Pneumatic clamping device of mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a mechanical arm pneumatic clamping device which comprises a mechanical arm end plate and a height adjusting mechanism installed on the mechanical arm end plate. Through cooperation of the clamping mechanism and the angle adjusting mechanism, a connecting plate is driven through a first air cylinder, and then a first clamping plate and a second clamping plate on the angle adjusting mechanism are conveniently driven to clamp and position goods; one end of a second clamping plate is close to a connecting plate through storage of the telescopic end of a second air cylinder, so that goods with concave side edges are clamped conveniently, and when goods with convex and arc-shaped side edges are clamped, the telescopic end of the second air cylinder extends out, so that the goods are wrapped by the second clamping plate, goods with different side face shapes are clamped, the application range is widened, and the practicability is high. And the clamping structure does not need to be manually and frequently replaced, and the cargo clamping efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a pneumatic clamping device for a robotic arm. Background Technology

[0002] Common robotic arms are connected by joints to perform rotational or translational movements. The robotic arm, through the connection of these joints, ultimately forms a kinematic chain. A common example of a robotic arm is a gantry crane used for picking and placing tasks, applying sealant, assembly operations, handling machine tools, and arc welding. This type of robotic arm has three movement axes, each coinciding with a Cartesian coordinate system.

[0003] In the prior art, Chinese utility model application CN202220209719.6 discloses a machining technology field, including a robotic arm end plate. The end plate has symmetrically arranged support plates via a position adjustment structure. A clamping component is provided on the side of each support plate. The clamping component includes a cylinder, a fixed support plate, a clamping element, and a support rod. A cylinder is fixed to the side of the support plate, and a fixed support plate is fixed to the end of the cylinder. A support rod is provided on the side of the fixed support plate, and a rotational power structure is provided on the side of the support rod. A clamping element is provided on the side of the rotational power structure via a snap-fit ​​structure. The clamping element includes an arc-shaped clamping plate and a flat clamping plate. This application uses a rotational power structure to drive the arc-shaped and flat clamping plates to rotate, allowing for switching according to the type of goods. This enables clamping of both flat and arc-shaped goods, thus broadening its application range.

[0004] Although the above technical solution involves changing different clamps according to different goods, it is necessary to frequently change different clamps when clamping different types of goods. This increases the workload of the staff and reduces the efficiency of clamping goods. Therefore, we need to propose a pneumatic clamping device for robotic arms. Utility Model Content

[0005] The purpose of this invention is to provide a pneumatic clamping device for robotic arms, which facilitates the adjustment of the shape of the clamping structure, thereby eliminating the need for frequent replacement of the clamping structure by operators, improving the efficiency of clamping goods, and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a pneumatic clamping device for a robotic arm, comprising:

[0007] The robotic arm end plate and the height adjustment mechanism mounted on the robotic arm end plate, wherein two sets of clamping mechanisms are symmetrically arranged on the robotic arm end plate, and two sets of angle adjustment mechanisms are arranged on each of the two sets of clamping mechanisms.

[0008] The clamping mechanism includes a vertical plate, a first cylinder is provided on one side of the vertical plate, the telescopic end of the first cylinder passes through the vertical plate and is fixedly connected to a connecting plate, two sets of connecting columns are fixedly connected to one side of the connecting plate, and a first clamping plate is fixedly connected to one end of the two sets of connecting columns.

[0009] The angle adjustment mechanism includes a mounting base and a second clamping plate rotatably mounted on a first clamping plate. A second cylinder is rotatably mounted inside the mounting base. A positioning block is fixedly connected to the telescopic end of the second cylinder. A guide frame is fixedly connected to one side of the second clamping plate. A sliding seat rotatably mounted on the positioning block is slidably connected inside the guide frame.

[0010] Preferably, the first clamping plate has two sets of slots on both sides adjacent to the two sets of connecting columns, and the opposite sides of the two sets of second clamping plates are fixedly connected with a card block inserted into the slot, and one end of the two sets of card blocks is provided with a first connecting pin that is rotatably connected in the slot.

[0011] Preferably, the inner cavity of the guide frame is provided with sliding grooves on both sides, and the sliding block is fixedly connected to both sides of the sliding seat and slidably disposed in the sliding grooves. The positioning block is inserted with a second connecting pin that is rotatably disposed with the sliding seat.

[0012] Preferably, the first clamping plate is provided with multiple sets of first anti-slip strips on the side opposite to the two sets of connecting columns, and the two sets of second clamping plates are provided with multiple sets of second anti-slip strips on the side opposite to the guide frame.

