Robot triangular connecting rod clamp

Abstract

The utility model discloses a robot triangular connecting rod clamp, and relates to the technical field of triangular connecting rod machining clamps, the robot triangular connecting rod clamp comprises an operation table and a triangular connecting rod main body, and further comprises a switching type pressing mechanism, the switching type pressing mechanism comprises two sets of air cylinders and a clamping plate, and a connecting part is arranged between the two sets of air cylinders; a clamping part matched with the connecting part is further arranged on the operation table; through the arrangement of the switching type pressing mechanism, when the part, except the part shielded by the clamping plates, of the surface of the triangular connecting rod body is machined, the air cylinder which is originally far away from the triangular connecting rod body and used for standby is pulled to be close to the middle, and the corresponding clamping plates move to the position above the triangular connecting rod body; similarly, the cylinder originally close to the triangular connecting rod main body deviates from the middle part, and the unprocessed part of the triangular connecting rod main body is exposed, so that the cylinder is started again while the originally shielded part on the surface of the triangular connecting rod main body is conveniently processed, and the triangular connecting rod main body is continuously pressed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of triangular connecting rod machining fixture, specifically relates to a robot triangular connecting rod fixture. BACKGROUND

[0002] At present, most of the actions that the robot can complete need to be driven by a triangular connecting rod, the triangular connecting rod includes three connecting rods, two end angles and a top angle at the connecting rod connection, the end angle and the top angle are provided with a convex column, the end angle and the top angle of the triangular connecting rod are provided with an axle hole penetrating the convex column, the triangular connecting rod transmits the force received by the piston to the crankshaft, and converts the reciprocating motion of the piston into the rotary motion of the crankshaft, so as to ensure that the robot can perform various complex motions, and the triangular connecting rod becomes one of the indispensable components of the robot.

[0003] When the triangular connecting rod is processed, a pneumatic clamp is usually used for fixing to ensure the stability during the processing of the connecting rod, at present, the pneumatic clamp is used to press the triangular connecting rod from top to bottom, which provides firmness for the processing of the triangular connecting rod to a certain extent, but the clamping plate of the clamp contacts the surface of the connecting rod, which blocks the surface of the connecting rod, so that the blocked part of the connecting rod cannot be processed, and the clamping plate needs to be separated from the connecting rod by closing the pneumatic clamp in the later period, so that the blocked part of the connecting rod can be processed.

[0004] However, the closing of the pneumatic clamp will cause the loss of the fixing property of the connecting rod, so manual pressing operation of the connecting rod needs to be performed in real time during the processing of the blocked part of the connecting rod, which is time-consuming and laborious in actual operation, and the working efficiency is poor. UTILITY MODEL CONTENTS

[0005] In order to solve the above technical problems, the utility model provides a robot triangular connecting rod clamp, which solves the problem that the clamping plate of the clamp contacts the surface of the connecting rod, which blocks the surface of the connecting rod, so that the blocked part of the connecting rod cannot be processed, and the clamping plate needs to be separated from the connecting rod by closing the pneumatic clamp in the later period, so that the blocked part of the connecting rod can be processed, however, the closing of the pneumatic clamp will cause the loss of the fixing property of the connecting rod, so manual pressing operation of the connecting rod needs to be performed in real time during the processing of the blocked part of the connecting rod, which is time-consuming and laborious in actual operation, and the working efficiency is poor.

[0006] In order to achieve the above purposes, the utility model adopts the technical scheme that a robot triangular connecting rod clamp, including operation platform and place in the operation platform top surface middle part's triangular connecting rod main part, still include the switching type pressing mechanism for guaranteeing the stability of the triangular connecting rod main part during processing;

[0007] The switching type pressing mechanism comprises a cylinder and a clamping plate fixed to the telescopic end of the cylinder, the cylinder is in two groups, an adapter is arranged between the two groups of cylinders, two movable grooves are formed in the two sides of the top surface of the operating table, the two groups of cylinders are respectively slid in the inner sides of the two movable grooves, one group of the cylinders is close to the triangular connecting rod body, and the other group of the cylinders is away from the triangular connecting rod body, and a clamping part matched with the adapter is further arranged on the operating table.

