A clamp and stirring robot
By combining a clamp with a robotic arm, and using elastic damping components to buffer vibrations, the problems of uneven mixing and noise hazards caused by manual stirring are solved, achieving automated mixing and protection of the robotic arm.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HENAN ZHONGYUAN SPECIAL REFRACTORY
- Filing Date
- 2025-06-26
- Publication Date
- 2026-07-28
AI Technical Summary
In existing technologies, manual mixing of brick blanks can result in uneven mixing, leading to air bubbles in the brick blanks, and the noise from the vibrator can cause harm to workers.
Design a clamp, including a support, a clamping assembly, and an elastic damper, for integration with a robotic arm to clamp the flexible shaft of a vibrator. The movement of the vibrating head is controlled by the robotic arm, and the elastic damper buffers the vibration to protect the robotic arm from damage.
It achieves automated mixing, improves the pass rate of brick blanks, reduces the harm of noise to workers, and protects the robotic arm from vibration damage.
Smart Images
Figure CN224561540U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of mixing equipment, and in particular relates to a clamp and a mixing robot. Background Technology
[0002] When producing the brick blanks for the glass tin bath, the ash material in the mold needs to be thoroughly mixed. A mixing tool, the same one used to mix concrete, is required for this process.
[0003] like Figure 1 As shown, Chinese utility model patent with authorization announcement number CN211818091U and authorization announcement date of October 30, 2020, discloses a concrete vibrator for building construction. The vibrator (i.e., a mixing tool) includes a motor 1, a flexible shaft 2, and a vibrating head 3. The two ends of the flexible shaft 2 are connected to the motor 1 and the vibrating head 3, respectively. The motor 1 drives the vibrating head 3 to vibrate through the flexible shaft 2. The flexible shaft 2 includes a metal shaft for transmitting vibration and a rubber tube wrapped around the metal shaft.
[0004] When producing brick blanks, workers need to hold the flexible shaft 2 to move the vibrating head 3, so that the vibrating head 3 moves in the mold, thereby mixing the mortar in all corners of the mold evenly.
[0005] However, in actual production, it is difficult for workers to use the vibrating head 3 to thoroughly mix the mortar in every corner, resulting in some mortar not being fully mixed. This leads to air bubbles in the finished brick blanks, causing them to be substandard. Additionally, the motor generates significant noise during operation, which can cause injury to workers.
[0006] For the reasons mentioned above, there is an urgent need for a mixing robot that can replace manual labor and automate the work. Utility Model Content
[0007] The purpose of this utility model is to provide a clamp to solve the technical problem that the vibration of the flexible shaft will damage the robotic arm robot, and to solve the technical problem of uneven stirring when used in conjunction with a vibrator and a robotic arm robot.
[0008] The purpose of this invention is to provide a mixing robot to solve the technical problem of uneven mixing caused by manual mixing.
[0009] To achieve the above objectives, the technical solution of the clamp provided by this utility model is as follows:
[0010] A clamp includes a bracket for connecting to a robotic arm, a clamping assembly mounted on the bracket for clamping a flexible shaft, and an elastic damping member disposed between the clamping assembly and the bracket.
[0011] The bracket includes a cylinder, a first mounting plate, a second mounting plate, and two support plates fixedly connected to the outer peripheral surface of the cylinder. One end of the cylinder has a mounting flange for connecting to a robotic arm robot. The support plates are provided with clearance holes for avoiding flexible shafts. The two ends of each mounting plate are fixedly connected to different support plates respectively.
[0012] The clamping assembly includes two clamping members disposed between a first mounting plate and a second mounting plate, and the opposite end faces of the two clamping members are provided with arc-shaped grooves for clamping the flexible shaft;
[0013] Elastic damping components are arranged between each clamping component and the mounting plate adjacent to it.
[0014] Furthermore, the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. Each mounting plate is provided with a through hole extending along the x-direction. Each clamping member has a support rod with a through hole on its end face adjacent to the mounting plate. The support rod and the hole wall of the through hole can slide together along the x-direction. The elastic damping member is fitted on the support rod.
[0015] Furthermore, the two clamping members constituting the clamping assembly are also arranged along the x-direction, and the support rod is set on the end face of each clamping member away from the other clamping member; or, the axial direction of the cylinder is defined to extend along the z-direction, the two clamping members constituting the clamping assembly are arranged along the y-direction, and the support rod is set on the end face of each clamping member at both ends in the x-direction.
