Robot composite clamp
By designing a composite clamp using a nickel-molybdenum alloy mesh elastic leaf spring and a needle roller bearing, the problems of detachment and wear when the robot grips a high-temperature crucible were solved, achieving stable gripping and structural reinforcement, and reducing costs and safety risks.
Patent Information
- Application Number
- CN202423187801.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-12-23
AI Technical Summary
Existing robotic composite grippers are prone to uneven force distribution when gripping high-temperature crucibles, leading to object detachment, damage to rubber pads, gripper wear, and lack of shock absorption capacity, which affects structural strength and safety.
The clamping arm is made of nickel-molybdenum alloy mesh elastic leaf spring, combined with needle roller bearing and cylinder, and designed as a composite clamp. The clamping arm has a built-in shock absorption layer, which absorbs the impact force through elastic deformation to ensure clamping stability and structural strength.
It effectively prevents high-temperature crucibles from falling off, reduces clamp wear, improves operational stability, reduces costs, enhances clamping reliability, strengthens structural strength, and reduces safety hazards.
Smart Images
Figure CN223657039U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of gripping tools for robots, and specifically relates to a robot composite gripper. Background Technology
[0002] During the process of ABB robots using high-temperature crucibles to transport scorched powdery materials, mechanical clamping devices hold the high-temperature crucible-shaped items and transport the materials.
[0003] When existing robots use composite grippers to handle objects (high-temperature crucibles), uneven force can cause objects to fall off, damaging the gripped objects (high-temperature crucibles) and creating safety hazards during transportation. The grippers use rubber pads attached to the gripping arms. The high temperature of the high-temperature crucibles exiting the furnace can damage these rubber pads, leading to frequent gripping failures and crucible detachment. Insufficient material hardness in some gripper heads, uneven force applied when gripping workpieces, and overheating of the gripped objects (high-temperature crucibles) can all easily cause wear on the gripping arms. Operators cannot immediately detect wear on the gripping arms. Using worn gripping arms to hold objects (high-temperature crucibles) results in uneven clamping force, altering the shape and size of the workpiece and further affecting workpiece positioning and gripping.
[0004] Existing robot composite grippers lack shock-absorbing auxiliary components. When impact forces are transmitted to the robot composite grippers, the industrial robot composite grippers cannot absorb the impact forces, which in turn affects the structural strength of the industrial robot composite grippers. Utility Model Content
[0005] The purpose of this invention is to provide a robotic composite gripper that can effectively prevent the gripped object from falling off during gripping.
[0006] The technical solution is as follows:
[0007] A robot composite gripper includes: a fixed base, a cylinder, a gripper, a fixing block, a needle roller bearing, and a mesh elastic leaf spring; the fixed base has a base plate at its bottom and side plates on both sides, with flanges connected to the outer sides of the side plates; the cylinder is connected to the base plate, and a telescopic rod is provided on the side of the cylinder; the gripper includes: a first gripping arm and a second gripping arm, the first gripping arm including: a first straight section and a first arc section, the first straight section being connected to the rear of the first arc section and to the upper part of the base plate; the second gripping arm including: a second straight section and a second arc section, the second straight section being connected to the rear of the second arc section, and the side of the second straight section being connected to the end of the telescopic rod; the first arc section and the second arc section are positioned opposite each other, and the mesh elastic leaf spring is provided on the inner walls of the first arc section and the second arc section; the fixing block is connected to the side wall of the second straight section, the fixing block and the cylinder are located on both sides of the second straight section respectively, the shaft of the needle roller bearing is connected to the fixing block, and the bottom of the needle roller bearing is located on the base plate.
[0008] Furthermore, the base plate is provided with a long hole, the fixing block and the cylinder are located outside the long hole, and the first straight section and the second straight section are positioned opposite each other and above the long hole.
[0009] Furthermore, two pairs of cylinders and clamps are installed on the base plate.
[0010] Furthermore, the mesh spring is made of nickel-molybdenum alloy and has an internal damping layer.
[0011] Furthermore, the first and second circular arc segments have the same radius, and the first and second straight segments have the same length.
[0012] This utility model has the following advantages compared with the prior art:
[0013] The use of this application effectively prevents the gripped object (high-temperature crucible) from falling off during gripping, thus increasing the protection of the gripped object (high-temperature crucible) during gripping. The occurrence of crucible detachment accidents is significantly reduced, ensuring the stable operation of the ABB robot. Because of the reduced detachment, the operator's cleaning time and labor intensity are lessened, damage to the high-temperature crucible and sensors caused by detachment is greatly reduced, costs are saved, and the continuity of workstation operation is improved.
[0014] This invention employs a mesh-like elastic leaf spring, which significantly reduces the wear and tear on the original clamping arm. Because of the improved clamping reliability, the risk of the clamped object (high-temperature crucible) falling off is reduced, thus decreasing the wear and tear on the clamped object (high-temperature crucible) and saving production costs.
[0015] This utility model incorporates a shock-absorbing elastic mesh leaf spring clamp. When impact force is transmitted to the interior of the mesh elastic leaf spring, the spring undergoes elastic deformation, absorbing the impact force. The shock-absorbing layer is arranged inside the inner wall of the fixed plate. When impact force is transmitted to the interior of the shock-absorbing layer, the elastic mesh leaf spring within the layer deforms, absorbing the impact force. Thus, by absorbing the impact force, the strength of the device is improved. Furthermore, the absorption of vibration can significantly reduce the impact on the clamping force on the clamped object (high-temperature crucible).