[0008] Preferably, the adapter comprises two groups of symmetrical connecting plates, the cylinders are located between the two groups of connecting plates, and the two ends of the connecting plates are respectively fixedly connected with the two groups of cylinders.

[0009] Preferably, the clamping part comprises a power box with an open bottom fixed on the bottom surface of the operating table and a driving box fixedly communicated with the open end of the power box, a driving rod is slid in the inner wall of the two sides of the driving box, a movable slot is transversely formed in the connecting plate, one end of the driving rod penetrates through the movable slot and is fixedly provided with a locking piece, a locking tooth block is fixedly arranged on the side of the locking piece facing the connecting plate, a locking rack matched with the locking piece is further transversely fixed on the connecting plate, an elastic movable group for driving the locking piece to slide towards the connecting plate is arranged in the driving box, and an extrusion group matched with the elastic movable group is arranged in the power box.

[0010] Preferably, the elastic movable group comprises two symmetrical driving blocks slid in the driving box and a reset spring fixed between the two driving blocks, and the other ends of the two driving rods are respectively fixedly connected with the two driving blocks.

[0011] Preferably, the extrusion group comprises a sliding piece slid in the inner side of the power box and two symmetrical extrusion columns fixed on the bottom surface of the sliding piece, a pressure receiving groove with a straight trapezoidal cross section is formed in the inner wall of the driving block, and the spherical end of the extrusion column penetrates into the pressure receiving groove and abuts against the inclined inner wall of the pressure receiving groove.

[0012] Preferably, the extrusion group further comprises an electromagnet fixed on the inner wall of the top end of the power box, a magnetic block matched with the electromagnet is fixed on the top surface of the sliding piece, a pressure sensor is embedded in the top surface of the operating table, and the triangular connecting rod body is attached to the top surface of the pressure sensor.

[0013] Preferably, a limiting column fixedly connected with the top surface of the operating table is arranged in the shaft hole of the three ends of the triangular connecting rod body.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] (1) through the setting of the switching type compression mechanism, the triangular connecting rod main body surface except being blocked by the clamp plate part processing is completed, pull the original away from the triangular connecting rod main body, for the standby cylinder to the middle, make its corresponding clamp plate activity to the triangular connecting rod main body above, similarly, the original cylinder close to the triangular connecting rod main body deviates from the middle, make its clamp plate from the triangular connecting rod main body above, expose the triangular connecting rod main body unprocessed part, thus in the convenient processing triangular connecting rod main body surface original blocked part, open the cylinder again, continue to compress the triangular connecting rod main body, and then replace the artificial, reduce the labor intensity, improve the work efficiency.

[0016] (2) through the setting of the clamping part, when the cylinder is opened, the clamp plate compresses the triangular connecting rod main body, the extrusion group can extrude the elastic movable group synchronously, so that the driving rod is stressed to pull the locking piece to the connecting plate, and then the locking block and the locking rack are clamped, so that the fixing effect of the connecting plate and the two groups of cylinders is realized, the firmness of the cylinder during the processing of the triangular connecting rod main body is ensured, the cylinder is prevented from being deviated by mistake, and the pressing effect on the triangular connecting rod main body is affected. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the overall structure schematic diagram of the utility model;

[0018] Figure 2 It is the internal structure schematic diagram of the operation table of the utility model;

[0019] Figure 3 It is the utility model Figure 2 Structure schematic diagram of A place in the middle;

[0020] Figure 4 It is the internal structure schematic diagram of the driving box of the utility model.

[0021] The figure mark is:

[0022] 1, operation table; 2, triangular connecting rod main body; 3, limiting column; 4, cylinder; 5, clamp plate; 6, movable slot; 7, sliding block; 8, connecting plate; 9, driving box; 10, driving rod; 11, movable slot; 12, locking piece; 13, locking block; 14, locking rack; 15, driving block; 16, reset spring; 17, pressure groove; 18, power box; 19, sliding sheet; 20, extrusion column; 21, electromagnet; 22, magnetic block; 23, telescopic rod; 24, pressure sensor. DETAILED DESCRIPTION

[0023] The following description is used to disclose the utility model so that those skilled in the art can realize the utility model. The preferred embodiments in the following description are only as examples, and other obvious variants can be thought of by those skilled in the art.

