Robot tail end flexible clamping mechanism

Abstract

The utility model provides a robot tail end flexible clamping mechanism which comprises a robot body, a clamping assembly is installed at the tail end of the robot body, and the clamping assembly comprises an installation base, two clamping air cylinders, two clamping bases, a sliding groove, a sliding block, two clamping plates, a sliding column, a second spring and a limiting disc. And the two clamping seats are symmetrically connected to the interior of the mounting seat in a sliding manner. Under the cooperation of the clamping plate, the sliding column, the second spring and other structures, the sliding column can be attached to the outer wall of a workpiece in a self-adaptive mode, flexible clamping of the workpiece is achieved, the clamp does not need to be replaced frequently when facing workpieces of different specifications and shapes, working efficiency is improved, and the flexible wrapping layer is arranged, so that the clamping effect is good when the flexible wrapping layer makes contact with the workpiece. The sliding columns can be prevented from scratching the outer wall of the workpiece, and the contact area with the workpiece can be increased, so that the friction force is increased, and the workpiece cannot slip off when the workpiece is moved.

Description

Technical Field

[0001] This utility model relates to a clamping mechanism, specifically a flexible clamping mechanism at the end of a robot, and belongs to the technical field of clamping mechanisms. Background Technology

[0002] The gripping mechanism on an industrial robot is a key execution component that connects the robotic arm to the workpiece. Its main function is to fix the workpiece by gripping, clamping, and adsorption, ensuring that the robot can accurately position and operate stably in industrial operations such as assembly, handling, welding, and spraying. At the same time, the gripping force and method can be adjusted according to the shape, material, and process requirements of the workpiece to ensure work efficiency and safety and adapt to the diverse production tasks in automated production lines.

[0003] A Chinese utility model patent (publication number: CN222430783U) discloses a robotic arm that can flexibly clamp workpieces. By setting a fixed component, when the surface of the gripper contacts the surface of the workpiece, the gripper can deflect in the horizontal and vertical directions under the action of the cross shaft, thereby increasing the contact area between the gripper and the workpiece surface and making the surface of the gripper fit the workpiece to the maximum extent. After fitting, the compression spring is compressed by the pushing force of the clamping block and the reaction force of the workpiece. In this way, the elasticity of the compression spring can be used to avoid damage to the mold by the gripper during the clamping process.

[0004] While these clamping devices can prevent workpiece damage during the clamping process, they are typically designed based on specific workpiece shapes, resulting in limited adaptability to different workpiece shapes. In practical applications, frequent clamping changes are often necessary when dealing with workpieces of different specifications and shapes. This not only significantly reduces efficiency and increases production time and costs, but also, due to structural and functional limitations, makes it impossible to effectively clamp irregularly shaped workpieces, hindering further improvements in production line flexibility and automation. Therefore, a flexible clamping mechanism at the end effector of a robot is proposed. Utility Model Content

[0005] In view of this, the present invention provides a flexible gripping mechanism for the end effector of a robot to solve or alleviate the technical problems existing in the prior art, and at least provides a beneficial alternative.

[0006] The technical solution of this utility model embodiment is implemented as follows: A robot end-effector flexible gripping mechanism includes a robot body, and a gripping assembly is installed at the end of the robot body. The gripping assembly includes a mounting base, two gripping cylinders, two gripping seats, a slide groove, a slider, two gripping plates, a sliding column, a second spring, and a limiting plate.

[0007] Two clamping seats are symmetrically slidably connected to the inside of the mounting base. Two clamping cylinders are symmetrically installed on both sides of the mounting base. The sliding groove is opened on the front surface of the clamping seat. The slider is slidably connected to the inside of the sliding groove. The clamping plate is fixedly connected to the front surface of the slider. The sliding column is equidistantly slidably connected to the inside of the clamping plate. The second spring is sleeved on the outer wall of the sliding column. The limiting plate is fixedly connected to one end of the sliding column. The opposing surfaces of the two clamping plates are each bonded with a flexible wrapping layer.

[0008] More preferably, the limiting disc is located between the flexible wrapping layer and the clamping plate and is bonded to the flexible wrapping layer, which is made of rubber.

[0009] More preferably, the cylinder shaft of the clamping cylinder is fixedly connected to the clamping seat.

[0010] More preferably, a support sleeve is fixedly connected to one side of the clamping plate, and the sliding column is slidably connected inside the support sleeve.

[0011] More preferably, one end of the second spring abuts against the clamping plate, and the other end of the second spring abuts against the limiting plate.

[0012] More preferably, two guide rods are symmetrically fixedly connected to the inner sidewall of the slide, and a first spring is sleeved on the outer sidewall of the guide rod.

[0013] More preferably, one end of the first spring abuts against the inner wall of the groove, and the other end of the first spring abuts against the slider, the slider being slidably connected to the outer wall of the guide rod.

