Clamping device and industrial robot

Abstract

The utility model relates to a clamping device and an industrial robot, the clamping device comprises a base, a clamping mechanism and an alignment assembly, the clamping mechanism and the alignment assembly are both arranged on the base, the clamping mechanism comprises a clamping assembly, the clamping assembly is provided with a clamping groove for a hollow rod-shaped material to pass through, the alignment assembly comprises an alignment part, and the alignment part is provided with a clamping groove for the hollow rod-shaped material to pass through. The alignment part is located on the discharging side of the clamping assembly, a first alignment hole section and a second alignment hole section are formed in the alignment part, the first alignment hole section is provided with a limiting wall for limiting movement of the hollow rod-shaped material, and the first alignment hole section and the second alignment hole section are communicated through a connecting hole; and the second alignment hole section, the connecting hole, the first alignment hole section and the clamping groove are coaxially arranged, so that the slender rod piece sequentially penetrates through the second alignment hole section and the connecting hole and extends into the hollow rod-shaped material. According to the clamping device and the industrial robot, the problem that existing clamping equipment is low in clamping and mounting efficiency is solved.

Description

Technical Field

[0001] This utility model relates to the field of industrial clamping equipment technology, and in particular to a clamping device and an industrial robot. Background Technology

[0002] In the molten metal smelting process of the steel industry, it is necessary to use a slender rod lifting mechanism to carry hollow rod-shaped materials into the high-temperature molten steel for temperature measurement or sampling.

[0003] Existing clamping equipment typically adjusts the position of the rod-shaped material directly to align it with the slender rod, allowing them to be fitted together. However, the rod-shaped material may deviate from its position during clamping, causing the alignment process to take a long time and resulting in low clamping and installation efficiency. Utility Model Content

[0004] The main purpose of this invention is to propose a clamping device and an industrial robot, which aims to solve the problem of low clamping and installation efficiency in existing clamping equipment.

[0005] To achieve the above objectives, this utility model proposes a clamping device, including a base, a clamping mechanism, and an alignment component. Both the clamping mechanism and the alignment component are mounted on the base. The clamping mechanism includes a clamping component with a clamping groove for a hollow rod-shaped material to pass through. The alignment component includes an alignment part located on the discharge side of the clamping component. The alignment part has a first alignment hole section and a second alignment hole section. The first alignment hole section has a limiting wall that restricts the movement of the hollow rod-shaped material, allowing the material to pass through the clamping groove and extend into the first alignment hole section for alignment and fixation. The first alignment hole section and the second alignment hole section are connected by a connecting hole. The second alignment hole section, the connecting hole, the first alignment hole section, and the clamping groove are all coaxially arranged, allowing a slender rod to pass sequentially through the second alignment hole section and the connecting hole and extend into the hollow rod-shaped material.

[0006] According to some embodiments of the present invention, the first alignment hole segment is inclined inward from one end of the alignment portion near the clamping portion toward the direction near the connecting hole.

[0007] According to some embodiments of the present invention, the second alignment hole segment is inclined inward from the end of the alignment portion away from the clamping portion toward the direction of the connection hole.

[0008] According to some embodiments of the present invention, the diameter of the first alignment hole segment is larger than the diameter of the connecting hole, and an abutment surface is formed at one end of the first alignment hole segment near the connecting hole for the hollow rod-shaped material to abut.

[0009] According to some embodiments of the present invention, two clamping components are provided, each clamping component including a clamping seat and a clamping part provided on the clamping seat, the clamping part having a clamping surface that can contact the hollow rod-shaped material.

[0010] According to some embodiments of the present invention, the clamping part is provided in multiple ways, and the multiple clamping parts can be detachably installed on the clamping seat. The clamping surfaces on the multiple clamping parts can be assembled to form a semi-groove, and two semi-grooves can be assembled to form the clamping groove.

