Industrial robot fixing device with clamping function

Abstract

The utility model provides an industrial robot fixing device with a clamping function, and belongs to the technical field of industrial robot clamping and fixing devices.The industrial robot fixing device comprises two ring shells which are oppositely arranged, a plurality of positioning rods are arranged on the inner ring walls of the ring shells in an equidistant sliding and penetrating mode, and one ends of the positioning rods are fixedly connected with rectangular blocks; and the rectangular blocks are in sliding connection with the inner walls of the corresponding ring shells. When the improved industrial robot fixing device is used, the mechanical arm body can be clamped and fixed in the air from the two ends of the mechanical arm body in the air, and the angle of the mechanical arm body can be adjusted, so that the angle of the mechanical arm body can be adjusted according to needs after the mechanical arm body is clamped and fixed to cope with assembly of different parts; therefore, the working duration of each station can be adjusted according to the mounting duration of each component, the situation that individual stations are idle for a long time is avoided, and the production efficiency of the industrial robot is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of industrial robot clamping and fixing devices, specifically to an industrial robot fixing device with clamping function. Background Technology

[0002] Industrial robots are automated mechanical devices widely used in manufacturing. They can perform repetitive, high-precision, or dangerous tasks, thereby improving production efficiency, quality, and safety. Industrial robotic arms are the core component of industrial robots. They are multi-degree-of-freedom automated mechanical devices that can perform precise movement and manipulation tasks through programming or automatic control.

[0003] In the production process of industrial robotic arms, pneumatic clamping and fixing devices are generally used to constrain and fix the main body of the robotic arm so that various components on the main body can be assembled. However, since the various components are located in different positions on the main body of the robotic arm, they often need to be installed in stages. The assembly time of each component is often different, which may result in some workstations on the production line being idle for a long time, reducing the production efficiency of industrial robots. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to provide an industrial robot fixing device with clamping function, which can continue to adjust the angle of the main body of the robot after the main body of the robot is clamped and fixed, so as to cope with the assembly of different parts, thereby balancing the working time of each station as needed, and improving the production efficiency of the industrial robot.

[0005] To address the aforementioned problems, this utility model provides an industrial robot fixing device with clamping function, comprising: two annular shells arranged opposite to each other; a plurality of positioning rods are equidistantly slidably installed through the inner annular walls of the annular shells; a rectangular block is fixedly connected to one end of each positioning rod, and the rectangular block is slidably connected to the inner wall of the corresponding annular shell; a plurality of arc-shaped blocks are slidably installed inside the annular shells; each arc-shaped block has a trapezoidal hole, and the side of the arc-shaped block closest to the inclined surface of the corresponding trapezoidal hole is inclined and contacts the inclined surface of the corresponding trapezoidal hole;

[0006] The drive mechanism, located on the opposite side of the corresponding annular shell, is used to drive the corresponding arc-shaped block to rotate.

[0007] A connecting mechanism is located between the corresponding drive mechanism and the corresponding arc-shaped block.

[0008] Preferably, the outer periphery of the two ring shells is provided with a base, and the base is rotatably connected to the ring shell. An elastic limiting mechanism is provided between the ring shell and the base for constraint and limiting between the ring shell and the base.

[0009] Preferably, the other end of the positioning rod is hemispherical, and a spring is wound around the outer periphery of the positioning rod, with the two ends of the spring being fixedly connected to the corresponding rectangular block and the inner wall of the corresponding annular shell, respectively.

[0010] Preferably, the driving mechanism includes a motor located on the bottom side of the corresponding ring shell, and the outer shell of the motor is fixedly connected to the base. A gear is fixedly mounted on the driving end of the motor, and a toothed ring is rotatably sleeved on the open end of the ring shell, and the toothed ring meshes with the corresponding gear.