[0013] Preferably, two sets of limiting rods are provided through one side of the upright plate and fixedly connected to the other side of the connecting plate, and multiple sets of reinforcing blocks are fixedly connected to the upper end of one side of the upright plate.

[0014] Preferably, the height adjustment mechanism includes a bidirectional screw, both ends of which are threadedly connected to movable seats. Each of the two movable seats is rotatably mounted with a connecting rod. The lower end of the connecting rod is rotatably mounted with a fixed seat. The bottom of the fixed seat is fixedly connected to a mounting plate for welding the vertical plate. The upper surface of the mounting plate is fixedly connected to a limiting frame that penetrates the end plate of the robotic arm.

[0015] Preferably, the lower surface of the end plate of the robotic arm is provided with a mounting groove and a guide groove. A motor for driving a bidirectional screw is provided in the mounting groove. The bidirectional screw is rotatably disposed in the guide groove. Both sets of the movable seats are slidably disposed in the guide groove.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This utility model mainly utilizes the cooperation between a clamping mechanism and an angle adjustment mechanism. A first cylinder drives a connecting plate, which in turn facilitates the clamping and positioning of goods by moving the first clamping plate and the second clamping plate on the angle adjustment mechanism. When goods with concave sides need to be clamped, the telescopic end of the second cylinder retracts, bringing one end of the second clamping plate close to the connecting plate, thus facilitating the clamping of goods with concave sides. When clamping goods with convex, arc-shaped sides, the telescopic end of the second cylinder extends, allowing the second clamping plate to enclose the goods. This enables the clamping of goods with different side shapes, improving the applicability and eliminating the need for frequent manual replacement of the clamping structure, thereby increasing the efficiency of goods clamping. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the height adjustment mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the clamping mechanism and angle adjustment mechanism of this utility model;

[0021] Figure 4 This is an exploded structural diagram of the angle adjustment mechanism of this utility model.

[0022] In the diagram: 1. End plate of robotic arm; 11. Mounting groove; 12. Guide groove; 2. Height adjustment mechanism; 21. Motor; 22. Bidirectional screw; 23. Moving seat; 24. Connecting rod; 25. Fixed seat; 26. Mounting plate; 27. Limiting frame; 3. Clamping mechanism; 31. Vertical plate; 32. Reinforcing block; 33. First cylinder; 34. Limiting rod; 35. Connecting plate; 36. Connecting column; 37. First clamping plate; 371. First anti-slip strip; 38. Slot; 39. First connecting pin; 4. Angle adjustment mechanism; 41. Mounting seat; 42. Second cylinder; 43. Positioning block; 44. Slide seat; 441. Slider; 45. Second connecting pin; 46. Guide frame; 461. Slide groove; 47. Second clamping plate; 471. Second anti-slip strip; 472. Clamping block. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-4This utility model provides a technical solution: a pneumatic clamping device for a robotic arm, comprising:

[0025] The robotic arm end plate 1 and the height adjustment mechanism 2 installed on the robotic arm end plate 1. Two sets of clamping mechanisms 3 are symmetrically arranged on the robotic arm end plate 1. Two sets of angle adjustment mechanisms 4 are arranged on each of the two sets of clamping mechanisms 3.

[0026] The clamping mechanism 3 includes a vertical plate 31. A first cylinder 33 is provided on one side of the vertical plate 31. The telescopic end of the first cylinder 33 passes through the vertical plate 31 and is fixedly connected to a connecting plate 35. Two sets of connecting columns 36 are fixedly connected to one side of the connecting plate 35. A first clamping plate 37 is fixedly connected to one end of the two sets of connecting columns 36.

[0027] The angle adjustment mechanism 4 includes a mounting base 41 and a second clamping plate 47 rotatably mounted on the first clamping plate 37. A second cylinder 42 is rotatably mounted inside the mounting base 41. A positioning block 43 is fixedly connected to the telescopic end of the second cylinder 42. A guide frame 46 is fixedly connected to one side of the second clamping plate 47. A slide block 44 rotatably mounted with the positioning block 43 is slidably connected inside the guide frame 46.

