Industrial robot clamping jaw

Abstract

The utility model discloses an industrial robot clamping jaw which comprises a transverse moving assembly and two clamping jaw assemblies, the two clamping jaw assemblies are installed on the front side of the transverse moving assembly, radian adjusting assemblies are arranged on the opposite faces of the two clamping jaw assemblies, each radian adjusting assembly comprises a radian base, and a radian adjusting plate is arranged on the inner side of each radian base. The radian adjusting plate is made of a flexible metal material, a limiting block is fixed to the rear side of the radian adjusting plate, a limiting groove is formed in the inner side of the radian base, the limiting block is movably installed in the limiting groove, an adjusting hole is formed in the limiting block, a fixed-position and rotatable inner hexagon bolt is arranged on the outer side of the radian base, and the inner hexagon bolt corresponds to the adjusting hole. In actual use, a flexible metal radian adjusting plate in the radian adjusting assembly is matched with precise guiding of a limiting block and a limiting groove, and a position-fixed and rotatable inner hexagon bolt adjusting mechanism, so that precise fitting of the contour of a workpiece is achieved, and uniform distribution of clamping force is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot clamping jaw technical field, concretely is a kind of industrial robot clamping jaw. BACKGROUND

[0002] Industrial robot clamping jaw as the key end effector of mechanical arm, with the function of efficient handling, accurate control, strong adaptability and high safety, plays an important role in industrial automation and intelligent manufacturing. It is widely used in automobile manufacturing, electronic assembly, logistics sorting, food packaging and other fields, and even extends to aerospace, medical and other high-tech industries, significantly improves production efficiency, product quality and safety, and is an important force to promote the process of industrial automation.

[0003] When clamping different models and different radii of the clamped object, a common problem is that the existing industrial robot clamping jaw is not convenient to adjust and is difficult to perfectly match the outside contour of the clamped object. This mismatch in curvature can cause uneven distribution of clamping force on the workpiece surface, i.e. some parts may be subjected to excessive pressure, while other parts are insufficiently pressed.

[0004] Therefore, there is a need for an industrial robot clamping jaw to solve the above problems. SUMMARY

[0005] Technical problem to be solved

[0006] In view of the deficiencies of the prior art, the utility model provides an industrial robot clamping jaw to solve the problem of the existing industrial robot clamping jaw mentioned in the background art, which is not convenient to adjust and is difficult to perfectly match the outside contour of the clamped object.

[0007] TECHNICAL SCHEME

[0008] To achieve the above purpose, the utility model provides the following technical scheme: an industrial robot clamping jaw, comprising a horizontal moving assembly, a clamping jaw assembly and a radius adjusting assembly, the clamping jaw assembly is two groups, two groups of clamping jaw assemblies are installed on the front side of horizontal moving assembly, two groups of clamping jaw assemblies are provided with radius adjusting assembly on opposite surfaces, the radius adjusting assembly comprises radius base, the inner side of radius base is provided with radius adjusting plate, the radius adjusting plate is flexible metal material, the rear side of radius adjusting plate is fixed with limit block, the inner side of radius base is provided with limit slot, the limit block is movably installed in limit slot, the limit block is provided with adjusting hole, the outer side of radius base is provided with position-fixed and rotatable inner hexagonal bolt, the inner hexagonal bolt corresponds to adjusting hole, the inner hexagonal bolt is rotated to drive the limit block to move in the limit slot, forcing the radius adjusting plate to adjust the radius.

[0009] Preferably, the transverse moving assembly comprises a transverse moving base, slide rails are arranged on the upper and lower sides of the transverse moving base, the clamping jaw assembly comprises a clamping jaw base, two groups of sliding blocks are arranged at the lower end of the clamping jaw base, and the sliding blocks are movably arranged on the slide rails.

[0010] Preferably, a double-threaded rod is arranged on the front side of the transverse moving base through a bearing base, an internally threaded block is fixed to the lower end of the clamping jaw base, and the double-threaded rod is movably arranged in the internally threaded block.

[0011] Preferably, a driving motor is arranged on the right side of the double-threaded rod, and the driving motor is a servo motor.

[0012] Preferably, roller shaft rods are movably arranged on the two sides of the clamping jaw base, and the roller shaft rods correspond to the arc adjusting plates.

[0013] Preferably, an anti-skid pad is arranged at the front end of the arc adjusting plate, the anti-skid pad is made of rubber, and groove strips are arranged in the inner side of the anti-skid pad.

[0014] Preferably, a position sensor is arranged on the front side of the transverse moving base, and an induction block is fixed to the rear side of the left clamping jaw base and corresponds to the position sensor.

