Load clamp for industrial robot

Abstract

The load clamp for the industrial robot is mounted at the tail end of the industrial robot, the load clamp for the industrial robot comprises a mounting plate, a clamping mechanism and a transverse movement driving mechanism, the mounting plate is provided with a first side and a second side which are oppositely arranged, and the first side is provided with a mounting connector detachably connected with the tail end of the industrial robot; each clamping mechanism comprises a clamping plate and a clamping arm arranged on one side of the clamping plate, the side, away from the clamping arm, of the clamping plate is arranged on the second side in a sliding mode, the number of the clamping mechanisms is two, and the clamping arms in the two clamping mechanisms can move towards or away from each other; the transverse movement driving mechanism is arranged on the second side, the output end of the transverse movement driving mechanism is connected with the clamping mechanisms, and the transverse movement driving mechanism is used for driving the two clamping mechanisms to move face to face or back to back so that the two clamping arms in the two clamping mechanisms can clamp materials conveniently. Through the arrangement, the transverse movement driving mechanism and the clamping arm are located on the same side, and compared with the different sides of the transverse movement driving mechanism and the clamping arm, the load mass center is reduced, and stable operation of the industrial robot is facilitated.

Description

Technical Field

[0001] This application relates to the field of clamping technology, and in particular to a load clamp for industrial robots. Background Technology

[0002] With the continuous development of my country's economy and the rapid advancement of science and technology, industrial robots are widely used in various industries such as logistics and manufacturing. For example, industrial robots are used for tasks such as handling, assembly, and packaging. To accomplish these tasks, industrial robots are typically equipped with load grippers at their end effectors to hold materials.

[0003] Currently, industrial robots handle a wide variety of materials. The heavier the load formed by the material and the gripper, the closer the center of gravity of the load formed by the gripper and the material needs to be to the end face of the industrial robot to ensure normal operation. However, for the sake of convenience in gripping materials, current grippers are usually designed to be relatively long, causing the overall center of gravity of the gripper to be biased towards the material after gripping it, which affects the stability of the industrial robot's operation. Utility Model Content

[0004] Therefore, it is necessary to provide a load gripper for industrial robots to address the problem of current load grippers affecting the operational stability of industrial robots.

[0005] A load gripper for an industrial robot is mounted on the end effector of the industrial robot. The load gripper includes a mounting plate, a clamping mechanism, and a lateral movement drive mechanism, wherein:

[0006] The mounting plate has a first side and a second side arranged opposite to each other. The first side is provided with a mounting joint, which is detachably connected to the end of the industrial robot.

[0007] The clamping mechanism includes a clamping plate and a clamping arm disposed on one side of the clamping plate. The side of the clamping plate opposite to the clamping arm is slidably disposed on the second side. There are two clamping mechanisms, and the clamping arms of the two clamping mechanisms can move toward or away from each other.

[0008] The output end of the lateral movement drive mechanism is connected to the clamping mechanism, and the lateral movement drive mechanism is located on the second side of the mounting plate, for driving the two clamping mechanisms to move towards or away from each other.

[0009] In one embodiment, the lateral drive mechanism includes a lateral drive member, a transmission gear, and two transmission racks, wherein:

[0010] The two transmission racks are correspondingly mounted on the side of the two clamping plates opposite to the clamping arms;

[0011] The transmission gear is located between and meshes with the two transmission racks;

[0012] The output end of the lateral drive is connected to the transmission gear, and is used to drive the transmission gear to rotate so as to drive the two transmission racks to move towards or away from each other.

[0013] In one embodiment, the lateral movement drive mechanism further includes a fixed plate detachably connected to the mounting plate, the fixed end of the lateral movement drive member is mounted on the fixed plate, and the output end of the lateral movement drive member passes through the fixed plate and is connected to the transmission gear.

[0014] In one embodiment, the load gripper for the industrial robot further includes a lifting drive mechanism, and the gripping arm includes an upper clamping plate and a lower clamping plate, wherein:

[0015] The lower clamping plate is disposed on the clamping plate;

[0016] The lifting drive mechanism is mounted on the clamping plate, and the output end of the lifting drive mechanism is connected to the upper clamping plate. The lifting drive mechanism is used to drive the upper clamping plate to move toward or away from the lower clamping plate.