[0024] Refer to Figures 1-4As shown in the figure, a robot triangular link clamp comprises an operating table 1 and a triangular link body 2 placed in the middle of the top surface of the operating table 1, and further comprises a switching type pressing mechanism for ensuring the stability of the triangular link body 2 during processing;

[0025] The switching type pressing mechanism comprises a gas cylinder 4 and a clamping plate 5 fixed to the telescopic end of the gas cylinder 4;

[0026] When the gas cylinder 4 is opened, the telescopic end of the gas cylinder 4, i.e. the acting clamping plate 5, slides down to contact the triangular link body 2, so that the triangular link body 2 can be pressed to ensure the stability of the triangular link body 2 during surface processing.

[0027] However, when the clamping plate 5 contacts the surface of the triangular link body 2, the surface of the link is blocked, so that the blocked part of the triangular link body 2 cannot be processed. It is necessary to close the gas cylinder 4 later to separate the clamping plate 5 from the triangular link body 2, so that the blocked part of the link can be processed. However, the closing of the gas cylinder 4 will result in the loss of the fixation of the triangular link body 2, so it is necessary to manually press the triangular link body 2 in real time during the processing of the blocked part of the triangular link body 2. The actual operation is time-consuming and laborious, and the work efficiency is poor;

[0028] Therefore, referring to Figures 1-4 As shown in the figure, it is worth noting that the gas cylinder 4 is in two groups, and an adapter is arranged between the two groups of gas cylinders 4. Two movable grooves 6 are formed on both sides of the top surface of the operating table 1, and the two groups of gas cylinders 4 are respectively slid inside the two movable grooves 6;

[0029] One group of gas cylinders 4 is close to the triangular link body 2, and the other group of gas cylinders 4 is away from the triangular link body 2;

[0030] Through the arrangement of the switching type pressing mechanism, after the triangular link body 2 is placed on the operating table 1, one group of gas cylinders 4 is pushed to approach the triangular link body 2, and the other group of gas cylinders 4 is away from the triangular link body 2 under the action of the adapter for standby. Thus, the gas cylinder 4 is opened, the clamping plate 5 on the side of the triangular link body 2 approaches and quickly moves down to press the triangular link body 2, and the fixation of the triangular link body 2 is implemented.

[0031] When the part of the surface of the triangular link body 2 except the part blocked by the clamping plate 5 is processed, the gas cylinder 4 originally away from the triangular link body 2 for standby is pulled to approach the middle part, so that the corresponding clamping plate 5 moves above the triangular link body 2. Similarly, the gas cylinder 4 originally close to the triangular link body 2 deviates from the middle part, so that the clamping plate 5 on it is opened from above the triangular link body 2 to expose the unprocessed part of the triangular link body 2.

[0032] Thus, while facilitating the processing of the originally blocked part of the surface of the triangular link body 2, the gas cylinder 4 is opened again to continue pressing the triangular link body 2, thereby replacing manual work, reducing labor intensity and improving work efficiency.

[0033] Further, referring to Figure 2 , it is worth mentioning that the front and rear sides of the cylinder 4 are fixed with sliding blocks 7, and the inner side wall of the movable groove 6 is provided with sliding slots matched with the sliding blocks 7;

[0034] Through the setting of the sliding blocks 7 and the sliding slots, when the movable cylinder 4 is pushed and pulled, the sliding blocks 7 can be displaced in the sliding slots synchronously, so that the sliding blocks 7 cooperate with the sliding slots to effectively limit the movement trajectory of the cylinder 4 and can stably carry the cylinder 4 in the inner side of the movable groove 6.