[0015] Preferably, a connecting base is fixed to the rear side of the transverse moving base. Beneficial effects

[0016] The industrial robot clamping jaw has the following beneficial effects: in actual use, the transverse moving assembly ensures accurate positioning of the clamping jaw, and the clamping jaw assembly provides stable clamping force; the flexible metal arc adjusting plate in the arc adjusting assembly is accurately guided by the limiting block and the limiting groove, and the inner hexagonal bolt adjusting mechanism which is position-fixed and rotatable, realizes accurate fitting of the workpiece contour, ensures uniform distribution of the clamping force, avoids the problem of excessive local pressure, and greatly improves the adaptability and clamping effect of the clamping jaw. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a structural schematic diagram of the utility model;

[0018] Fig. 2 It is an exploded structural schematic diagram of the utility model;

[0019] Fig. 3 It is an exploded rear view structural schematic diagram of the utility model;

[0020] Fig. 4 It is an exploded structural schematic diagram of the clamping jaw assembly in the utility model.

[0021] In the figure: 1, horizontal moving assembly; 11, horizontal moving base; 12, slide rail; 13, sliding block; 14, double thread rod; 15, bearing base; 16, driving motor; 2, connecting base; 3, clamping jaw assembly; 31, clamping jaw base; 32, inner thread block; 4, arc adjusting assembly; 41, arc base; 42, arc adjusting plate; 43, non-slip pad; 431, groove strip group; 44, limiting block; 45, adjusting hole; 46, limiting groove; 47, inner hexagonal bolt; 48, roller shaft; 5, position sensor; 51, sensing block. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0024] Please refer to Figs. 1-4 The present application provides a technical solution: an industrial robot clamping jaw, comprising a horizontal moving assembly 1, a clamping jaw assembly 3 and an arc adjusting assembly 4, the clamping jaw assembly 3 is two groups, the two groups of clamping jaw assemblies 3 are installed on the front side of the horizontal moving assembly 1, the two groups of clamping jaw assemblies 3 are provided with arc adjusting assemblies 4 on opposite surfaces, the arc adjusting assembly 4 comprises an arc base 41, the inner side of the arc base 41 is provided with an arc adjusting plate 42, the arc adjusting plate 42 is made of flexible metal material, the rear side of the arc adjusting plate 42 is fixedly provided with a limiting block 44, the inner side of the arc base 41 is provided with a limiting groove 46, the limiting block 44 is movably installed in the limiting groove 46, the limiting block 44 is provided with an adjusting hole 45, the outer side of the arc base 41 is provided with a position-fixed and rotatable inner hexagonal bolt 47, the inner hexagonal bolt 47 corresponds to the adjusting hole 45, the inner hexagonal bolt 47 can drive the limiting block 44 to move in the limiting groove 46 by rotating, so as to force the arc adjusting plate 42 to adjust the arc;

[0025] In use, the horizontal moving assembly 1 is the basis support and movement platform of the whole clamp system, and is responsible for the movement of the clamp assembly 3 in the horizontal direction; the clamp assembly 3 is responsible for providing the necessary clamping force to fix the workpiece; the arc base 41 provides a stable support structure, and through the deformation of the arc adjusting plate 42, the problem of mismatch between the clamp and the arc of the workpiece is solved, so that the clamping force is more evenly distributed, and the situation of excessive local pressure is avoided; through the cooperation of the limiting block 44 and the limiting groove 46, the controllability and stability of the arc adjusting process are ensured, and accidental deviation or damage of the arc adjusting plate 42 during the adjusting process is prevented; through the rotating bolt, the bending degree of the arc adjusting plate 42 can be conveniently adjusted to adapt to different arcs of the to-be-clamped object.

[0026] The horizontal moving assembly 1 comprises a horizontal moving base 11, and slide rails 12 are arranged on the upper and lower sides of the horizontal moving base 11; the clamp assembly 3 comprises a clamp base 31, the clamp base 31 is connected with the arc base 41, and two groups of slide blocks 13 are arranged at the lower end of the clamp base 31; the slide blocks 13 are movably installed on the slide rails 12; through the cooperation of the slide blocks 13 and the slide rails 12, the overall movement of the clamp assembly 3 is realized.

[0027] The double-threaded rod 14 is installed on the front side of the horizontal moving base 11 through a bearing base 15, the inner threaded block 32 is fixed to the lower end of the clamp base 31, and the double-threaded rod 14 is movably arranged in the inner threaded block 32; through the supporting action of the bearing, the friction and resistance during the rotation of the double-threaded rod 14 are reduced, and the efficiency and precision of the rotation are improved.

[0028] The double-threaded rod 14 is movably arranged in the inner threaded block 32; through the supporting action of the bearing, the friction and resistance during the rotation of the double-threaded rod 14 are reduced, and the efficiency and precision of the rotation are improved.

[0029] The double-threaded rod 14 is movably arranged in the inner threaded block 32; through the supporting action of the bearing, the friction and resistance during the rotation of the double-threaded rod 14 are reduced, and the efficiency and precision of the rotation are improved.

[0030] The double-threaded rod 14 is movably arranged in the inner threaded block 32; through the supporting action of the bearing, the friction and resistance during the rotation of the double-threaded rod 14 are reduced, and the efficiency and precision of the rotation are improved.