[0016] Furthermore, one of the two clamping members constituting the clamping assembly has a threaded hole, and the other has a countersunk hole, so that the two clamping members constituting the clamping assembly are fixedly connected by bolts.
[0017] Furthermore, the number of the first mounting plate and the second mounting plate is n, n≥2, and the first mounting plate and the second mounting plate correspond one-to-one to form n pairs of mounting plates. Each pair of mounting plates is provided with a clamping component, and the clamping components located between different pairs of mounting plates are used to clamp different flexible shafts.
[0018] Furthermore, at least two sets of clamping assemblies are provided between each pair of mounting plates, and the clamping assemblies located between the same pair of mounting plates are used to clamp the same flexible shaft.
[0019] Furthermore, the two support plates are parallel to each other, and the arrangement direction of the two support plates is defined as the z-direction. Both ends of the first mounting plate in the z-direction are connected to connecting horizontal plates. The two connecting horizontal plates are parallel to each other, and each connecting horizontal plate is provided with bolt holes. The support plate is provided with threaded holes corresponding to the bolt holes on the connecting horizontal plates. Each connecting horizontal plate is fixedly connected to different support plates by bolts to achieve indirect fixed connection between the first mounting plate and the support plate.
[0020] Furthermore, the two support plates are parallel to each other, and the first mounting plate and the second mounting plate are parallel to each other. The arrangement direction of the two support plates is defined as the z-direction, and the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. The two ends of the second mounting plate in the z-direction are welded to different support plates respectively. One end of the second mounting plate in the y-direction is welded to the cylinder, and the other end is connected to a reinforcing plate. The two ends of the reinforcing plate in the z-direction are welded to different support plates respectively.
[0021] The beneficial effects of the clamp provided by this utility model are as follows: This utility model innovatively proposes a clamp for combining a vibrator with a robotic arm robot. It uses an elastic damping element to buffer the vibration of the clamping element, preventing the vibration of the clamping element from being transmitted to the cylinder, thereby preventing the vibration of the flexible shaft held by the clamping element from being transmitted to the robotic arm robot connected to the cylinder, thus preventing the robotic arm robot from being damaged by vibration. It is also possible to use the robotic arm robot to adjust the position of the flexible shaft and the vibrating head connected to the flexible shaft, thereby realizing automated stirring.
[0022] To facilitate understanding by those skilled in the art, the beneficial effects of the fixture of this utility model will be described in detail below in conjunction with specific usage scenarios.
[0023] During installation, the mounting flange of the cylinder is used to connect the clamp to the end flange of the robotic arm of the robotic arm robot (specifically, to the connecting flange at the end of the robotic arm). At the same time, the clamping assembly is used to clamp the flexible shaft, so that the robotic arm can drive the clamp and the flexible shaft held by the clamp to move, thereby driving the vibrating head connected to the flexible shaft to move.
[0024] During mixing, workers can set the movement path of the robotic arm to ensure that the vibrating head thoroughly mixes the ash in every corner of the mold, improving the pass rate of the brick blanks. At the same time, because the robotic arm can move the vibrating head automatically, workers can stay away from the vibrator motor, reducing the personal injury caused by noise.
[0025] When the motor drives the flexible shaft and vibrating head to vibrate, the vibration of the flexible shaft is transmitted to the clamping component. Since there is an elastic damping component between the clamping component and the adjacent mounting plate, the vibration of the mounting plate can be effectively reduced, thereby reducing the vibration of the support plate and cylinder connected to the mounting plate, and thus reducing the vibration of the robotic arm and protecting the robotic arm from damage.
[0026] To achieve the above objectives, the technical solution of the mixing robot provided by this utility model is as follows:
[0027] A mixing robot includes a robotic arm robot, a vibrator, and a gripper. The motor of the vibrator is fixed to the robotic arm robot, and the gripper includes a bracket, an elastic damping element, and a gripping assembly mounted on the bracket.
[0028] The bracket includes a cylinder, a first mounting plate, a second mounting plate, and two support plates fixedly connected to the outer circumferential surface of the cylinder. One end of the cylinder is detachably connected to the end of the robotic arm of the robotic arm robot. The support plates are provided with clearance holes for clearance flexible shafts. The two ends of each mounting plate are fixedly connected to different support plates respectively.