[0017] In one embodiment, the upper surface of the upper clamping plate is provided with a first groove, and the bottom of the first groove is provided with a first weight-reducing through hole.

[0018] In one embodiment, there are multiple first weight-reducing through holes, and the multiple first weight-reducing through holes are spaced apart along the length direction of the upper clamping plate.

[0019] In one embodiment, a second groove is provided on the lower surface of the lower clamping plate, and a second weight-reducing through hole is provided at the bottom of the second groove.

[0020] In one embodiment, there are multiple second weight-reducing through holes, which are spaced apart along the length of the lower clamping plate.

[0021] In one embodiment, a slider is provided on the side of the clamping plate opposite to the clamping arm, and a linear guide rail adapted to the slider is provided on the second side of the mounting plate.

[0022] In one embodiment, there are multiple linear guides, which are spaced apart, and each linear guide is provided with a matching slider.

[0023] The aforementioned industrial robot load gripper uses a lateral drive mechanism to move two gripping mechanisms towards or away from each other, facilitating the gripping arms' grasping of materials. Furthermore, by positioning the lateral drive mechanism on the second side of the mounting plate (the side facing away from the mounting joint), and placing the lateral drive mechanism and gripping arms on the same side, compared to positioning the lateral drive mechanism on the first side of the mounting plate, the load center of gravity is significantly reduced, promoting stable operation of the industrial robot. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the load holder for industrial robots provided in this application.

[0025] Figure 2 for Figure 1 A schematic diagram of the explosion structure.

[0026] Figure 3 for Figure 1 A schematic diagram of the explosion structure from another perspective.

[0027] Figure 4 A schematic diagram of the upper clamping plate provided in this application.

[0028] in:

[0029] 10. Load gripper for industrial robots; a. First direction; b. Second direction; c. Third direction;

[0030] 100. Mounting plate; 110. First side; 120. Second side; 130. Third weight-reducing through hole; 140. Linear guide rail;

[0031] 200. Install the connector;

[0032] 300. Clamping mechanism; 310. Clamping plate; 311. Slider; 320. Clamping arm; 321. Upper clamping plate; 3211. First groove; 3212. First weight-reducing through hole; 322. Lower clamping plate; 323. Connecting plate;

[0033] 400. Lateral movement drive mechanism; 410. Lateral movement drive component; 420. Transmission gear; 430. Transmission rack; 440. Fixing plate;

[0034] 500. Lifting drive mechanism. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figure 1 and Figure 2 As shown, Figure 1 This paper shows a schematic diagram of the structure of a load holder 10 for an industrial robot according to one embodiment of the present application. Figure 2 for Figure 1 A schematic diagram of the explosion structure. Figure 3 for Figure 1 Another perspective of the exploded structure. An embodiment of this application provides a load clamp 10 for an industrial robot, which is installed at the end of an industrial robot, and the load clamp 10 for the industrial robot includes a mounting plate 100, a clamping mechanism 300, and a lateral movement drive mechanism 400.

[0042] The mounting plate 100 has a first side 110 and a second side 120 arranged opposite to each other. The first side 110 is provided with a mounting joint 200, which is detachably connected to the end of the industrial robot. In a specific configuration, the mounting joint 200 is connected to the flange at the end of the industrial robot, and the two can be detachably connected by fasteners such as bolts and nuts.

[0043] The clamping mechanism 300 includes a clamping plate 310 and a clamping arm 320 disposed on one side of the clamping plate 310. The side of the clamping plate 310 away from the clamping arm 320 is slidably disposed on the second side 120 of the mounting plate 100. There are two clamping mechanisms 300. The two clamping plates 310 of the two clamping mechanisms 300 are arranged along a first direction a. The clamping arms 320 of the two clamping mechanisms 300 can move towards or away from each other along the first direction a through the clamping plates 310 to clamp materials. The output end of the transverse drive mechanism 400 is connected to the clamping mechanism 300, and the transverse drive mechanism 400 is disposed on the second side 120 of the mounting plate 100. The transverse drive mechanism 400 is used to drive the two clamping mechanisms 300 to move towards or away from each other.