[0011] Preferably, the connecting mechanism includes a plurality of storage slots and a plurality of sliders. The plurality of storage slots are equally spaced on the corresponding toothed rings. One end of the slider is inserted into the corresponding storage slot and contacts the inner wall of the corresponding storage slot. The other end of the slider is inserted into the corresponding ring shell and is fixedly connected to the corresponding arc-shaped block. An elastic element is provided between the slider and the inner wall of the corresponding storage slot.

[0012] Preferably, the elastic element includes a piston rod, one end of which is fixedly connected to a corresponding slider, and the other end of the piston rod is slidably fitted with a piston cylinder, which is fixedly connected to the inner wall of the corresponding storage tank. Both the piston rod and the piston cylinder are arc-shaped rods, and the piston cylinder is filled with air.

[0013] This utility model has the following beneficial effects:

[0014] When in use, this improved industrial robot fixing device can clamp and fix the main body of the robot in mid-air from both ends, and the angle of the main body of the robot can be adjusted. After the main body of the robot is clamped and fixed, the angle of the main body of the robot can be adjusted as needed to cope with the assembly of different parts. This allows the working time of each station to be adjusted according to the installation time of each part, avoiding long periods of idle time for individual stations and improving the production efficiency of industrial robots. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a perspective view of the overall structure of this utility model;

[0017] Figure 2 This is a perspective view of the internal structure of the annular shell of this utility model;

[0018] Figure 3 This is a right view of the internal structure of the annular shell of this utility model;

[0019] Figure 4 This is a front view of the internal structure of part of the annular shell and part of the base of this utility model;

[0020] Figure 5 This is a perspective view of the toothed ring, connecting mechanism, and arc-shaped block of this utility model.

[0021] The reference numerals in the attached figures are as follows:

[0022] 1. Ring shell; 2. Positioning rod; 3. Rectangular block; 4. Arc-shaped block; 5. Trapezoidal hole; 6. Drive mechanism; 61. Motor; 62. Gear; 63. Gear ring; 7. Connecting mechanism; 71. Storage groove; 72. Slider; 73. Elastic element; 731. Piston rod; 732. Piston cylinder; 8. Spring; 9. Base; 10. Elastic limiting mechanism. Detailed Implementation

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] See also Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, according to an embodiment of the present invention, an industrial robot fixing device with clamping function is provided, comprising: two ring shells 1, which are arranged opposite to each other, a plurality of positioning rods 2 are equidistantly slidably installed on the inner ring wall of the ring shell 1, one end of the positioning rod 2 is fixedly connected to a rectangular block 3, and the rectangular block 3 is slidably connected to the inner wall of the corresponding ring shell 1, a plurality of arc blocks 4 are slidably installed inside the ring shell 1, the arc blocks 4 are provided with trapezoidal holes 5, and the side of the arc block 4 close to the inclined surface of the corresponding trapezoidal hole 5 is inclined and in contact with the inclined surface of the corresponding trapezoidal hole 5;

[0028] The drive mechanism 6 is located on the opposite side of the corresponding annular shell 1 and is used to drive the corresponding arc-shaped block 4 to rotate.

[0029] The connecting mechanism 7 is located between the corresponding driving mechanism 6 and the corresponding arc block 4.

[0030] In this embodiment, when using the improved industrial robot fixing device, please refer to... Figure 1 As shown, insert both ends of the robotic arm body into the inner holes of the two annular shells 1, and then refer to... Figure 1 , Figure 2 and Figure 3 As shown, the starting drive mechanism 6 drives several arc-shaped blocks 4 to slide inside the ring shell 1 through the connecting mechanism 7. Due to the mutual contact between the inclined surfaces of the rectangular block 3 and the inclined surfaces of the arc-shaped blocks 4, as the arc-shaped blocks 4 rotate, the positioning rod 2 can be pushed towards the main body of the robotic arm until the positioning rod 2 contacts the outer wall of the main body of the robotic arm. Thus, the main body of the robotic arm is clamped and fixed by the two ends of the main body of the robotic arm through several positioning rods 2.