[0028] Two sets of slots 38 are provided on both sides of the first clamping plate 37 adjacent to the two sets of connecting posts 36. Each of the two sets of second clamping plates 47 has a locking block 472 fixedly connected to the opposite side of the slot 38. One end of each locking block 472 is provided with a first connecting pin 39 rotatably connected in the slot 38. The locking block 472 can be flipped within a certain angle in the slot 38 through the first connecting pin 39, so as to facilitate the adjustment of the angle between the first clamping plate 37 and the second clamping plate 47, thereby facilitating the clamping of goods of different shapes and improving the applicability.

[0029] The guide frame 46 has grooves 461 on both sides of its inner cavity. The slide block 44 has sliders 441 fixedly connected to both sides of its slide block 44 and slidably disposed in the grooves 461. The positioning block 43 is inserted with a second connecting pin 45 that is rotatably disposed with the slide block 44. By sliding the slide block 44 in the guide frame 46, the tilt angle of the second clamping plate 47 can be easily adjusted, thereby facilitating the adjustment of the shape formed by the first clamping plate 37 and the second clamping plate 47, improving the clamping efficiency of goods of different shapes, and reducing the operation steps and workload of manually changing the clamping structure.

[0030] Multiple sets of first anti-slip strips 371 are provided on the side of the first clamping plate 37 opposite to the two sets of connecting columns 36, and multiple sets of second anti-slip strips 471 are provided on the side of the two sets of second clamping plates 47 opposite to the guide frame 46. The multiple sets of first anti-slip strips 371 and second anti-slip strips 471 can increase the friction with the goods, thereby improving the stability of clamping the goods.

[0031] Two sets of limiting rods 34 are fixedly connected to the other side of the connecting plate 35 through one side of the upright plate 31. Multiple sets of reinforcing blocks 32 are fixedly connected to the upper end of one side of the upright plate 31. The top of the reinforcing blocks 32 is fixedly connected to the lower surface of the mounting plate 26, which improves the stability of the upright plate 31 fixed to the lower surface of the mounting plate 26, thereby improving the service life of the clamping mechanism 3. At the same time, the limiting rods 34 improve the stability of the movement of the connecting plate 35 and improve the stability of the clamping mechanism 3 in clamping the goods.

[0032] The height adjustment mechanism 2 includes a bidirectional screw 22, with movable seats 23 threaded to both ends of the bidirectional screw 22. Connecting rods 24 are rotatably mounted on both sets of movable seats 23. A fixed seat 25 is rotatably mounted on the lower end of the connecting rod 24. A mounting plate 26 for welding the vertical plate 31 is fixedly connected to the bottom of the fixed seat 25. A limiting frame 27 penetrating the end plate 1 of the robotic arm is fixedly connected to the upper surface of the mounting plate 26. The limiting frame 27 conveniently limits the movement direction of the mounting plate 26, thereby ensuring stable lifting and lowering of the mounting plate 26. Simultaneously, the structure of the limiting frame 27 prevents it from detaching from the end plate 1 of the robotic arm and prevents the connecting rod 24 from contacting the bidirectional screw 22, thus improving safety.

[0033] The lower surface of the end plate 1 of the robotic arm is provided with a mounting groove 11 and a guide groove 12. A motor 21 for driving the bidirectional screw 22 is installed in the mounting groove 11. The bidirectional screw 22 is rotatably mounted in the guide groove 12. Both sets of movable seats 23 are slidably mounted in the guide groove 12. The motor 21 can easily drive the bidirectional screw 22 to adjust the position of the two sets of movable seats 23, thereby facilitating the adjustment of the tilt angle of the connecting rod 24, the adjustment of the height of the clamping mechanism 3, and the clamping of goods of different heights.

[0034] In use, the distance between the two sets of moving seats 23 is adjusted by the bidirectional screw 22 driven by the motor 21, which facilitates the height adjustment of the mounting plate 26 after the tilt angle of the connecting rod 24 changes. The limiting frame 27 improves the stability of the lifting and lowering of the mounting plate 26. When clamping goods with flat sides (the first clamping plate 37 and the second clamping plate 47 are on the same plane), the first cylinder 33 drives the connecting plate 35 away from the upright plate 31, so that the first clamping plate 37 and the second clamping plate 47 come into contact with the goods for clamping. When clamping goods with concave sides, the telescopic end of the second cylinder 42 is retracted, so that the second cylinder 42 rotates to a certain extent. At the same time, the positioning block 43 rotates with the slide 44 through the second connecting pin 45, so that the slide 44 slides in the guide frame 46. This allows the second clamping plate 47 to rotate within the slot 38 via the locking block 472 and the first connecting pin 39, facilitating the formation of an opening between the first clamping plate 37 and the second clamping plate 47 towards the connecting plate 35. This allows the first clamping plate 37 and the second clamping plate 47 to fit against the side of the goods. When clamping goods with protruding side edges, the telescopic end of the second cylinder 42 drives the slide block 44 to slide within the guide frame 46, causing the end of the second clamping plate 47 away from the first clamping plate 37 to move away from the connecting plate 35. This creates an opening between the first clamping plate 37 and the two sets of second clamping plates 47 towards the goods, allowing the structure formed by the first clamping plate 37 and the second clamping plate 47 to fit against the goods. This facilitates clamping goods of different shapes and improves the applicability of the device.