[0044] The aforementioned industrial robot load gripper 10 uses a lateral drive mechanism 400 to drive two gripping mechanisms 300 to move towards or away from each other, facilitating the gripping arms 320 of the two gripping mechanisms 300 to grasp materials. Furthermore, by setting the lateral drive mechanism 400 on the second side 120 of the mounting plate 100 (the side of the mounting plate 100 away from the mounting joint 200), and with the gripping arms 320 on the same side, compared to setting the lateral drive mechanism 400 on the first side 110 of the mounting plate 100, the load center of gravity is significantly reduced, which is beneficial for the stable operation of the industrial robot.

[0045] To facilitate the design of the lateral movement drive mechanism 400, in a preferred embodiment, the lateral movement drive mechanism 400 includes a lateral movement drive member 410, a transmission gear 420, and two transmission racks 430. The two transmission racks 430 are correspondingly mounted on the side of the two clamping plates 310 opposite to the clamping arms 320. In a specific configuration, the length direction of the transmission racks 430 extends along the first direction a and exceeds the corresponding clamping plate 310, and the two transmission racks 430 have a height difference. The transmission gear 420 is located between the two transmission racks 430, i.e., within the height difference formed by the two transmission racks 430, and the transmission gear 420 also meshes with the two transmission racks 430. The output end of the lateral movement drive member 410 is connected to the transmission gear 420, and the lateral movement drive member 410 drives the transmission gear 420 to rotate, thereby causing the two transmission racks 430 to move towards or away from each other along the first direction a.

[0046] To better mount the lateral drive component 410, the lateral drive mechanism 400 specifically includes a fixing plate 440 detachably connected to the mounting plate 100. In a specific configuration, the fixing plate 440 can be detachably connected to the mounting plate 100 using fasteners such as screws, bolts, or threaded rods. The fixed end of the lateral drive component 410 is mounted on the fixing plate 440, and the output end of the lateral drive component 410 passes through the fixing plate 440 and connects to the transmission gear 420. During operation, the fixing plate 440 also limits the degree of closure of the two clamping mechanisms 300.

[0047] To facilitate the design of the gripping arm 320, in a preferred embodiment, the industrial robot load gripper 10 further includes a lifting drive mechanism 500, which is preferably a slide cylinder. The gripping arm 320 includes an upper clamping plate 321 and a lower clamping plate 322, wherein the lower clamping plate 322 is disposed on the gripping plate 310. The lifting drive mechanism 500 is mounted on the gripping plate 310, and the output end of the lifting drive mechanism 500 is connected to the upper clamping plate 321. In a specific configuration, the output end of the lifting drive mechanism 500 is connected to the upper clamping plate 321 through a connecting plate 323. The lifting drive mechanism 500 is used to drive the upper clamping plate 321 to move toward or away from the lower clamping plate 322. Specifically, the upper clamping plate 321 moves toward or away from the lower clamping plate 322 along a third direction c to grip or release materials, wherein the third direction c, the second direction b, and the first direction a are perpendicular to each other. It should be noted that the upper clamping plate 321 and the lower clamping plate 322 bear reaction forces during the clamping process, and the upper clamping plate 321 and the lower clamping plate 322 are preferably made of steel to enhance their strength. It should be emphasized that, in order to reduce weight and reduce load mass, other structural components, except for the upper clamping plate 321 and the lower clamping plate 322, are preferably made of aluminum.

[0048] Combination Figure 4 As shown, Figure 4 This is a schematic diagram of the upper clamping plate 321 provided in one embodiment of this application. Specifically, to further reduce weight, a first groove 3211 is formed on the upper surface of the upper clamping plate 321, and a first weight-reducing through hole 3212 is formed at the bottom of the groove 3211. In a specific configuration, the first groove 3211 extends along the length direction of the upper clamping plate 321, i.e., the second direction b. The shape of the first groove 3211 is not limited and can be any geometric shape. More specifically, there are multiple first weight-reducing through holes 3212, which are spaced apart along the length direction of the upper clamping plate 321. In a specific configuration, the shape of the first weight-reducing through hole 3212 can be any geometric shape such as an oblong hole, a square hole, or a circular hole.