[0014] More preferably, a connecting plate is fixedly connected to the rear surface of the mounting base, and the connecting plate is installed at the end of the robot body.

[0015] The present invention has the following advantages due to the adoption of the above technical solution:

[0016] With the cooperation of clamping plate, sliding column, and second spring, this utility model allows the sliding column to adaptively conform to the outer wall of the workpiece, achieving flexible clamping of the workpiece and increasing adaptability to workpiece shape. When dealing with workpieces of different specifications and shapes, there is no need to frequently change the clamps, improving work efficiency and reducing production costs. By setting a flexible wrapping layer, the sliding column can avoid scratching the outer wall of the workpiece when in contact with it, and can also increase the contact area with the workpiece, thereby increasing the friction force. When the workpiece is moved, it will not slip.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an overall structural diagram of the present invention;

[0020] Figure 2 This is a structural diagram of the clamping assembly of this utility model;

[0021] Figure 3 This is a structural diagram of the clamping base of this utility model;

[0022] Figure 4 This is a structural diagram of the clamping plate of this utility model;

[0023] Figure 5 This is a structural diagram of the sliding column of this utility model.

[0024] Reference numerals: 101, clamping assembly; 11, connecting plate; 12, mounting base; 13, clamping cylinder; 14, clamping seat; 15, slide groove; 16, slider; 17, flexible wrapping layer; 18, clamping plate; 19, sliding column; 20, first spring; 21, guide rod; 22, support sleeve; 23, second spring; 24, limiting plate; 31, robot body. Detailed Implementation

[0025] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0026] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0027] like Figures 1-5As shown, this utility model embodiment provides a robot end-effector flexible gripping mechanism, including a robot body 31, and a gripping assembly 101 installed at the end of the robot body 31. The gripping assembly 101 includes a mounting base 12, two gripping cylinders 13, two gripping seats 14, a slide groove 15, a slider 16, two gripping plates 18, a sliding column 19, a second spring 23, and a limiting plate 24.

[0028] Two clamping seats 14 are symmetrically slidably connected to the inside of the mounting base 12. Two clamping cylinders 13 are symmetrically installed on both sides of the mounting base 12. The cylinder shaft of the clamping cylinder 13 is fixedly connected to the clamping seat 14. By pushing the clamping seat 14 through the clamping cylinder 13, the two clamping seats 14 move closer to each other, thereby realizing the clamping action of the workpiece. The signal end of the clamping cylinder 13 is connected to the signal end of the robot control.

[0029] The clamping plate 18 is fixedly connected to the front surface of the slider 16, the sliding column 19 is equidistantly slidably connected to the inside of the clamping plate 18, the second spring 23 is sleeved on the outer side wall of the sliding column 19, the limiting plate 24 is fixedly connected to one end of the sliding column 19, one end of the second spring 23 abuts against the clamping plate 18, and the other end of the second spring 23 abuts against the limiting plate 24. When clamping the workpiece, the clamping plate 18 drives the sliding columns 19 to move closer to each other. When the sliding column 19 contacts the workpiece, the sliding column 19 slides inside the clamping plate 18. At this time, the second spring 23 is compressed by force.

[0030] Since multiple sliding posts 19 are provided on the clamping plate 18, during the clamping process, under the action of the second spring 23, the sliding posts 19 can adaptively fit against the outer wall of the workpiece, realizing flexible clamping of the workpiece, increasing the adaptability to the shape of the workpiece, and when facing workpieces of different specifications and shapes, there is no need to frequently change the fixture, which improves work efficiency and reduces production costs.

[0031] Both clamping plates 18 have a flexible wrapping layer 17 bonded to their opposite surfaces. The limiting plate 24 is located between the flexible wrapping layer 17 and the clamping plate 18 and is bonded to the flexible wrapping layer 17. The flexible wrapping layer 17 is made of rubber. When clamping the workpiece, the sliding column 19 contacts the surface of the workpiece through the flexible wrapping layer 17, which can prevent scratches on the outer wall of the workpiece. Moreover, the flexible wrapping layer 17 can increase the contact area with the workpiece, thereby increasing the friction. When the workpiece is moved, it will not slip.

[0032] In one embodiment, a support sleeve 22 is fixedly connected to one side of the clamping plate 18, and the sliding column 19 is slidably connected inside the support sleeve 22. The support sleeve 22 supports and guides the sliding column 19, thereby enhancing the stability of the sliding column 19 during the clamping process.

[0033] In one embodiment, a groove 15 is formed on the front surface of the clamping seat 14, and a slider 16 is slidably connected to the inside of the groove 15. Two guide rods 21 are symmetrically fixed to the inner sidewall of the groove 15, and a first spring 20 is sleeved on the outer sidewall of the guide rod 21. One end of the first spring 20 abuts against the inner sidewall of the groove 15, and the other end of the first spring 20 abuts against the slider 16. The slider 16 is slidably connected to the outer sidewall of the guide rod 21. Through the cooperation of the slider 16, the guide rod 21 and the first spring 20, it is possible to prevent the workpiece from being pinched.