[0029] The clamping assembly includes two clamping members disposed between a first mounting plate and a second mounting plate, and the opposite end faces of the two clamping members are provided with arc-shaped grooves for clamping the flexible shaft;
[0030] Elastic damping components are arranged between each clamping component and the mounting plate adjacent to it.
[0031] Furthermore, the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. Each mounting plate is provided with a through hole extending along the x-direction. Each clamping member has a support rod with a through hole on its end face adjacent to the mounting plate. The support rod and the hole wall of the through hole can slide together along the x-direction. The elastic damping member is fitted on the support rod.
[0032] Furthermore, the two clamping members constituting the clamping assembly are also arranged along the x-direction, and the support rod is set on the end face of each clamping member away from the other clamping member; or, the axial direction of the cylinder is defined to extend along the z-direction, the two clamping members constituting the clamping assembly are arranged along the y-direction, and the support rod is set on the end face of each clamping member at both ends in the x-direction.
[0033] Furthermore, one of the two clamping members constituting the clamping assembly has a threaded hole, and the other has a countersunk hole, so that the two clamping members constituting the clamping assembly are fixedly connected by bolts.
[0034] Furthermore, the number of the first mounting plate and the second mounting plate is n, n≥2, and the first mounting plate and the second mounting plate correspond one-to-one to form n pairs of mounting plates. Each pair of mounting plates is provided with a clamping component, and the clamping components located between different pairs of mounting plates are used to clamp different flexible shafts.
[0035] Furthermore, at least two sets of clamping assemblies are provided between each pair of mounting plates, and the clamping assemblies located between the same pair of mounting plates are used to clamp the same flexible shaft.
[0036] Furthermore, the two support plates are parallel to each other, and the arrangement direction of the two support plates is defined as the z-direction. Both ends of the first mounting plate in the z-direction are connected to connecting horizontal plates. The two connecting horizontal plates are parallel to each other, and each connecting horizontal plate is provided with bolt holes. The support plate is provided with threaded holes corresponding to the bolt holes on the connecting horizontal plates. Each connecting horizontal plate is fixedly connected to different support plates by bolts to achieve indirect fixed connection between the first mounting plate and the support plate.
[0037] Furthermore, the two support plates are parallel to each other, and the first mounting plate and the second mounting plate are parallel to each other. The arrangement direction of the two support plates is defined as the z-direction, and the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. The two ends of the second mounting plate in the z-direction are welded to different support plates respectively. One end of the second mounting plate in the y-direction is welded to the cylinder, and the other end is connected to a reinforcing plate. The two ends of the reinforcing plate in the z-direction are welded to different support plates respectively.
[0038] The beneficial effects of the mixing robot provided by this utility model are as follows: based on the existing robotic arm robot and vibrator, the robotic arm robot and vibrator are combined by using a clamp so that the movement of the vibrating head can be controlled by the robotic arm robot.
[0039] During mixing, workers can set the movement path of the robotic arm to ensure that the vibrating head thoroughly mixes the ash in every corner of the mold, improving the pass rate of the brick blanks. At the same time, because the robotic arm can move the vibrating head automatically, workers can stay away from the vibrator motor, reducing the personal injury caused by noise.
[0040] When the motor drives the flexible shaft and vibrating head to vibrate, the vibration of the flexible shaft is transmitted to the clamping component. Since there is an elastic damping component between the clamping component and the adjacent mounting plate, the vibration of the mounting plate can be effectively reduced, thereby reducing the vibration of the support plate and cylinder connected to the mounting plate, and thus reducing the vibration of the robotic arm and protecting the robotic arm from damage. Attached Figure Description
[0041] Figure 1 This is a schematic diagram of the structure of an existing vibrator;
[0042] Figure 2 This is a schematic diagram of the fixture's structure;
[0043] Figure 3 This is a top view of the fixture;
[0044] Figure 4 A schematic diagram of the fixture after omitting one U-shaped plate;
[0045] Figure 5 A schematic diagram of the fixture after omitting one U-shaped plate and one support plate;
[0046] Figure 6 This is a schematic diagram of the assembled structure of the clamping components, elastic damping components, and support rods.
[0047] Figure 7 This is a schematic diagram of the support plate structure;
[0048] Figure 8 A schematic diagram of the fixture after omitting the two support plates;
[0049] Figure 9 This is a schematic diagram of the assembled robotic arm and motor in a mixing robot.
[0050] Figure 10 This is a diagram showing the movement path of the vibrating head of the mixing robot.
