A robot clamp based on a damping anti-slosh structure

Abstract

The utility model discloses a robot clamp based on damping anti -shaking structure, including upper connecting plate, and its upper end is provided with the hook, the lower surface rotationally connected with lower connecting plate of upper connecting plate, the lower surface fixed connection of lower connecting plate has first chain, the surface of first chain is hung and is installed with second chain, the lower end fixed mounting of second chain has electromagnetic chuck, the lower surface of lower connecting plate is provided with recess, and the top surface fixed with upper limit block of lower connecting plate recess. That robot clamp based on damping anti -shaking structure is provided with first swing arm and second swing arm, and is conveniently moved with the surface of magnetic force adhering material through the rotation connection of upper connecting plate and lower connecting plate, thereby improves the effect of adsorbing material, and is conveniently turned over in many directions through the rotation of first swing arm and second swing arm, further improves the efficiency of adsorbing material, and increases the practicality of the device.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot clamp technical field, concretely is a robot clamp based on damping anti -shaking structure. BACKGROUND

[0002] Robot clamp is one kind of robot end effector, it plays a key role in industrial production, logistics, service and many other fields, can grasp, carry, operate various different objects, magnetic clamp such as permanent magnet clamp, it relies on the magnetic field generated by permanent magnet to adsorb ferromagnetic material, such as in steel processing workshop is used to carry steel, iron block etc., the advantage is that it does not need additional energy supply, compact structure, low use cost, as long as the grasped object has ferromagnetic property can be stable grasping, the shortcoming is that the magnetic force is relatively fixed, difficult to adjust flexibly, and can only grasp ferromagnetic object, the application range is limited, electromagnetic clamp is through the energization to generate magnetic field to adsorb object, the magnetic force size can be controlled by adjusting the current size, this makes it more flexible when grasping different weight ferromagnetic objects, such as in the automatic casting workshop grasps different specifications of casting blank.

[0003] The existing electromagnetic chuck will shake when adsorbing and transferring metal, the adsorbed metal may fall and cause danger to people, and the shaking will affect the classification and placement of materials, reducing the efficiency of material transportation and placement, and being not conducive to the continuity of work. UTILITY MODEL CONTENT

[0004] The utility model discloses a robot clamp based on damping anti -shaking structure to solve the problem that the existing electromagnetic chuck shakes when adsorbing and transferring metal in the background art, the adsorbed metal may fall and cause danger to people, and the shaking will affect the classification and placement of materials, reducing the efficiency of material transportation and placement, and being not conducive to the continuity of work.

[0005] To achieve the above object, the utility model provides the following technical scheme: a robot clamp based on damping anti -shaking structure, including upper connecting plate, its upper end is provided with the hook, the lower surface of upper connecting plate is rotatably connected with lower connecting plate, the lower surface of lower connecting plate is fixedly connected with first chain, the surface of first chain is hung and is installed with second chain, the lower end of second chain is fixedly installed with electromagnetic chuck, the lower surface of lower connecting plate is provided with recess, and the top surface of lower connecting plate recess is fixed with upper limit block, the surface of upper limit block is connected with first rotary arm, the lower end of first rotary arm is installed with second rotary arm, the lower end of second rotary arm is provided with lower limit block, the upper surface of electromagnetic chuck is fixedly connected with positioning shaft, the buffer damping mechanism is arranged between lower connecting plate and electromagnetic chuck, and it is through the spring buffer of support block and linkage block and the upper mounting plate of guide rod lower end with the lower mounting plate and drives friction damping block to slide.

[0006] Preferably, the upper limit block is rotationally connected with the first rotating arm, and the first rotating arm is rotationally connected with the second rotating arm.

[0007] By rotationally connecting the upper limit block with the first rotating arm, the first rotating arm is stretched and retracted through rotation when the electromagnetic chuck deviates.

[0008] Preferably, the second rotating arm is rotationally connected with the lower limit block, and the lower limit block is rotationally connected with the positioning shaft.

[0009] By rotationally connecting the first rotating arm with the second rotating arm, the second rotating arm drives the lower limit block at the lower end to rotate, thereby ensuring smooth movement of the electromagnetic chuck.

[0010] Preferably, the buffer damping mechanism comprises a support block fixedly connected to the upper surface of the electromagnetic chuck, a linkage block mounted on the surface of the support block, a lower mounting plate fixedly connected to the upper end of the linkage block, an opening provided on the lower surface of the lower mounting plate, a guide rod provided on the inner wall of the opening of the lower mounting plate, and an upper mounting plate fixed to the lower end of the guide rod.