[0031] During the process of the drive mechanism 6 driving the arc block 4 to slide through the connecting mechanism 7, the connecting mechanism 7 can disconnect the drive mechanism 6 from the individual arc block 4 while maintaining the thrust on the positioning rod 2, so that the positioning rod 2 at each position can extend out of the ring shell 1 by different lengths to adapt to the concavity or convexity of the two ends of the robotic arm body.

[0032] After the main body of the robotic arm is clamped and fixed, as the positioning rod 2 and the arc block 4 are locked, and as the drive mechanism 6 continues to run, the angle of the main body of the robotic arm can be adjusted by rotating the ring shell 1.

[0033] In summary, when using this improved industrial robot fixing device, the robotic arm body can be clamped and fixed in the air by both ends, and the angle of the robotic arm body can be adjusted. This allows the robotic arm body to be adjusted as needed after clamping and fixing to accommodate the assembly of different components. As a result, the working time of each station can be adjusted according to the installation time of each component, avoiding long periods of idle time for individual stations and improving the production efficiency of the industrial robot.

[0034] In a further preferred embodiment of this utility model, such as Figure 1 and Figure 4 As shown, the outer periphery of the two annular shells 1 is provided with a base 9, and the base 9 is rotatably connected to the annular shell 1. An elastic limiting mechanism 10 is provided between the annular shell 1 and the base 9 for constraint and limiting between the annular shell 1 and the base 9.

[0035] In this embodiment, please refer to Figure 1 and Figure 4 As shown, during the process of the drive mechanism 6 driving the arc block 4 to slide inside the ring shell 1, the position between the ring shell 1 and the base 9 remains stable due to the constraint and limitation of the elastic limiting mechanism 10 on the ring shell 1 (the base 9 is fixedly mounted on the work platform by bolts). After the positioning rod 2 and the arc block 4 are locked, as the drive mechanism 6 continues to drive the arc block 4, the ring shell 1 is subjected to a large axial pushing force. At this time, the constraint and limitation state of the elastic limiting mechanism 10 on the ring shell 1 is released, and the ring shell 1 can rotate inside the base 9. After the angle of the ring shell 1 is adjusted, the elastic limiting mechanism 10 continues to constrain and limit the ring shell 1 and the base 9. The angle of the ring shell 1 and the main body of the robotic arm remains stable.

[0036] It should be noted that the elastic limiting mechanism 10 includes several positioning grooves with a quarter-sphere shape, which are equally spaced on the outer periphery of the corresponding annular shell 1. An air storage groove is provided in the plate wall of the base 9 at the position corresponding to the positioning groove, and the air storage groove is filled with air to form a high-pressure chamber. A piston push rod is slidably installed in the air storage groove (an air bag can also be provided in the air storage groove for pushing the piston push rod). A ball is rotatably installed in the piston push rod, and the end of the ball near the corresponding positioning groove is inserted into the corresponding positioning groove.

[0037] In a further preferred embodiment of this utility model, such as Figure 2 and Figure 3 As shown, the other end of the positioning rod 2 is hemispherical, and a spring 8 is wound around the outer periphery of the positioning rod 2. The two ends of the spring 8 are fixedly connected to the corresponding rectangular block 3 and the inner wall of the corresponding annular shell 1, respectively.

[0038] In this embodiment, please refer to Figure 2 and Figure 3As shown, after the main body of the robotic arm and its various components are assembled, the operator holds the main body of the robotic arm, and the drive mechanism 6 drives the arc block 4 to slide in the opposite direction until the rectangular block 3 and the inner plane of the trapezoidal hole 5 come into contact with each other. During the reverse sliding of the arc block 4, due to the push of the spring 8 on the rectangular block 3, the positioning rod 2 extending from the ring shell 1 is gradually pulled back into the ring shell 1 to release the clamping and fixing state at both ends of the main body of the robotic arm. Then, the main body of the robotic arm is pulled out from the inner holes of the two ring shells 1, thus completing the material picking operation of the main body of the robotic arm.