[0051] Explanation of reference numerals in the attached figures:
[0052] Figure 1 In the middle: 1. Motor; 2. Flexible shaft; 3. Vibrating head.
[0053] Figures 2-10 Components: 1. Mounting flange; 2. Support plate; 2-1. First threaded hole; 2-2. Clearance hole; 2-3. Cylinder perforation; 3. Cylinder; 4. Reinforcing rib plate; 5. U-shaped plate; 5-1. Connecting horizontal plate; 5-2. Bolt perforation; 5-3. First mounting plate; 6. L-shaped plate; 6-1. Second mounting plate; 6-2. Reinforcing plate; 7. Support rod; 8. Elastic damping component; 9. Clamping component; 9-1. Countersunk hole; 9-2. Arc groove; 9-3. Second threaded hole; 10. Robotic arm type robot; 10-1. Connecting flange; 11. Mounting base; 12. Motor; 13. Mold. Detailed Implementation
[0054] The core inventive concept of this utility model is: using a robotic arm to control the movement of a flexible shaft and a vibrating head, while a clamp is installed on the robotic arm and uses a clamp with a vibration damping effect to hold the flexible shaft, thereby preventing the robotic arm from being damaged by large vibrations.
[0055] Based on the above inventive concept, the present invention will be further described in detail below with reference to embodiments of the clamp.
[0056] Reference Figures 2-10 As shown, in a basic embodiment, the clamp includes a bracket for connecting to the robotic arm robot 10, a clamping assembly mounted on the bracket for clamping the flexible shaft, and an elastic damping member 8 disposed between the clamping assembly and the bracket; the bracket includes a cylinder 3, a first mounting plate 5-3, a second mounting plate 6-1, and two support plates 2 fixedly connected to the outer circumferential surface of the cylinder 3. One end of the cylinder 3 has a mounting flange 1 for connecting to the robotic arm robot 10. The support plates 2 are provided with clearance holes 2-2 for avoiding the flexible shaft. The two ends of each mounting plate are fixedly connected to different support plates 2 respectively; the clamping assembly includes two clamping members 9 disposed between the first mounting plate 5-3 and the second mounting plate 6-1. The opposite end faces of the two clamping members 9 are provided with arc-shaped grooves 9-2 for clamping the flexible shaft; the elastic damping member 8 is disposed between each clamping member 9 and the mounting plate adjacent to it.
[0057] Among them, the elastic damping component 8 is a spring, rubber cylinder, rubber pad, silicone cylinder or silicone pad or other commonly used elastic damping components 8 in this field; Figure 9 The robotic arm robot 10 in this paper is model FANUC ROBOL R-2000iC. Of course, other models of robotic arm robot 10 can also be selected. The robotic arm robot 10 is purchased as a whole, and its specific structure will not be described in detail in this paper. The clamping component 9 can be a clamping plate, clamping block, clamping hoop, or other forms of clamping component 9, as long as it can clamp the cylindrical flexible shaft. The arc groove 9-2 is preferably a semi-circular arc groove that matches the flexible shaft to better clamp the flexible shaft.
[0058] In this utility model, for the convenience of those skilled in the art, the arrangement direction of the first mounting plate 5-3 and the second mounting plate 6-1 is defined as the x-direction, the axial direction of the cylinder 3 is defined as the z-direction, and the two support plates 2 are arranged along the z-direction.
[0059] To facilitate understanding by those skilled in the art, the beneficial effects of the fixture of this utility model will be described in detail below in conjunction with specific usage scenarios.
[0060] During installation, the mounting flange 1 of the cylinder 3 is used to connect the clamp to the end flange of the robotic arm of the robotic arm robot 10 (specifically, it is connected to the connecting flange 10-1 at the end of the robotic arm). At the same time, the clamping assembly is used to clamp the flexible shaft, so that the robotic arm can drive the clamp and the flexible shaft clamped by the clamp to move, thereby driving the vibrating head connected to the flexible shaft to move.
[0061] During mixing, the operator can set the movement path of the robotic arm to ensure that the vibrating head thoroughly mixes the ash material in every corner of the mold 13 (see reference). Figure 10 (Understanding the movement path of the vibrating head) improves the pass rate of brick blanks. At the same time, since the robotic arm 10 can drive the vibrating head to move automatically, workers can stay away from the motor 12 of the vibrator, reducing the personal injury caused by noise.
