping a workpiece is installed on the upper surface of the fixed shell (4); The clamping assembly comprises a motor (5), one side of the outer wall of the motor (5) is fixedly connected to the upper surface of the fixed shell (4), the output end of the motor (5) is fixedly connected to a screw rod (6), the outer wall of the screw rod (6) is threadedly connected to a threaded sleeve (7), one side of the outer wall of the threaded sleeve (7) is fixedly connected to a limit rod (8), the lower surface of the threaded sleeve (7) is fixedly connected to a sliding plate (9), the sliding plate (9) is internally rotatably connected to a left-right symmetrical rotating plate (10), the outer wall of the rotating plate (10) is rotatably connected to a clamping plate (11), the clamping plate (11) is internally rotatably connected to the lower surface of the clamping plate (11), and a clamping block (25) is fixedly connected, and an auxiliary component for auxiliary clamping is installed on the lower surface of the sliding plate (9).

2. A composite robot gripper according to claim 1, characterized in that: The auxiliary component comprises a connecting column (12), the upper surface of the connecting column (12) is fixedly connected to the lower surface of the sliding plate (9), and the lower surface of the connecting column (12) is provided with a suction cup (14).

3. A composite robot fixture according to claim 2, characterized in that: A piston cylinder (15) is fixedly connected to one side of the outer wall of the fixed shell (4), a negative pressure assembly is installed inside the piston cylinder (15), a limiting rod 2 (21) is fixedly connected inside the connecting column (12), a sliding block (22) is slidably connected to the outer wall of the limiting rod 2 (21), and a quick-release assembly is installed on the outer wall of the sliding block (22).

4. A composite robot gripper according to claim 3, characterized in that: The negative pressure assembly includes a piston block (16), the outer wall of the piston block (16) is slidably connected to the inner wall of the piston cylinder (15), the upper surface of the piston block (16) is fixedly connected to a connecting frame (17), a connecting pipe (18) is provided through the interior of the piston cylinder (15), a connecting nozzle (19) is slidably connected to one side of the interior of the connecting pipe (18), and the outer wall of the connecting nozzle (19) is provided through the interior of the suction cup (14).

5. The composite robot gripper according to claim 4, characterized in that: The quick-release assembly comprises a clamping block (23), one side of an outer wall of the clamping block (23) is fixedly connected to one side of an outer wall of a sliding block (22), the outer wall of the sliding block (22) is fixedly connected to a spring (24), the outer wall of the connecting column (12) is slidably connected to a fixing sleeve (20), the lower surface of the fixing sleeve (20) is fixedly connected to the upper surface of the suction cup (14), and the outer wall of the clamping block (23) is slidably connected to the outer wall of the fixing sleeve (20).

6. The composite robot fixture according to claim 5, characterized in that: The spring (24) is sleeved on the outer wall of the second limiting rod (21), and the second limiting rod (21) is used to limit the movement of the spring (24).

7. The composite robot fixture according to claim 1, characterized in that: The outer wall of the limiting rod (8) is slidably connected to the interior of the fixed shell (4), and a sliding groove for the limiting rod (8) to move is provided inside the fixed shell (4).

8. The composite robot gripper according to claim 1, characterized in that: The clamping plate (11) is rotatably connected to the limiting plate (13) inside, and one side of the outer wall of the limiting plate (13) is rotatably connected to the inside of the fixed shell (4).

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