[0039] In a further preferred embodiment of this utility model, such as Figure 1 and Figure 2 As shown, the drive mechanism 6 includes a motor 61, which is located on the bottom side of the corresponding ring shell 1. The outer shell of the motor 61 is fixedly connected to the base 9. The drive end of the motor 61 is fixedly equipped with a gear 62. The open end of the ring shell 1 is rotatably fitted with a toothed ring 63, and the toothed ring 63 is meshed with the corresponding gear 62.

[0040] In this embodiment, please refer to Figure 1 and Figure 2 As shown, after inserting two ring shells 1 into both ends of the robotic arm body, the motor 61 is started to drive the gear 62 to rotate. (The motor 61 is a servo motor 61, and a control panel or control buttons can be set on the base 9 to control the operation of the motor 61 in conjunction with the controller.) Due to the meshing of the gear 62 and the gear ring 63, the rotating gear 62 synchronously drives the gear ring 63 to rotate slowly. (Please refer to...) Figure 1 As shown, since the diameter circle of gear 62 is smaller than the diameter of gear ring 63, the axial driving force of motor 61 on ring housing 1 can be greatly enhanced.

[0041] In a further preferred embodiment of this utility model, such as Figure 1 , Figure 2 and Figure 5 As shown, the connecting mechanism 7 includes several storage slots 71 and several sliders 72. The several storage slots 71 are equally spaced on the corresponding toothed rings 63. One end of the slider 72 is inserted into the corresponding storage slot 71 and contacts the inner wall of the corresponding storage slot 71. The other end of the slider 72 is inserted into the corresponding ring shell 1 and is fixedly connected to the corresponding arc-shaped block 4. An elastic element 73 is provided between the slider 72 and the inner wall of the corresponding storage slot 71.

[0042] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 5As shown, when the gear ring 63 rotates, the elastic element 73 pushes the slider 72, causing the slider 72 to slide within the opening of the ring shell 1. When the positioning rod 2 and the main body of the robotic arm collide, the position of the arc block 4 within the ring shell 1 is jammed due to the mutual contact between the positioning rod 2 and the main body of the robotic arm, and the mutual contact between the rectangular block 3 and the arc block 4. At this time, as the gear ring 63 rotates, the elastic element 73 contracts, causing the slider 72 to slide within the storage groove 71. This does not affect the rotation of the other sliders 72 driven by the gear 62 until the elastic element 73 is compressed to its limit. At this time, the gear ring 63 continues to rotate and directly applies a corresponding axial thrust to the ring shell 1. No additional drive structure is required, which reduces the production cost of the device.

[0043] In a further preferred embodiment of this utility model, such as Figure 5 As shown, the elastic element 73 includes a piston rod 731, one end of which is fixedly connected to the corresponding slider 72. The other end of the piston rod 731 is slidably sleeved with a piston cylinder 732, and the piston cylinder 732 is fixedly connected to the inner wall of the corresponding storage groove 71. Both the piston rod 731 and the piston cylinder 732 are arc-shaped rods, and the piston cylinder 732 is filled with air.

[0044] In this embodiment, please refer to Figure 5 As shown, when the gear ring 63 rotates, the gas in the piston cylinder 732 provides a thrust to the slider 72 through the piston rod 731, so that the slider 72 will not slide in the storage tank 71.

[0045] When the elastic element 73 is compressed to its limit, that is, when the piston rod 731 is completely retracted into the piston cylinder 732, the slider 72 and the toothed ring 63 are locked due to the mutual contact between the slider 72 and the piston cylinder 732. At this time, the positions of the slider 72 and the toothed ring 63 remain stable, and the subsequent driving of the ring shell 1 is stable. Moreover, the elastic element 73 will not undergo permanent deformation due to repeated expansion and contraction, which will affect the use of the device.

[0046] Working principle: When using this improved industrial robot fixing device, first insert both ends of the robotic arm body into the inner holes of the two ring shells 1, then start the motor 61 to drive the positioning rod 2 to clamp and fix the robotic arm from multiple angles at both ends of the robotic arm body, so that the robotic arm body is placed in the air above the platform.