[0062] When the motor 12 drives the flexible shaft and the vibrating head to vibrate, the vibration of the flexible shaft is transmitted to the clamping member 9. Since the clamping member 9 and the adjacent mounting plate are provided with elastic damping members 8, the vibration of the mounting plate can be effectively reduced, thereby reducing the vibration of the support plate 2 and the cylinder 3 connected to the mounting plate, and thus reducing the vibration of the robotic arm and protecting the robotic arm from damage.
[0063] Preferably, such as Figure 7 As shown, in one embodiment, the clearance hole 2-2 extends to the edge of the support plate 2x in the x direction, so that the flexible shaft can be directly inserted into the clearance hole 2-2 from the side in the x direction during assembly, and then the clamping assembly can be closed for easy installation.
[0064] In other embodiments, the clearance hole 2-2 may not extend to the edge of the support plate 2x. During assembly, the flexible shaft needs to pass through the clearance hole 2-2 along the z direction (the flexible shaft can be inserted from the end connected to the vibrating head; or the flexible shaft can be inserted from the end connected to the motor 12, and then the flexible shaft can be connected to the motor 12 after insertion), and then the clamping assembly is closed.
[0065] In a preferred embodiment, each mounting plate is provided with a through hole extending in the x direction, and each clamping member 9 is provided with a support rod 7 through the through hole on the end face of the mounting plate. The support rod 7 is slidably engaged with the hole wall of the through hole in the x direction. The elastic damping member 8 is fitted on the support rod 7. The mounting plate supports the clamping member 9 through the support rod 7 to realize the installation of the clamping assembly.
[0066] When the elastic damping element 8 is a compression elastic damping element such as a compression spring, rubber cylinder, or silicone cylinder, the compression elastic damping element is squeezed between the clamping element 9 and the end face of the mounting plate adjacent to it; when the elastic damping element 8 is a tension elastic damping element such as a tension spring, the two ends of the tension elastic damping element are welded to the clamping element 9 and the mounting plate respectively, and the tension elastic damping element is stretched between the end face of the clamping element 9 and the end face of the mounting plate adjacent to it.
[0067] It should be noted that when the elastic damping element 8 is a tensile elastic damping element, the tensile elastic damping element applies a force to the clamping assembly that separates the two clamping elements 9, so fasteners must be used to fix the two clamping elements 9 together; when the elastic damping element 8 is a compressive elastic damping element, the compressive elastic damping element applies a force to the clamping assembly that brings the two clamping elements 9 closer together. In this case, fasteners can be used to fix the two clamping elements 9 together, or the two clamping elements 9 can be directly clamped by the action of the compressive elastic damping element 8 to hold the flexible shaft.
[0068] Reference Figures 4-6 As shown, when it is necessary to use fasteners to fix the two clamping parts 9 together, preferably, one of the two clamping parts 9 constituting the clamping assembly is provided with a second threaded hole 9-3, and the other is provided with a countersunk hole 9-1, so that the two clamping parts 9 constituting the clamping assembly are fixedly connected by bolts, and the clamping force of the two clamping parts 9 clamping the flexible shaft can be adjusted by turning the bolts.
[0069] Of course, the two clamping parts 9 can also be connected using bolts and nuts, which will not be elaborated here.
[0070] When it is not necessary to use fasteners to fix the two clamping parts 9 together, the elastic damping part 8 can be a rubber pad or a silicone pad. The two ends of the rubber pad (silicone pad) in the x direction are respectively bonded and fixed to the clamping part 9 and the corresponding mounting plate to realize the installation of the clamping assembly. In this case, the rubber pad (silicone pad) can be used to support the clamping part 9, so the support rod 7 is not required. The elastic damping part 8 can also be a compression spring. The two ends of the compression spring press against the clamping part 9 and the corresponding mounting plate to realize the installation of the clamping assembly. In this case, since the clamping part 9 is located between the support plates 2, the lower support plate 2 can support the clamping part 9, so the support rod 7 is not required.
[0071] exist Figures 2-8 In the embodiment shown, the two clamping members 9 constituting the clamping assembly are also arranged along the x-direction, and the support rod 7 is disposed on the end face of each clamping member 9 away from the other clamping member 9. That is, the support rod 7 is disposed at the end of each clamping member 9 adjacent to the mounting plate in the x-direction, which is simple in structure.