[0011] The linkage block is connected with the spring between the lower mounting plate and the upper mounting plate.

[0012] Preferably, the upper surface of the support block is provided with a groove, and the inner wall of the groove of the support block is designed as a spherical shape, the lower end of the linkage block is designed as a spherical shape, and the linkage block is connected with the support block in a clamping manner.

[0013] By the spherical groove on the upper surface of the support block, the support block and the linkage block are clamped, and the linkage block can perform multi-angle steering movement.

[0014] Preferably, a spring is connected between the lower mounting plate and the upper mounting plate, and the guide rod is slidingly connected with the lower mounting plate.

[0015] By connecting the spring between the lower mounting plate and the upper mounting plate, the guide rod is limited, which is conducive to reducing the buffer and increasing the stability.

[0016] Preferably, a friction damping block is fixed to the upper end of the guide rod, the friction damping block penetrates through the upper surface of the lower mounting plate, and the friction damping block is attached to the lower surface of the upper mounting plate.

[0017] By moving the friction damping block driven by the guide rod, the upper mounting plate and the lower mounting plate are limited from rotating by the friction damping block abutting against the upper mounting plate.

[0018] Compared with the prior art, the robot clamp based on the damping anti-shaking structure has the beneficial effects that:

[0019] 1. The first rotating arm and the second rotating arm are arranged, so that when the device works, the upper connecting plate and the lower connecting plate are rotationally connected, the surface of the material is conveniently moved by the magnetic attraction force, the effect of adsorbing the material is improved, the first rotating arm and the second rotating arm are rotated, the electromagnetic chuck is conveniently flipped in multiple directions, the efficiency of adsorbing the material is further improved, and the practicability of the device is improved.

[0020] 2. The lower mounting plate and the upper mounting plate are arranged, so that when the device works, the spherical clamping connection of the supporting clamping block and the linkage clamping block is convenient, the linkage clamping block is conveniently linked and turned at the same time when the electromagnetic chuck is flipped, the linkage clamping block is conveniently driven to correspond to the lower mounting plate and the upper mounting plate, the spring between the lower mounting plate and the upper mounting plate is conveniently buffered, the stability of the electromagnetic chuck is conveniently recovered quickly, the stability of the device in conveying and placing the material is improved.

[0021] 3. The friction damping block and the lower connecting plate are arranged, so that when the device works, the upper mounting plate drives the guide rod and the friction damping block to move, when the guide rod is lifted, the friction damping block on the upper end of the guide rod abuts against the upper connecting plate, rotation between the upper connecting plate and the upper connecting plate is prevented, deflection after the electromagnetic chuck adsorbs the material is reduced, and the efficiency of recovering the stability of the electromagnetic chuck is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a three-dimensional structure schematic view of the connection of the upper connecting plate and the lower connecting plate of the utility model.

[0023] Figure 2 It is a three-dimensional structure schematic view of the connection of the first chain and the second chain of the utility model.

[0024] Figure 3 It is a three-dimensional structure schematic view of the connection of the second chain and the electromagnetic chuck of the utility model.

[0025] Figure 4 It is a three-dimensional structure schematic view of the connection of the first rotating arm and the second rotating arm of the utility model.

[0026] Figure 5 It is a three-dimensional structure schematic view of the connection of the upper mounting plate and the friction damping block of the utility model.

[0027] Figure 6 It is a three-dimensional structure schematic view of the connection of the supporting clamping block and the linkage clamping block of the utility model.