[0047] When it is necessary to adjust the angle of the robotic arm body, the motor 61 is started again. Due to the jamming of the positioning rod 2 and the arc block 4, the motor 61 drives the ring shell 1 to rotate, thereby driving the robotic arm body to rotate, so as to adjust the angle of the robotic arm body and to handle the assembly of different parts of the robotic arm body.

[0048] After the assembly and processing of the main body of the robotic arm is completed at this workstation, the motor 61 drives the arc block 4 to slide in the opposite direction until the arc block 4 abuts against the inner wall of the storage tank 71. At this time, the positioning rod 2 automatically retracts into the ring shell 1 to release the clamping and fixing state of the main body of the robotic arm. Then, the ring shell 1 is driven to rotate in the opposite direction to reset the ring shell 1. The clamping and fixing operation of the main body of the robotic arm can be continuously completed by repeating the above operation.

[0049] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0050] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. The above are only preferred embodiments of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A clamping device for an industrial robot, characterized in that, include: Two annular shells (1) are arranged opposite to each other. Several positioning rods (2) are equidistantly slidably installed on the inner annular wall of the annular shell (1). A rectangular block (3) is fixedly connected to one end of the positioning rod (2), and the rectangular block (3) is slidably connected to the inner wall of the corresponding annular shell (1). Several arc-shaped blocks (4) are slidably installed inside the annular shell (1). A trapezoidal hole (5) is opened on the arc-shaped block (4), and the side of the arc-shaped block (4) close to the inclined surface of the corresponding trapezoidal hole (5) is inclined and contacts the inclined surface of the corresponding trapezoidal hole (5). The drive mechanism (6) is located on the opposite side of the corresponding ring shell (1) and is used to drive the corresponding arc block (4) to rotate. A connecting mechanism (7) is located between the corresponding driving mechanism (6) and the corresponding arc block (4).

2. The industrial robot fixing device with clamping function according to claim 1, characterized in that: The outer periphery of the two ring shells (1) is provided with a base (9), and the base (9) is rotatably connected to the ring shell (1). An elastic limiting mechanism (10) is provided between the ring shell (1) and the base (9) for constraint and limiting between the ring shell (1) and the base (9).

3. The industrial robot fixing device with clamping function according to claim 2, characterized in that: The other end of the positioning rod (2) is hemispherical. A spring (8) is wound around the outer periphery of the positioning rod (2), and the two ends of the spring (8) are fixedly connected to the inner wall of the corresponding rectangular block (3) and the corresponding annular shell (1), respectively.

4. The industrial robot fixing device with clamping function according to claim 3, characterized in that: The drive mechanism (6) includes a motor (61) located on the bottom side of the corresponding ring shell (1), and the outer shell of the motor (61) is fixedly connected to the base (9). The drive end of the motor (61) is fixedly equipped with a gear (62), and the open end of the ring shell (1) is rotatably fitted with a toothed ring (63), and the toothed ring (63) meshes with the corresponding gear (62).

5. The industrial robot fixing device with clamping function according to claim 4, characterized in that: The connecting mechanism (7) includes several storage slots (71) and several sliders (72). The several storage slots (71) are equally spaced on the corresponding toothed rings (63). One end of the slider (72) is inserted into the corresponding storage slot (71) and contacts the inner wall of the corresponding storage slot (71). The other end of the slider (72) is inserted into the corresponding ring shell (1) and fixedly connected to the corresponding arc block (4). An elastic element (73) is provided between the slider (72) and the inner wall of the corresponding storage slot (71).

6. The industrial robot fixing device with clamping function according to claim 5, characterized in that: The elastic element (73) includes a piston rod (731), one end of which is fixedly connected to the corresponding slider (72). The other end of the piston rod (731) is slidably sleeved with a piston cylinder (732), and the piston cylinder (732) is fixedly connected to the inner wall of the corresponding storage groove (71). Both the piston rod (731) and the piston cylinder (732) are arc-shaped rods, and the piston cylinder (732) is filled with air.

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