[0049] To further reduce weight, a second groove is formed on the lower surface of the lower clamping plate 322, and a second weight-reducing through hole is formed at the bottom of the groove. Specifically, the second groove extends along the length direction of the lower clamping plate 322, i.e., the second direction b, and its shape is not limited; it can be any geometric shape. More specifically, there are multiple second weight-reducing through holes, spaced apart along the length direction of the lower clamping plate 322. The shape of the second weight-reducing through holes can be any geometric shape, such as an oblong hole, a square hole, or a circular hole. It should be emphasized that, in addition to the upper clamping plate 321 and the lower clamping plate 322, a third weight-reducing through hole 130 can also be formed on the mounting plate 100 to reduce the load mass, and the shape of the third weight-reducing through hole 130 can be any geometric shape, such as an oblong hole, a square hole, or a circular hole.

[0050] To facilitate the sliding of the clamping plate 310 onto the second side 120 of the mounting plate 100, in a preferred embodiment, a slider 311 is provided on the side of the clamping plate 310 opposite to the clamping arm 320, and a linear guide rail 140 adapted to the slider 311 is provided on the second side 120 of the mounting plate 100. To ensure the stability of the sliding connection between the clamping plate 310 and the mounting plate 100, multiple linear guide rails 140 are provided, spaced apart, and each linear guide rail 140 is provided with a corresponding slider 311.

[0051] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A load gripper for an industrial robot, mounted on the end effector of an industrial robot, characterized in that, The load holder for the industrial robot includes a mounting plate, a clamping mechanism, and a lateral movement drive mechanism, wherein: The mounting plate has a first side and a second side arranged opposite to each other. The first side is provided with a mounting joint, which is detachably connected to the end of the industrial robot. The clamping mechanism includes a clamping plate and a clamping arm disposed on one side of the clamping plate. The side of the clamping plate opposite to the clamping arm is slidably disposed on the second side. There are two clamping mechanisms, and the clamping arms of the two clamping mechanisms can move toward or away from each other. The output end of the lateral movement drive mechanism is connected to the clamping mechanism, and the lateral movement drive mechanism is located on the second side of the mounting plate, for driving the two clamping mechanisms to move towards or away from each other.

2. The load clamp for industrial robots according to claim 1, characterized in that, The lateral movement drive mechanism includes a lateral movement drive component, a transmission gear, and two transmission racks, wherein: The two transmission racks are correspondingly mounted on the side of the two clamping plates opposite to the clamping arms; The transmission gear is located between and meshes with the two transmission racks; The output end of the lateral drive is connected to the transmission gear, and is used to drive the transmission gear to rotate so as to drive the two transmission racks to move towards or away from each other.

3. The load clamp for industrial robots according to claim 2, characterized in that, The lateral movement drive mechanism also includes a fixed plate detachably connected to the mounting plate. The fixed end of the lateral movement drive component is mounted on the fixed plate, and the output end of the lateral movement drive component passes through the fixed plate and is connected to the transmission gear.

4. The load clamp for industrial robots according to claim 1, characterized in that, The load gripper for the industrial robot further includes a lifting drive mechanism, and the gripping arm includes an upper clamping plate and a lower clamping plate, wherein: The lower clamping plate is disposed on the clamping plate; The lifting drive mechanism is mounted on the clamping plate, and the output end of the lifting drive mechanism is connected to the upper clamping plate. The lifting drive mechanism is used to drive the upper clamping plate to move toward or away from the lower clamping plate.

5. The load holder for industrial robots according to claim 4, characterized in that, The upper surface of the upper clamping plate is provided with a first groove, and the bottom of the first groove is provided with a first weight-reducing through hole.

6. The load holder for industrial robots according to claim 5, characterized in that, The number of the first weight-reducing through holes is multiple, and the multiple first weight-reducing through holes are spaced apart along the length direction of the upper clamping plate.

7. The load clamp for industrial robots according to claim 4, characterized in that, The lower surface of the lower clamping plate is provided with a second groove, and the bottom of the second groove is provided with a second weight-reducing through hole.

8. The load holder for industrial robots according to claim 7, characterized in that, The number of the second weight-reducing through holes is multiple, and the multiple second weight-reducing through holes are spaced apart along the length direction of the lower clamping plate.

9. The load clamp for industrial robots according to claim 1, characterized in that, A slider is provided on the side of the clamping plate opposite to the clamping arm, and a linear guide rail adapted to the slider is provided on the second side of the mounting plate.

10. The load holder for an industrial robot according to claim 9, characterized in that, The linear guide rails are multiple in number and spaced apart, with each linear guide rail having a corresponding slider.

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