[0028] In the figure: 1, the upper connecting plate; 2, the lower connecting plate; 3, the first chain; 4, the second chain; 5, the electromagnetic chuck; 6, the upper limit block; 7, the first rotating arm; 8, the second rotating arm; 9, the lower limit block; 10, the positioning shaft; 11, the supporting clamping block; 12, the linkage clamping block; 13, the lower mounting plate; 14, the guide rod; 15, the upper mounting plate; 16, the friction damping block. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0030] Please refer to Figures 1-6 The utility model provides a kind of technical scheme: a robot clamp based on damping anti-swing structure, including upper connecting plate 1, lower connecting plate 2, first chain 3, second chain 4, electromagnetic chuck 5, upper limit block 6, first rotating arm 7, second rotating arm 8, lower limit block 9, positioning shaft 10, supporting clamping block 11, linkage clamping block 12, lower mounting plate 13, guide rod 14, upper mounting plate 15 and friction damping block 16, upper connecting plate 1, its upper end is provided with hook, the lower surface of upper connecting plate 1 is rotatably connected with lower connecting plate 2, the lower surface of lower connecting plate 2 is fixedly connected with first chain 3, second chain 4 is hung and installed on the surface of first chain 3, and the lower end of second chain 4 is fixedly installed with electromagnetic chuck 5, upper limit block 6 and first rotating arm 7 form rotatable connection, first rotating arm 7 and second rotating arm 8 form rotatable connection, when using the device, first by electromagnetic chuck 5 to material is adsorbed, in the process of adsorption, due to the drive of magnetic force, so that electromagnetic chuck 5 drives lower connecting plate 2 to rotate relative to upper connecting plate 1, to improve the effect of adsorption, while due to the uneven shape of material, make electromagnetic chuck 5 adsorbs material and overturns.

[0031] The lower surface of the lower connecting plate 2 is provided with a groove, and the top surface of the lower connecting plate 2 groove is fixed with an upper limiting block 6, the surface of the upper limiting block 6 is connected with a first rotating arm 7, the lower end of the first rotating arm 7 is installed with a second rotating arm 8, the second rotating arm 8 and the lower limiting block 9 constitute a rotating connection, and the lower limiting block 9 and the positioning shaft 10 constitute a rotating connection, the overturning of the electromagnetic chuck 5 will be fed back to the lower limiting block 9 through the positioning shaft 10, so that the two lower limiting blocks 9 rotate relative to the positioning shaft 10, while the other two lower limiting blocks 9 remain vertical, and the rotating lower limiting block 9 will not drive the first rotating arm 7 and the second rotating arm 8 at the upper end, and the non-rotating lower limiting block 9 pushes and pulls the first rotating arm 7 and the second rotating arm 8 to rotate relative to each other, which facilitates the increase of the stability of the electromagnetic chuck 5 overturning through the extension and retraction of the first rotating arm 7 and the second rotating arm 8, and improves the practicability of the device.

[0032] The lower end of the second rotating arm 8 is provided with a lower limiting block 9, the upper surface of the electromagnetic chuck 5 is fixedly connected with a positioning shaft 10, the buffer damping mechanism comprises a supporting clamping block 11 which is fixedly connected to the upper surface of the electromagnetic chuck 5, the surface of the supporting clamping block 11 is installed with a linkage clamping block 12, the upper end of the linkage clamping block 12 is fixedly connected with a lower mounting plate 13, the lower surface of the lower connecting plate 2 is provided with an opening, and the inner wall of the lower connecting plate 2 opening is provided with a guide rod 14, the lower end of the guide rod 14 is fixed with an upper mounting plate 15, after the electromagnetic chuck 5 overturns, the supporting clamping block 11 and the linkage clamping block 12 are connected through the spherical clamping, which facilitates the linkage clamping block 12 to turn with the electromagnetic chuck 5, and facilitates the linkage clamping block 12 to keep the lower mounting plate 13 at the upper end always facing the upper mounting plate 15, through the spring between the lower mounting plate 13 and the upper mounting plate 15, it is convenient for the automatic reset of the overturning of the electromagnetic chuck 5, and the spring will buffer the impact force generated by the reset of the electromagnetic chuck 5.

[0033] The buffer damping mechanism is arranged between the lower connecting plate 2 and the electromagnetic chuck 5, which buffers and drives the friction damping block 16 to slide through the spring between the lower mounting plate 13 and the upper mounting plate 15 at the lower end of the guide rod 14 and the linkage clamping block 12 through the supporting clamping block 11 and the linkage clamping block 12, the upper surface of the supporting clamping block 11 is provided with a groove, and the inner wall of the supporting clamping block 11 groove is designed as spherical, the lower end of the linkage clamping block 12 is designed as spherical, and the linkage clamping block 12 and the supporting clamping block 11 constitute a clamping connection, the spring is connected between the lower mounting plate 13 and the upper mounting plate 15, the guide rod 14 and the lower connecting plate 2 constitute a sliding connection, the upper end of the guide rod 14 is fixed with the friction damping block 16, the friction damping block 16 penetrates the upper surface of the lower connecting plate 2, the friction damping block 16 is attached to the lower surface of the upper connecting plate 1, when the lower mounting plate 13 is pushed up by the lower end spring, the lower mounting plate 13 will drive the friction damping block 16 to move through the guide rod 14, which facilitates the friction damping block 16 to abut against the lower surface of the upper connecting plate 1, thereby preventing the lower connecting plate 2 from rotating after absorbing the material, further improving the stability of the lower electromagnetic chuck 5, and increasing the efficiency of the device in conveying and placing the material.