[0034] When clamping the workpiece, as the clamping force increases, the slider 16 slides in the groove 15, and the slider 16 compresses the first spring 20. By utilizing the elasticity of the first spring 20, damage to the workpiece can be avoided during the clamping process.

[0035] In one embodiment, a connecting plate 11 is fixedly connected to the rear surface of the mounting base 12. The connecting plate 11 is installed at the end of the robot body 31. The clamping assembly 101 can be connected to the robot body 31 through the connecting plate 11. The connecting plate 11 is connected to the end of the robot body 31 by bolts.

[0036] When this utility model is in operation: the robot body 31 drives the clamping assembly 101 to move to the designated position, so that the workpiece is located between the two clamping plates 18. Then, the clamping cylinder 13 is controlled to work, and the clamping cylinder 13 pushes the clamping seat 14 to slide in the mounting seat 12. The clamping seat 14 drives the slider 16, the slider 16 drives the clamping plate 18, and the clamping plate 18 drives the sliding column 19 to move closer to each other. The sliding column 19 contacts the surface of the workpiece through the flexible wrapping layer 17. The sliding column 19 slides inside the clamping plate 18. At this time, the second spring 23 is compressed. Since multiple sliding columns 19 are provided on the clamping plate 18, during the clamping process, under the action of the second spring 23, the sliding column 19 can adaptively fit with the outer wall of the workpiece, thereby realizing the clamping of the workpiece. Then, the robot body 31 can move the workpiece to the designated position.

[0037] Compared to existing technologies, this invention, with the cooperation of the clamping plate 18, sliding column 19, and second spring 23, allows the sliding column 19 to adaptively conform to the outer wall of the workpiece, achieving flexible clamping of the workpiece and increasing adaptability to workpiece shapes. When dealing with workpieces of different specifications and shapes, it eliminates the need for frequent fixture changes, improving work efficiency and reducing production costs. Furthermore, by setting a flexible wrapping layer 17, the sliding column 19 can be prevented from scratching the outer wall of the workpiece when in contact with it, and the contact area with the workpiece can be increased, thereby increasing friction. When the workpiece is moved, it will not slip.

[0038] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A flexible gripping mechanism for the end effector of a robot, comprising a robot body (31), characterized in that: The end of the robot body (31) is equipped with a clamping assembly (101), which includes a mounting base (12), two clamping cylinders (13), two clamping seats (14), a slide groove (15), a slider (16), two clamping plates (18), a sliding column (19), a second spring (23), and a limiting plate (24). Two clamping seats (14) are symmetrically slidably connected to the inside of the mounting seat (12), two clamping cylinders (13) are symmetrically installed on both sides of the mounting seat (12), the slide groove (15) is opened on the front surface of the clamping seat (14), the slider (16) is slidably connected to the inside of the slide groove (15), the clamping plate (18) is fixedly connected to the front surface of the slider (16), the sliding column (19) is equidistantly slidably connected to the inside of the clamping plate (18), the second spring (23) is sleeved on the outer side wall of the sliding column (19), the limiting plate (24) is fixedly connected to one end of the sliding column (19), and the opposing surfaces of the two clamping plates (18) are each bonded with a flexible wrapping layer (17).

2. The flexible gripping mechanism for a robot end effector according to claim 1, characterized in that: The limiting plate (24) is located between the flexible wrapping layer (17) and the clamping plate (18) and is bonded to the flexible wrapping layer (17), which is made of rubber.

3. The flexible gripping mechanism at the end of a robot according to claim 1, characterized in that: The cylinder shaft of the clamping cylinder (13) is fixedly connected to the clamping seat (14).

4. The flexible gripping mechanism at the end of a robot according to claim 2, characterized in that: A support sleeve (22) is fixedly connected to one side of the clamping plate (18), and the sliding column (19) is slidably connected inside the support sleeve (22).

5. The flexible gripping mechanism for a robot end effector according to claim 1, characterized in that: One end of the second spring (23) abuts against the clamping plate (18), and the other end of the second spring (23) abuts against the limiting plate (24).

6. A flexible gripping mechanism for a robot end effector according to claim 5, characterized in that: The inner wall of the slide (15) is symmetrically fixed with two guide rods (21), and the outer wall of the guide rods (21) is sleeved with a first spring (20).

7. A flexible gripping mechanism for a robot end effector according to claim 6, characterized in that: One end of the first spring (20) abuts against the inner wall of the slide groove (15), and the other end of the first spring (20) abuts against the slider (16), which is slidably connected to the outer wall of the guide rod (21).

8. The flexible gripping mechanism for a robot end effector according to claim 1, characterized in that: A connecting plate (11) is fixedly connected to the rear surface of the mounting base (12), and the connecting plate (11) is installed at the end of the robot body (31).

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