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

Claims

1. A pneumatic clamping device for a robot arm, characterized in that Include: Mechanical arm end plate (1), and the height adjusting mechanism (2) installed on the mechanical arm end plate (1), the mechanical arm end plate (1) is provided with two sets of clamping mechanisms (3) symmetrically, and two sets of angle adjusting mechanisms (4) are arranged on the two sets of clamping mechanisms (3); The clamping mechanism (3) includes a vertical plate (31), one side of the vertical plate (31) is provided with a first cylinder (33), the telescopic end of the first cylinder (33) penetrates the vertical plate (31) and is fixedly connected with a connecting plate (35), one side of the connecting plate (35) is fixedly connected with two sets of connecting columns (36), one end of the two sets of connecting columns (36) is fixedly connected with a first clamping plate (37); The angle adjusting mechanism (4) includes a mounting seat (41) and a second clamping plate (47) rotatably arranged on the first clamping plate (37), the mounting seat (41) is rotatably provided with a second cylinder (42), the telescopic end of the second cylinder (42) is fixedly connected with a positioning block (43), one side of the second clamping plate (47) is fixedly connected with a guide frame (46), the guide frame (46) is slidably connected with a sliding seat (44) rotatably arranged with the positioning block (43).

2. A pneumatic clamping device for a robot arm according to claim 1, characterized in that: The first clamping plate (37) is provided with two sets of clamping grooves (38) on the two sides adjacent to the two sets of connecting columns (36), and the opposite sides of the two sets of second clamping plates (47) are fixedly connected with clamping blocks (472) inserted into the clamping grooves (38), and one end of the two sets of clamping blocks (472) penetrates to be rotatably connected with a first connecting pin (39) in the clamping groove (38).

3. A mechanical arm pneumatic clamping device according to claim 2, characterized in that: The two sides of the inner cavity of the guide frame (46) are provided with sliding grooves (461), and the two sides of the sliding seat (44) are fixedly connected with sliding blocks (441) slidably arranged in the sliding grooves (461), and the positioning block (43) is inserted with a second connecting pin (45) rotatably arranged with the sliding seat (44).

4. A mechanical arm pneumatic clamping device according to claim 3, characterized in that: The opposite side of the first clamping plate (37) and the two sets of connecting columns (36) is provided with a plurality of first anti-skid strips (371), and the opposite side of the two sets of second clamping plates (47) and the guide frame (46) is provided with a plurality of second anti-skid strips (471).

5. A mechanical arm pneumatic clamping device according to claim 4, characterized in that: The one side of the vertical plate (31) penetrates to be provided with two sets of limiting rods (34) fixedly connected with the other side of the connecting plate (35), and the one side upper end of the vertical plate (31) is fixedly connected with a plurality of reinforcing blocks (32).

6. A mechanical arm pneumatic clamping device according to claim 5, characterized in that: The height adjusting mechanism (2) includes a bidirectional screw rod (22), the two ends of the bidirectional screw rod (22) are threadedly connected with a moving seat (23), two sets of the moving seat (23) are rotatably provided with a connecting rod (24), the lower end of the connecting rod (24) is rotatably provided with a fixed seat (25), the bottom of the fixed seat (25) is fixedly connected with a mounting plate (26) for welding of the vertical plate (31), and the upper surface of the mounting plate (26) is fixedly connected with a limiting frame (27) penetrating the mechanical arm end plate (1).

7. A mechanical arm pneumatic clamping device according to claim 6, characterized in that: The lower surface of the mechanical arm end plate (1) is provided with a mounting groove (11) and a guide groove (12), a motor (21) for driving a bidirectional screw rod (22) is arranged in the mounting groove (11), the bidirectional screw rod (22) is rotationally arranged in the guide groove (12), and two groups of the moving seats (23) are slidingly arranged in the guide groove (12).

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