[0072] In other embodiments, two clamping members 9 constituting the clamping assembly are arranged along the y-direction, and support rods 7 are disposed on the end faces of each clamping member 9 at both ends in the x-direction.
[0073] As can be seen from the above embodiments, if the clamping assembly is considered as a whole, the support rod 7 is provided at both ends of the clamping assembly in the x-direction.
[0074] In the above embodiments, there may be only one pair of mounting plates. After the clamp is applied to the mixing robot, the robotic arm robot 10 can only control one vibrator to mix the material.
[0075] To improve stirring efficiency, in one embodiment, the number of first mounting plates 5-3 and second mounting plates 6-1 is n, n≥2, and the first mounting plates 5-3 and second mounting plates 6-1 correspond one-to-one to form n pairs of mounting plates. Each pair of mounting plates is provided with a clamping component, and the clamping component located between different pairs of mounting plates is used to clamp different flexible shafts.
[0076] exist Figures 2-8 In the embodiment shown, n is 2, so that the clamp can hold two flexible shafts at a time. When the clamp is applied to a mixing robot, the mixing robot can control two vibrators to simultaneously mix the material in the mold 13.
[0077] In other embodiments, n can also be 3, 4 or other numbers, so that the mixing robot can simultaneously control 3, 4 or other groups of vibrators to mix the material. Those skilled in the art can set the number of mounting plates (clamping components) according to actual needs.
[0078] In the above embodiment, only one set of clamping components is provided between each pair of mounting plates. The height of the clamping components in the z-direction is relatively large. When the clamping components are vibrated and have a small angle with the z-direction, the skew displacement of the clamping components is relatively large due to the influence of the large height of the clamping components in the z-direction.
[0079] Reference Figures 4-8 As shown, to improve the clamping and vibration reduction effects, in one embodiment, at least two sets of clamping components are provided between each pair of mounting plates. The clamping components located between the same pair of mounting plates are used to clamp the same flexible shaft, that is, at least two sets of clamping components are arranged along the z-direction between the same pair of mounting plates to better clamp the flexible shaft. At the same time, each set of clamping components is equipped with an elastic damping element 8, and the z-direction height of each set of clamping components is small. When the flexible shaft vibrates, the clamping components can be misaligned in the x-direction to better buffer the vibration of the flexible shaft and improve the vibration reduction effect.
[0080] exist Figures 4-8 In the illustrated embodiment, there are a total of 5 sets of clamping components between the same pair of mounting plates to improve the clamping effect and vibration reduction effect.
[0081] In other embodiments, there may be two, three, four or other sets of clamping components between the same pair of mounting plates, which will not be described in detail here.
[0082] exist Figures 2-8 In the embodiment shown, the two support plates 2 are parallel to each other, and the first mounting plate 5-3 is connected to both ends of the first mounting plate 5-3 with connecting horizontal plates 5-1. The two connecting horizontal plates 5-1 are parallel to each other to form a U-shaped plate 5. Each connecting horizontal plate 5-1 is provided with bolt holes 5-2, and the support plate 2 is provided with first threaded holes 2-1 corresponding to the bolt holes 5-2 on the connecting horizontal plates 5-1. Each connecting horizontal plate 5-1 is fixedly connected to different support plates 2 by bolts to realize the indirect fixed connection between the first mounting plate 5-3 and the support plate 2, thereby facilitating the assembly and disassembly of the U-shaped plate 5.
[0083] Among them, the U-shaped plate 5 is formed by bending a piece of sheet material, that is, the two connecting horizontal plates 5-1 and the first mounting plate 5-3 are formed by bending a piece of sheet material; of course, the first mounting plate 5-3 and the connecting horizontal plates 5-1 can also be fixedly connected by welding or other methods.
[0084] In other embodiments, the two ends of the first mounting plate 5-3 in the z-direction can also be directly welded to each support plate 2, thus eliminating the need for a connecting cross plate 5-1. In this case, the two support plates 2 may not be parallel, and the space between the two support plates 2 may gradually increase or decrease along the y-direction, but it can still accommodate the clamping assembly.
[0085] exist Figures 2-8In the embodiment shown, the first mounting plate 5-3 and the second mounting plate 6-1 are parallel to each other. The two ends of the second mounting plate 6-1 in the z direction are welded to different support plates 2 respectively. One end of the second mounting plate 6-1 in the y direction is welded to the cylinder 3, and the other end is connected to a reinforcing plate 6-2 to form an L-shaped plate 6. The two ends of the reinforcing plate 6-2 in the z direction are welded to different support plates 2 respectively.