[0011] According to some embodiments of the present invention, the clamping part is covered with an anti-slip part, and the clamping surface is formed on the anti-slip part.

[0012] According to some embodiments of the present invention, the alignment assembly further includes a connecting seat, which is connected to the base, and the alignment part is detachably mounted on the connecting seat.

[0013] According to some embodiments of the present invention, a material detection unit is also included for detecting whether a hollow rod-shaped material is clamped in the clamping groove, and the material detection unit is disposed on the base.

[0014] In addition, this utility model also provides an industrial robot, including a robot body and a clamping device as described in any of the above, wherein the robot body and the base of the clamping device are detachably connected.

[0015] This utility model has at least the following beneficial effects:

[0016] In this invention, both the clamping mechanism and the alignment component are mounted on the base. The clamping mechanism includes a clamping component with a clamping groove for the hollow rod-shaped material to pass through. The alignment component includes an alignment part located on the discharge side of the clamping component. The alignment part has a first alignment hole section and a second alignment hole section. The first alignment hole section has a limiting wall that restricts the movement of the hollow rod-shaped material. The first alignment hole section and the second alignment hole section are connected through a connecting hole. The second alignment hole section, the connecting hole, the first alignment hole section, and the clamping groove are all coaxially arranged so that a slender rod can pass through the second alignment hole section and the connecting hole in sequence and extend into the hollow rod-shaped material. The clamping device is mounted on the robot body of an industrial robot. The robot's drive mechanism moves the clamping device to the material storage area. The clamping assembly holds the hollow rod-shaped material, allowing it to pass through the clamping groove and extend into the first alignment hole section for alignment and fixation. The limiting wall of the first alignment hole section restricts the movement of the hollow rod-shaped material, ensuring that it does not deviate from its position during clamping. Then, the slender rod and the hollow rod-shaped material can be quickly aligned and connected through the connection between the second alignment hole section, the connecting hole, and the first alignment hole section, improving the alignment and connection efficiency of the slender rod and the hollow rod-shaped material, thereby improving the clamping and installation efficiency of the clamping device. The clamping device and industrial robot provided by this invention solve the problem of low clamping and installation efficiency in existing clamping equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a clamping device provided in an embodiment of the present utility model;

[0019] Figure 2 for Figure 1 Cross-sectional view of the clamping device in the middle;

[0020] Figure 3 for Figure 1 A schematic diagram of the clamping mechanism in the image.

[0021] Explanation of reference numerals in the attached figures:

[0022] 100-Clamping device; 1-Base; 2-Clamping mechanism; 21-Clamping assembly; 211-Clamping seat; 212-Clamping part; 2121-Anti-slip part; 22-Drive part; 3-Alignment assembly; 31-Alignment part; 311-First alignment hole section; 312-Second alignment hole section; 313-Connecting hole; 32-Connecting seat; 4-Material detection unit; 200-Hollow rod-shaped material; 300-Slender rod. Detailed Implementation

[0023] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] This utility model provides a clamping device and an industrial robot. Figures 1 to 3 This is a specific embodiment of a clamping device provided by the present invention.

[0027] like Figure 1 and Figure 2As shown, this utility model embodiment provides a clamping device 100, including a base 1, a clamping mechanism 2, and an alignment component 3. Both the clamping mechanism 2 and the alignment component 3 are disposed on the base 1. The clamping mechanism 2 includes a clamping component 21, which has a clamping groove for a hollow rod-shaped material to pass through. The alignment component 3 includes an alignment part 31, which is located on the discharge side of the clamping component 21. The alignment part 31 has a first alignment hole segment 311 and a second pair of alignment holes. The first alignment hole section 311 has a limiting wall that restricts the movement of the hollow rod-shaped material 200. The first alignment hole section 311 and the second alignment hole section 312 are connected through a connecting hole 313. The second alignment hole section 312, the connecting hole 313, the first alignment hole section 311 and the clamping groove are all coaxially arranged so that the slender rod 300 passes through the second alignment hole section 312 and the connecting hole 313 in sequence and extends into the hollow rod-shaped material 200.