[0016] This invention can also be applied to a calcination and pouring workstation, which has great feasibility and broad prospects. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the robot composite gripper in this utility model;
[0018] Figure 2 This is a schematic diagram of the fixture in this utility model. Detailed Implementation
[0019] The following description fully illustrates specific embodiments of the present invention to enable those skilled in the art to practice and reproduce them.
[0020] like Figure 1 The diagram shown is a structural schematic of the robot composite gripper of this utility model; as shown... Figure 2 The diagram shown is a structural schematic of the clamp 3 in this utility model.
[0021] The robot composite gripper includes: a fixed base 1, a cylinder 2, a gripper 3, a fixing block 4, a needle roller bearing 5, and a mesh elastic leaf spring 6; the fixed base 1 has a base plate 11 at its bottom and side plates 12 on both sides, with a flange 13 connected to the outside of the side plates 12; the cylinder 2 is connected to the base plate 11, and the cylinder 2 is located on the side of the elongated hole 14 in the base plate, with a telescopic rod on the side of the cylinder 2; the gripper 3 includes: a first gripping arm 31 and a second gripping arm 32, the first gripping arm 32 including: a first straight section and a first arc section, the first straight section... The first arc segment is connected to the rear part of the first arc segment, and the first straight segment is connected to the upper part of the base plate 11; the second clamping arm 32 includes: a second straight segment and a second arc segment, the second straight segment is connected to the rear part of the second arc segment, and the side part of the second straight segment is connected to the end of the telescopic rod; the first arc segment and the second arc segment are positioned opposite each other, and the mesh elastic leaf spring 6 is set on the inner wall of the first arc segment and the second arc segment; the fixing block 4 is connected to the side wall of the second straight segment, the fixing block 4 is located on the side of the long hole 14 of the base plate, and the rotating shaft of the needle roller bearing 5 is connected to the fixing block 4.
[0022] The base plate 11 is provided with a base plate elongated hole 14. The first straight section and the second straight section are positioned opposite each other and located above the base plate elongated hole 14. The first straight section and the second straight section are of the same length. The base plate elongated hole 14 is used to introduce an air guide pipe to connect to the cylinder 2.
[0023] The bottom of the needle roller bearing 5 is located on the base plate 11, which serves to support the second clamping arm 32.
[0024] The base plate 11 is provided with two base plate elongated holes 14, and the two cylinders 2 are located outside the two base plate elongated holes 14.
[0025] The mesh-like elastic leaf spring 6 is made of nickel-molybdenum alloy and has an internal damping layer. This gives the mesh-like elastic leaf spring 6 excellent high-temperature resistance and excellent elastic deformation capability. The first and second arc segments have threaded holes. Screws pass through the mesh-like elastic leaf spring 6 and connect to these threaded holes, fixing the mesh-like elastic leaf spring 6 to the inner arc-shaped wall surface of the first and second arc segments. The radii of the first and second arc segments are the same. When clamping the object (high-temperature crucible), the mesh-like elastic leaf spring 6 undergoes elastic deformation, allowing it to tightly conform to the object (high-temperature crucible), avoiding the impact of impact forces, ensuring a firm clamping, and effectively preventing the object (high-temperature crucible) from falling off.
[0026] The robot's composite gripper is connected to the six-axis section of the ABB robot via flange 13. Cylinder 2 connects to the pneumatic components, and gripper 3 holds the high-temperature crucible to complete the material transfer. The six-axis section drives the robot's composite gripper to the high-temperature crucible. The ABB robot controls the clamping / releasing operation via cylinder 2. The high-temperature crucible is located between the first and second arc segments. After receiving air pressure, cylinder 2 pushes the extension rod to extend, bringing the second arc segment closer to the first arc segment. The first and second arc segments clamp the high-temperature crucible. During the translation of the second arc segment, the needle roller bearing 5 rolls on the base plate 11, supporting the second arc segment. After the high-temperature crucible reaches the designated position, the air pressure is released, and the second arc segment moves away from the first arc segment, thus releasing the high-temperature crucible.
[0027] The terminology used in this invention is descriptive and exemplary, and not restrictive. Since this invention can be embodied in various forms without departing from the spirit or essence of the technical solution, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.
Claims
1. A robot composite gripper, characterized in that, include: The system comprises a fixed base, a cylinder, a clamp, a fixing block, a needle roller bearing, and a mesh elastic leaf spring. The fixed base has a base plate at its bottom and side plates on both sides, with flanges connected to the outer sides of the side plates. The cylinder is connected to the base plate, and a telescopic rod is located on its side. The clamp includes a first clamping arm and a second clamping arm. The first clamping arm includes a first straight section and a first arc section, with the first straight section connected to the rear of the first arc section and to the upper part of the base plate. The second clamping arm includes a second straight section and a second arc section, with the second straight section connected to the rear of the second arc section, and its side connected to the end of the telescopic rod. The first and second arc sections are positioned opposite each other, and the mesh elastic leaf spring is located on the inner walls of the first and second arc sections. The fixing block is connected to the side wall of the second straight section, with the fixing block and the cylinder located on opposite sides of the second straight section. The shaft of the needle roller bearing is connected to the fixing block, and the bottom of the needle roller bearing is located on the base plate.
2. The robot composite gripper as described in claim 1, characterized in that, The base plate is provided with a long hole, and the fixing block and cylinder are located outside the long hole. The first straight section and the second straight section are positioned opposite each other and above the long hole.
3. The robot composite gripper as described in claim 1, characterized in that, The base plate is equipped with two pairs of cylinders and clamps.
4. The robot composite gripper as described in claim 1, characterized in that, The mesh spring is made of nickel-molybdenum alloy and has an internal damping layer.
5. The robot composite gripper as described in claim 1, characterized in that, The first and second circular arc segments have the same radius, and the first and second straight segments have the same length.