[0086] Among them, the L-shaped plate 6 is formed by bending a single sheet of material, that is, the second mounting plate 6-1 and the reinforcing plate 6-2 are formed by bending a single sheet of material; of course, the second mounting plate 6-1 and the reinforcing plate 6-2 can also be fixedly connected by welding or other methods.
[0087] exist Figures 2-8 In the illustrated embodiment, in addition to being welded to the outer circumferential surface of the cylinder 3 (the support plate 2 has a cylinder through hole 2-3 for the cylinder 3 to pass through; after the cylinder 3 passes through the cylinder through hole 2-3, the support plate 2 is welded to the cylinder 3), multiple reinforcing ribs 4 are also welded to the outer circumferential surface of the cylinder 3. These reinforcing ribs 4 are also welded to one or two support plates 2 to enhance the connection strength between the cylinder 3 and the support plate 2. During use, the weight of the vibrating head and the flexible shaft acts directly on the clamping assembly. The clamping assembly transmits the force to the support plate 2 through the support rod 7 and the mounting plate. Therefore, the weight of the flexible shaft and the vibrating head is equivalent to pressing on the support plate 2, hence the reinforcing ribs 4 are provided to enhance the connection strength between the support plate 2 and the cylinder 3.
[0088] Based on the clamps described above, the following describes an embodiment of the mixing robot.
[0089] In reference Figures 2-8 On the basis of, such as Figure 9 As shown, the mixing robot includes a robotic arm robot 10, a vibrator, and a clamp. The motor 12 of the vibrator is fixed to the robotic arm robot 10. The clamp includes a bracket, an elastic damping element 8, and a clamping assembly mounted on the bracket. The bracket includes a cylinder 3, a first mounting plate 5-3, a second mounting plate 6-1, and two support plates 2 fixedly connected to the outer circumferential surface of the cylinder 3. One end of the cylinder 3 is detachably connected to the end of the robotic arm of the robotic arm robot 10. The support plates 2 are provided with clearance holes 2-2 for avoiding flexible shafts. The two ends of each mounting plate are fixedly connected to different support plates 2. The clamping assembly includes two clamping elements 9 disposed between the first mounting plate 5-3 and the second mounting plate 6-1. The opposite end faces of the two clamping elements 9 are provided with arc-shaped grooves 9-2 for clamping flexible shafts. The elastic damping element 8 is disposed between each clamping element 9 and the adjacent mounting plate.
[0090] Among them, such as Figure 9As shown, a mounting base 11 is installed on the robotic arm, and a motor 12 is installed on the mounting base 11. The mounting base 11 includes a flat plate, two arc-shaped plates, and a connecting plate connecting the arc-shaped plates and the flat plate. The arc-shaped plates are fixedly connected to the robotic arm by welding or bolts. The two ends of the connecting plate are welded to the arc-shaped plates and the flat plate, respectively. The flat plate is machined with threaded holes or through holes for bolts to pass through, so as to fix the motor 12 to the flat plate by bolts. When the clamp is any of the clamp embodiments, the clamp is connected to the flange of the robotic arm. When the end of the robotic arm is provided with a quick-release device without a flange, such as a socket or plug, the clamp is provided with a connection structure that matches the quick-release device, such as a plug or socket. It should be noted that the technology of connecting the end effector to the end of the robotic arm through a quick-release device is the prior art. In this embodiment, the clamp is equivalent to the end effector. The clamp is connected to the robotic arm through a quick-release device. The other structures of the clamp, except for the connection with the robotic arm, are the same as the corresponding structures in the clamp embodiments, and will not be described again here.
[0091] like Figure 10 As shown, when the clamp simultaneously holds two flexible shafts (i.e., when the clamp includes two sets of clamping components), by setting the parameters of the robotic arm 10, the two vibrating heads can be made to move in accordance with the clamping mechanism. Figure 10 The sequential motion shown is used to stir the ash material in each corner of the mold 13, thereby improving the pass rate of the brick blanks.