[0028] In this utility model, the clamping mechanism 2 and the alignment component 3 are both disposed on the base 1. The clamping mechanism 2 includes a clamping component 21, which has a clamping groove for the hollow rod-shaped material 200 to pass through. The alignment component 3 includes an alignment part 31, which is located on the discharge side of the clamping component 21. The alignment part 31 has a first alignment hole section 311 and a second alignment hole section 312. The first alignment hole section 311 has a limiting wall that restricts the movement of the hollow rod-shaped material 200. The first alignment hole section 311 and the second alignment hole section 312 are connected through a connecting hole 313. The second alignment hole section 312, the connecting hole 313, the first alignment hole section 311, and the clamping groove are all coaxially arranged so that the slender rod 300 passes through the second alignment hole section 312 and the connecting hole 313 in sequence and extends into the hollow rod-shaped material 200. The clamping device 100 is installed on the robot body of an industrial robot. The driving mechanism of the industrial robot drives the clamping device 100 to move to the material storage area. The clamping assembly 21 clamps the hollow rod-shaped material 200, allowing it to pass through the clamping groove and extend into the first alignment hole section 311 for alignment and fixation. The limiting wall of the first alignment hole section 311 restricts the movement of the hollow rod-shaped material 200, ensuring that the hollow rod-shaped material 200 will not deviate in position during clamping. Then, the slender rod 300 and the hollow rod-shaped material 200 can be quickly aligned and connected through the connection between the second alignment hole section 312, the connecting hole 313, and the first alignment hole section 311, improving the alignment and connection efficiency of the slender rod 300 and the hollow rod-shaped material 200, thereby improving the clamping and installation efficiency of the clamping device 100. The clamping device 100 and industrial robot provided by this utility model solve the problem of low clamping and installation efficiency of existing clamping equipment.

[0029] Specifically, such as Figure 3 As shown, the clamping mechanism 2 further includes a drive unit 22, which can drive the clamping slot to open and close, thereby enabling the clamping assembly 21 to clamp the hollow rod-shaped material 200. The drive unit 22 can be a cylinder or other components with translational drive function known to those skilled in the art.

[0030] It should be noted that in some embodiments, such as Figure 1As shown, the alignment assembly 3 also includes a connecting seat 32, which is connected to the base 1. The alignment part 31 is detachably mounted on the connecting seat 32. With this configuration, since the alignment part 31 is detachable, by replacing the alignment part 31 with different specifications, the diameters of the first alignment hole segment 311, the second alignment hole segment 312, and the connecting hole 313 can be changed, thereby adapting to slender rods 300 of different diameters.

[0031] To further improve the alignment and connection efficiency between the slender rod 300 and the hollow rod-shaped material 200, in some embodiments, such as... Figure 2 As shown, the alignment part 31 also has a second alignment hole section 312 for the slender rod 300 to extend into for alignment. The first alignment hole section 311 and the second alignment hole section 312 are connected by a connecting hole 313, so that the slender rod 300 passes through the second alignment hole section 312 and the connecting hole 313 in sequence and extends into the hollow rod-shaped material 200. With this configuration, the slender rod 300 and the hollow rod-shaped material 200 can be quickly aligned and fitted through the connection between the second alignment hole section 312, the connecting hole 313 and the first alignment hole section 311, which greatly improves the clamping and installation efficiency of the clamping device 100.

[0032] The shape of the first alignment hole segment 311 is not limited, as long as the hollow rod-shaped material 200 can be inserted into it for alignment and fixation. For example, in some embodiments, such as... Figure 2 As shown, the first alignment hole segment 311 is inclined inward from the end of the alignment part 31 near the clamping part 212 toward the connecting hole 313. This arrangement ensures that even if the clamping angle of the hollow rod-shaped material 200 deviates, the trumpet-shaped first alignment hole segment 311 can correct and align the hollow rod-shaped material 200, preventing it from failing to enter the first alignment hole segment 311 due to excessive clamping angle deviation.