[0035] Further, referring to Figure 2 , it is worth mentioning that the two groups of connecting plates 8 are symmetrically distributed, the cylinder 4 is located between the two groups of connecting plates 8, and the two ends of the connecting plate 8 are respectively fixedly connected with the two groups of cylinders 4;

[0036] When one group of cylinders 4 is pushed and pulled, the other group of cylinders 4 can slide in the same direction under the action of the connecting plate 8, away from or close to the triangular connecting rod main body 2.

[0037] Further, referring to Figure 2 and Figure 4 , it is worth mentioning that the operation table 1 is also provided with a clamping part matched with the adapter part;

[0038] The clamping part includes a power box 18 fixed on the bottom surface of the operation table 1 with an open bottom and a driving box 9 fixedly communicated with the open end of the power box 18, a driving rod 10 slidingly penetrating the inner wall on both sides of the driving box 9, an active slot 11 horizontally provided on the connecting plate 8, one end of the driving rod 10 penetrating the active slot 11 and fixed with a locking piece 12, the locking piece 12 being fixed with a locking tooth block 13 on the side facing the connecting plate 8, and the connecting plate 8 being further horizontally fixed with a locking rack 14 matched with the locking piece 12, and the driving box 9 being built-in with an elastic movable group for acting on the locking piece 12 to slide towards the connecting plate 8, and the power box 18 being built-in with a pressing group matched with the elastic movable group;

[0039] Through the setting of the clamping part, when the cylinder 4 is opened and the clamping plate 5 is pressed against the triangular connecting rod main body 2, the pressing group can synchronously press the elastic movable group, so that the driving rod 10 is forced to pull the locking piece 12 to slide towards the connecting plate 8, and then the locking tooth block 13 is clamped with the locking rack 14, to realize the fixing effect of the connecting plate 8 and the two groups of cylinders 4, to ensure the firmness of the cylinder 4 during the processing of the triangular connecting rod main body 2, to prevent it from being deviated by mistake and to affect the pressing effect on the triangular connecting rod main body 2.

[0040] Specifically, referring to Figure 4As shown, it is worth mentioning that the elastic movable group includes two driving blocks 15 symmetrically and slidingly arranged in the driving box 9 and a reset spring 16 fixed between the two driving blocks 15, and the other ends of the two driving rods 10 are respectively fixedly connected with the two driving blocks 15 correspondingly;

[0041] The extrusion group includes a sliding sheet 19 slidingly arranged in the inside of the power box 18 and two symmetrically fixed extrusion columns 20 fixed to the bottom surface of the sliding sheet 19, the inner wall of the driving block 15 is provided with a pressure receiving groove 17 in a straight-angled trapezoidal shape, and the spherical end of the extrusion column 20 penetrates into the pressure receiving groove 17 and abuts against the inclined inner wall of the pressure receiving groove 17;

[0042] The extrusion group further includes an electromagnet 21 fixed to the inner wall of the top end of the power box 18, the top surface of the sliding sheet 19 is fixed with a magnetic block 22 matched with the electromagnet 21, the top surface of the operating table 1 is embedded with a pressure sensor 24, and the operating table 1 is provided with a PLC controller, not shown in the figure, and the electromagnet 21 and the pressure sensor 24 are electrically connected with the PLC controller, and the triangular connecting rod body 2 is attached to the top surface of the pressure sensor 24;

[0043] When the cylinder 4 is opened and the action clamping plate 5 presses down the triangular connecting rod body 2, the pressure sensor 24 can sense the extrusion force of the triangular connecting rod body 2 and transmit a signal to the PLC controller, so that the PLC controller connects the electromagnet 21 with current, so that the electromagnet 21 is opened and forms a repulsive force on the magnetic block 22, so that the sliding sheet 19 continuously slides under the force, the extrusion column 20 penetrates into the inside of the pressure receiving groove 17 and continuously extrudes the inclined inner wall of the driving block 15, so that the two driving blocks 15 are extruded and close to each other and compress the reset spring 16 to deform, and the driving block 15 slides through the driving rod 10 to pull the locking piece 12 to slide to the connecting plate 8, so that the locking tooth block 13 is engaged with the locking rack 14.