[0034] Working principle: when using the robot clamp based on the damping anti-shake structure, the electromagnetic chuck 5 is quickly adsorbed by the rotation of the upper connecting plate 1 and the lower connecting plate 2, the material drives the electromagnetic chuck 5 to overturn, the upper limit block 6, the first rotating arm 7, the second rotating arm 8, the lower limit block 9 and the positioning shaft 10 on the upper end of the electromagnetic chuck 5 will rotate with the electromagnetic chuck 5, thereby keeping the stability of the electromagnetic chuck 5, increasing the connection strength of the electromagnetic chuck 5, then through the support clamping block 11 supporting the linkage clamping block 12 turning, it is convenient for the spring between the linkage clamping block 12 on the upper end of the linkage clamping block 12 and the upper mounting plate 15 to buffer, at the same time, the upward guide rod 14 drives the friction damping block 16 to friction brake the upper connecting plate 1 to prevent the lower connecting plate 2 from rotating, thereby increasing the practicability of the whole.

[0035] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot gripper based on a damping anti-sway structure, comprising an upper connecting plate (1) with a hook at its upper end, a lower connecting plate (2) rotatably connected to the lower surface of the upper connecting plate (1), a first chain (3) fixedly connected to the lower surface of the lower connecting plate (2), a second chain (4) mounted on the surface of the first chain (3), and an electromagnetic chuck (5) fixedly mounted at the lower end of the second chain (4), characterized in that: The lower surface of the lower connecting plate (2) is provided with a groove, and the top surface of the groove of the lower connecting plate (2) is fixed with an upper limit block (6). The surface of the upper limit block (6) is connected with a first rotating arm (7). The lower end of the first rotating arm (7) is installed with a second rotating arm (8). The lower end of the second rotating arm (8) is provided with a lower limit block (9). The upper surface of the electromagnetic chuck (5) is fixedly connected with a positioning shaft (10). A buffer damping mechanism is provided between the lower connecting plate (2) and the electromagnetic chuck (5). It is buffered by a spring and drives the friction damping block (16) to slide through the support block (11) and the linkage block (12) via the lower mounting plate (13) and the upper mounting plate (15) at the lower end of the guide rod (14).

2. The robot gripper based on a damping anti-sway structure according to claim 1, characterized in that: The upper limit block (6) is rotatably connected to the first rotating arm (7), and the first rotating arm (7) is rotatably connected to the second rotating arm (8).

3. A robot gripper based on a damping anti-sway structure according to claim 1, characterized in that: The second rotating arm (8) is rotatably connected to the lower limit block (9), and the lower limit block (9) is rotatably connected to the positioning shaft (10).

4. A robot gripper based on a damping anti-sway structure according to claim 1, characterized in that: The buffer damping mechanism includes a support block (11), which is fixedly connected to the upper surface of the electromagnetic chuck (5). A linkage block (12) is installed on the surface of the support block (11). A lower mounting plate (13) is fixedly connected to the upper end of the linkage block (12). An opening is provided on the lower surface of the lower mounting plate (2), and a guide rod (14) is provided on the inner wall of the opening of the lower mounting plate (2). An upper mounting plate (15) is fixed to the lower end of the guide rod (14).

5. A robot gripper based on a damping anti-sway structure according to claim 4, characterized in that: The upper surface of the support block (11) is provided with a groove, and the inner wall of the groove of the support block (11) is spherical. The lower end of the linkage block (12) is spherical, and the linkage block (12) and the support block (11) are engaged.

6. A robot gripper based on a damping anti-sway structure according to claim 4, characterized in that: A spring connects the lower mounting plate (13) and the upper mounting plate (15), and the guide rod (14) and the lower connecting plate (2) form a sliding connection.

7. A robot gripper based on a damping anti-sway structure according to claim 4, characterized in that: The upper end of the guide rod (14) is fixed with a friction damping block (16), which penetrates the upper surface of the lower connecting plate (2) and is in contact with the lower surface of the upper connecting plate (1).

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