[0031] The position sensor 5 is arranged on the front side of the horizontal moving base 11, and the sensing block 51 is fixed on the rear side of the left clamping jaw base 31, and the sensing block 51 corresponds to the position sensor 5, when the sensing block 51 moves to the detection range of the position sensor 5, the position sensor 5 triggers the position recording or calibration operation.

[0032] The connecting base 2 is fixed on the rear side of the horizontal moving base 11, and the main function of the connecting base 2 is to provide a stable connection interface, which is used for connecting the horizontal moving base 11 and the clamping jaw assembly 3 thereon with the robot arm, the workbench or other related equipment.

[0033] As an embodiment of the utility model: when the industrial robot clamping jaw is used, first, the connecting base 2 on the rear side of the horizontal moving base 11 is stably connected with the robot arm, the workbench or other related equipment; through the control system operation, the sensing block 51 on the rear side of the left clamping jaw base 31 moves to the detection range of the position sensor 5, when the sensing block 51 is detected by the position sensor 5, the system automatically records or calibrates the position, and ensures that the initial position of the clamping jaw assembly 3 is accurate;

[0034] According to the shape and the arc of the workpiece to be clamped, the internal hexagonal wrench is used to rotate the internal hexagonal bolt 47 on the outer side of the arc base 41, the rotation of the bolt drives the limiting block 44 to move in the limiting groove 46, so as to force the arc adjusting plate 42 to make the preset arc adjustment, the driving motor 16 is started, and through the instruction of the control system, the double-threaded rod 14 is rotated, and under the support of the bearing, the rotation of the double-threaded rod 14 drives the clamping jaw base 31 and the clamping jaw assembly 3 thereon to move horizontally along the sliding rail 12, and the non-slip pad 43 provides additional friction to prevent the workpiece from sliding or falling off during clamping; so as to complete the use of the industrial robot clamping jaw.

[0035] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying that there is any such actual relationship or order between these entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or equipment.

[0036] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An industrial robot gripper comprising a traverse assembly (1), a gripper assembly (3) and an arc adjustment assembly (4), the gripper assembly (3) being two sets, characterised in that: Two groups of the clamping jaw assemblies (3) are installed on the front side of the horizontal moving assembly (1), and the arc adjusting assemblies (4) are respectively arranged on the opposite sides of the two groups of the clamping jaw assemblies (3). The arc adjusting assembly (4) comprises an arc base (41), an arc adjusting plate (42) is arranged on the inner side of the arc base (41), the arc adjusting plate (42) is made of flexible metal material, a limiting block (44) is fixed on the rear side of the arc adjusting plate (42), a limiting groove (46) is formed on the inner side of the arc base (41), the limiting block (44) is movably arranged in the limiting groove (46), an adjusting hole (45) is formed on the limiting block (44), and an inner hexagonal bolt (47) is arranged on the outer side of the arc base (41) and is fixed in position and rotatable, the inner hexagonal bolt (47) corresponds to the adjusting hole (45). The inner hexagonal bolt (47) is rotated to drive the limiting block (44) to move in the limiting groove (46), so that the arc adjusting plate (42) is forced to adjust the arc.

2. An industrial robot gripper according to claim 1, characterized in that: The horizontal moving assembly (1) comprises a horizontal moving base (11), slide rails (12) are arranged on the upper and lower sides of the horizontal moving base (11), the clamping jaw assembly (3) comprises a clamping jaw base (31), two groups of slide blocks (13) are arranged on the lower end of the clamping jaw base (31), and the slide blocks (13) are movably arranged on the slide rails (12).

3. An industrial robot gripper according to claim 2, characterized in that: A double-thread rod (14) is arranged on the front side of the horizontal moving base (11) through a bearing base (15), an inner threaded block (32) is fixed on the lower end of the clamping jaw base (31), and the double-thread rod (14) is movably arranged in the inner threaded block (32).

4. An industrial robot gripper according to claim 3, characterized in that: A driving motor (16) is arranged on the right side of the double-thread rod (14), and the driving motor (16) is a servo motor.

5. An industrial robot gripper according to claim 2, characterized in that: Rolling shaft rods (48) are movably arranged on the two sides of the clamping jaw base (31) and correspond to the arc adjusting plate (42).

6. An industrial robot gripper according to claim 1, characterized in that: An anti-skid pad (43) is arranged on the front end of the arc adjusting plate (42), the anti-skid pad (43) is made of rubber material, and groove strip groups (431) are formed on the inner side of the anti-skid pad (43).

7. An industrial robot gripper according to claim 2, characterized in that: A position sensor (5) is arranged on the front side of the horizontal moving base (11), and an induction block (51) is fixed on the rear side of the left clamping jaw base (31) and corresponds to the position sensor (5).

8. An industrial robot gripper according to claim 2, characterized in that: A connecting base (2) is fixed on the rear side of the horizontal moving base (11).

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