[0044] Further, referring to Figure 4 As shown, it is worth mentioning that the top surface of the sliding sheet 19 and the inner wall of the top end of the power box 18 are fixed with an extension rod 23;

[0045] Through the arrangement of the extension rod 23, when the sliding sheet 19 slides, the extension rod 23 can synchronously perform extension and contraction movement, thereby ensuring the stability of the sliding sheet 19 during movement.

[0046] Further, referring to Figure 2 As shown, it is worth mentioning that the shaft holes at the three ends of the triangular connecting rod body 2 are respectively provided with a limiting column 3 fixedly connected with the top surface of the operating table 1;

[0047] Through the arrangement of the limiting column 3, the triangular connecting rod body 2 can be further limited when the surface of the triangular connecting rod body 2 is machined, so as to prevent the triangular connecting rod body 2 from sliding.

[0048] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. A robot delta gripper comprising an operation table (1) and a delta body (2) placed in the middle of the top surface of the operation table (1), characterized in that, Also include a switching type pressing mechanism for ensuring the stability of the triangular linkage body (2) when processing; The switching type pressing mechanism includes a cylinder (4) and a clamping plate (5) fixed to the telescopic end of the cylinder (4), the cylinder (4) is two groups, two groups of the cylinder (4) is provided with a link part, the top surface of the operating table (1) is provided with a movable slot (6) on both sides, two groups of the cylinder (4) are respectively sliding in the inner side of two movable slots (6), one of the cylinder (4) is close to the triangular linkage body (2), the other group of the cylinder (4) is away from the triangular linkage body (2), the operating table (1) is also provided with a clamping part matched with the link part.

2. A robotic delta gripper according to claim 1, wherein, The connecting plate (8) is symmetrically distributed between the two groups of the cylinder (4), and the two ends of the connecting plate (8) are respectively fixed with the two groups of the cylinder (4).

3. A robotic delta gripper as claimed in claim 2, wherein, The clamping part includes a power box (18) with an open bottom fixed on the bottom surface of the operating table (1) and a drive box (9) fixedly connected to the open end of the power box (18), the inner wall of the drive box (9) on both sides is slidingly provided with a driving rod (10), the connecting plate (8) is transversely provided with a movable slot (11), one end of the driving rod (10) penetrates the movable slot (11) and is fixed with a locking piece (12), one side of the locking piece (12) facing the connecting plate (8) is fixed with a locking tooth block (13), the connecting plate (8) is also transversely fixed with a locking rack (14) matched with the locking piece (12), the drive box (9) is provided with an elastic movable group for sliding the locking piece (12) towards the connecting plate (8), and the power box (18) is provided with a pressing group matched with the elastic movable group.

4. A robot delta gripper according to claim 3, characterized in that The elastic movable group includes two symmetrically sliding driving blocks (15) provided in the drive box (9) and a reset spring (16) fixed between the two driving blocks (15), and the other ends of the two driving rods (10) are respectively fixed with the two driving blocks (15).

5. A robot delta gripper according to claim 4, characterized in that The pressing group includes a sliding piece (19) slidingly provided in the inner side of the power box (18) and two symmetrically fixed extrusion columns (20) fixed to the bottom surface of the sliding piece (19), the inner wall of the driving block (15) is provided with a pressure groove (17) with a straight trapezoidal cross section, and the spherical end of the extrusion column (20) penetrates into the pressure groove (17) and abuts against the inclined inner wall of the pressure groove (17).

6. A robot delta gripper according to claim 5, characterized in that The pressing group further includes an electromagnet (21) fixed to the inner wall of the top end of the power box (18), and the top surface of the sliding piece (19) is fixed with a magnetic block (22) matched with the electromagnet (21), the top surface of the operating table (1) is embedded with a pressure sensor (24), and the triangular linkage body (2) is attached to the top surface of the pressure sensor (24).

7. A robotic delta gripper as claimed in claim 1, wherein, The shaft hole of the three ends of the triangular linkage body (2) is provided with a limiting column (3) fixedly connected with the top surface of the operating table (1).

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