[0033] Similarly, the shape of the second alignment hole segment 312 is not limited, as long as the elongated rod 300 can pass through it. For example, in some embodiments, such as... Figure 2 As shown, the second alignment hole segment 312 is inclined inward from the end of the alignment part 31 away from the clamping part 212 toward the connecting hole 313. This arrangement allows the flared second alignment hole segment 312 to correct the slender rod 300, thereby improving the alignment and connection efficiency between the slender rod 300 and the hollow rod-shaped material 200.

[0034] It should be noted that either of the above two technical features can be set, or they can be set simultaneously.

[0035] In some embodiments, such as Figure 2 As shown, the first alignment hole segment 311, the second alignment hole segment 312, and the connecting hole 313 are coaxially arranged. The diameter of the first alignment hole segment 311 is larger than the diameter of the connecting hole 313. One end of the first alignment hole segment 311 near the connecting hole 313 forms an abutment surface for the hollow rod-shaped material 200 to abut. With this configuration, the hollow rod-shaped material 200 is first inserted into the first alignment hole segment 311 and abuts against the abutment surface, and is clamped by the clamping assembly 21. The industrial robot drives the clamping device 100 to move directly below the slender rod 300. The slender rod 300 passes through the second alignment hole segment 312 and the connecting hole 313, and is fitted with the hollow rod-shaped material 200 to complete the installation.

[0036] The specific structure of the clamping component 21 is not limited, as long as it ensures that the clamping component 21 can clamp the hollow rod-shaped material 200. For example, in some embodiments, such as... Figure 3 As shown, two clamping components 21 are provided. Each clamping component 21 includes a clamping seat 211 and a clamping part 212 disposed on the clamping seat 211. The clamping part 212 has a clamping surface that can contact the hollow rod-shaped material 200. The driving unit 22 can drive the two clamping seats 211 to move closer or further apart, so that the clamping surface of the clamping part 212 contacts the outer surface of the hollow rod-shaped material 200, thereby achieving the clamping of the hollow rod-shaped material 200.

[0037] Furthermore, in some embodiments, such as Figure 3 As shown, multiple clamping parts 212 are provided, and each of the multiple clamping parts 212 can be detachably installed on the clamping base 211. The clamping surfaces on the multiple clamping parts 212 can be assembled to form a semi-groove, and two semi-grooves can be fitted together to form the clamping groove. This design allows for two advantages: firstly, the detachable installation of the clamping parts 212 enables workers to adapt to hollow rod-shaped materials 200 of different sizes by replacing the clamping parts 212 with different specifications; secondly, by providing multiple clamping parts 212, and the multiple clamping parts 212 on the two clamping bases 211 fitting together to form the clamping groove, the clamping groove adapts to the shape of the outer surface of the hollow rod-shaped material 200, increasing the contact area and making the clamping more secure. Furthermore, the clamping parts 212 can clamp hollow rod-shaped materials 200 of different shapes.

[0038] To make the clamping part 212 clamp more securely, such as Figure 3As shown, the clamping part 212 is covered with an anti-slip part 2121, and the clamping surface is formed on the anti-slip part 2121. Specifically, the anti-slip part 2121 can be an anti-slip layer with high friction, or it can be a plurality of toothed protrusions on the clamping part 212, or other components known to those skilled in the art that can increase friction.

[0039] In some embodiments, such as Figure 2 As shown, the clamping device 100 further includes a material detection unit 4 for detecting whether a hollow rod-shaped material 200 is clamped in the clamping groove. The material detection unit 4 is disposed on the base 1. The material detection unit 4 is specifically a photoelectric sensor. The light path emitted by the photoelectric sensor is located below the clamping assembly 21. After clamping, the position of the hollow rod-shaped material 200 is determined. When the hollow rod-shaped material 200 is normally clamped, the emitted light contacts the surface of the hollow rod-shaped material 200 and bounces back to be received by the photoelectric sensor.

[0040] Furthermore, this utility model also provides an industrial robot, including a robot body and the clamping device 100. The robot body is detachably connected to the base 1 of the clamping device 100. The clamping device 100 includes the base 1, a clamping mechanism 2, and an alignment component 3. The clamping mechanism 2 and the alignment component 3 are both disposed on the base 1. The clamping mechanism 2 includes a clamping component 21, which has a clamping groove for hollow rod-shaped materials to pass through. The alignment component 3 includes an alignment part 31, which is located on the discharge side of the clamping component 21. Furthermore, the alignment part 31 is provided with a first alignment hole section 311 and a second alignment hole section 312. The first alignment hole section 311 has a limiting wall that restricts the movement of the hollow rod-shaped material 200. The first alignment hole section 311 and the second alignment hole section 312 are connected through a connecting hole 313. The second alignment hole section 312, the connecting hole 313, the first alignment hole section 311 and the clamping groove are all coaxially arranged so that the slender rod 300 passes through the second alignment hole section 312 and the connecting hole 313 in sequence and extends into the hollow rod-shaped material 200.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A clamping device, characterized in that, The device includes a base, a clamping mechanism, and an alignment component. Both the clamping mechanism and the alignment component are mounted on the base. The clamping mechanism includes a clamping component with a clamping groove for a hollow rod-shaped material to pass through. The alignment component includes an alignment part located on the discharge side of the clamping component. The alignment part has a first alignment hole section and a second alignment hole section. The first alignment hole section has a limiting wall that restricts the movement of the hollow rod-shaped material. The first alignment hole section and the second alignment hole section are connected through a connecting hole. The second alignment hole section, the connecting hole, the first alignment hole section, and the clamping groove are all coaxially arranged so that a slender rod can pass through the second alignment hole section and the connecting hole in sequence and extend into the hollow rod-shaped material.

2. The clamping device as described in claim 1, characterized in that, The first alignment hole segment is inclined inward from the end of the alignment part near the clamping part toward the direction near the connecting hole.

3. The clamping device as described in claim 1, characterized in that, The second alignment hole segment is inclined inward from the end of the alignment part away from the clamping part toward the direction of the connection hole.

4. The clamping device as described in claim 1, characterized in that, The diameter of the first alignment hole segment is larger than the diameter of the connecting hole, and the end of the first alignment hole segment near the connecting hole forms an abutment surface for the hollow rod-shaped material to abut.

5. The clamping device as described in claim 1, characterized in that, The clamping assembly is provided in two parts, each clamping assembly including a clamping seat and a clamping part provided on the clamping seat, the clamping part having a clamping surface that can contact the hollow rod-shaped material.

6. The clamping device as described in claim 5, characterized in that, The clamping part is provided in multiple ways, and each of the multiple clamping parts can be detachably installed on the clamping base. The clamping surfaces on the multiple clamping parts can be assembled to form a semi-groove, and two of the semi-grooves can be assembled to form the clamping groove.

7. The clamping device as described in claim 5, characterized in that, The clamping part is covered with an anti-slip part, and the clamping surface is formed on the anti-slip part.

8. The clamping device as claimed in claim 1, characterized in that, The alignment assembly further includes a connector, which is connected to the base, and the alignment part is detachably mounted on the connector.

9. The clamping device as claimed in claim 1, characterized in that, It also includes a material detection unit for detecting whether hollow rod-shaped material is held in the clamping groove, and the material detection unit is disposed on the base.

10. An industrial robot, characterized in that, It includes a robot body and a gripping device as described in any one of claims 1 to 9, wherein the robot body and the base of the gripping device are detachably connected.

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