[0092] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some technical features, or organically combine different specific implementation methods to create the specific implementation methods shown in the accompanying drawings. Of course, those skilled in the art can also create other specific implementation methods not shown in the accompanying drawings. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A clamp, characterized in that, It includes a bracket for connecting to a robotic arm, a clamping assembly mounted on the bracket for holding a flexible shaft, and an elastic damping element disposed between the clamping assembly and the bracket; The bracket includes a cylinder, a first mounting plate, a second mounting plate, and two support plates fixedly connected to the outer peripheral surface of the cylinder. One end of the cylinder has a mounting flange for connecting to a robotic arm robot. The support plates are provided with clearance holes for avoiding flexible shafts. The two ends of each mounting plate are fixedly connected to different support plates respectively. The clamping assembly includes two clamping members disposed between a first mounting plate and a second mounting plate, and the opposite end faces of the two clamping members are provided with arc-shaped grooves for clamping the flexible shaft; Elastic damping components are arranged between each clamping component and the mounting plate adjacent to it.
2. The clamp as described in claim 1, characterized in that, The arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. Each mounting plate is provided with a through hole extending along the x-direction. Each clamping member has a support rod with a through hole on its end face adjacent to the mounting plate. The support rod and the hole wall of the through hole can slide together along the x-direction. The elastic damping member is fitted on the support rod.
3. The clamp as described in claim 2, characterized in that, The two clamping members constituting the clamping assembly are also arranged along the x-direction, and the support rod is set on the end face of each clamping member away from the other clamping member; or, the axial direction of the cylinder is defined to extend along the z-direction, the two clamping members constituting the clamping assembly are arranged along the y-direction, and the support rod is set on the end face of each clamping member at both ends in the x-direction.
4. The clamp as described in claim 2, characterized in that, One of the two clamping members constituting the clamping assembly has a threaded hole, and the other has a countersunk hole, so that the two clamping members constituting the clamping assembly are fixedly connected by bolts.
5. The clamp as described in any one of claims 1 to 4, characterized in that, The number of the first mounting plate and the second mounting plate is n, n≥2, and the first mounting plate and the second mounting plate are in one-to-one correspondence to form n pairs of mounting plates. Each pair of mounting plates is provided with a clamping component, and the clamping components located between different pairs of mounting plates are used to clamp different flexible shafts.
6. The clamp as described in claim 5, characterized in that, At least two sets of clamping assemblies are provided between each pair of mounting plates, and the clamping assemblies located between the same pair of mounting plates are used to clamp the same flexible shaft.
7. The clamp as described in any one of claims 1 to 4, characterized in that, The two support plates are parallel to each other, and the arrangement direction of the two support plates is defined as the z-direction. Both ends of the first mounting plate in the z-direction are connected to connecting horizontal plates. The two connecting horizontal plates are parallel to each other, and each connecting horizontal plate is provided with bolt holes. The support plate is provided with threaded holes corresponding to the bolt holes on the connecting horizontal plates. Each connecting horizontal plate is fixedly connected to different support plates by bolts to achieve indirect fixed connection between the first mounting plate and the support plate.
8. The clamp as described in any one of claims 1 to 4, characterized in that, The two support plates are parallel to each other, and the first mounting plate and the second mounting plate are parallel to each other. The arrangement direction of the two support plates is defined as the z-direction, and the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. The two ends of the second mounting plate in the z-direction are welded to different support plates respectively. One end of the second mounting plate in the y-direction is welded to the cylinder, and the other end is connected to a reinforcing plate. The two ends of the reinforcing plate in the z-direction are welded to different support plates respectively.
9. A mixing robot, characterized in that, It includes a robotic arm robot, a vibrator, and a gripper. The motor of the vibrator is fixed to the robotic arm robot, and the gripper includes a bracket, an elastic damping element, and a gripping assembly mounted on the bracket. The bracket includes a cylinder, a first mounting plate, a second mounting plate, and two support plates fixedly connected to the outer circumferential surface of the cylinder. One end of the cylinder is detachably connected to the end of the robotic arm of the robotic arm robot. The support plates are provided with clearance holes for clearance flexible shafts. The two ends of each mounting plate are fixedly connected to different support plates respectively. The clamping assembly includes two clamping members disposed between the first mounting plate and the second mounting plate, and the opposite end faces of the two clamping members are provided with arc-shaped grooves for clamping the flexible shaft; Elastic damping components are arranged between each clamping component and the mounting plate adjacent to it.
10. The mixing robot as described in claim 9, characterized in that, The arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. Each mounting plate is provided with a through hole extending along the x-direction. Each clamping member has a support rod with a through hole on its end face adjacent to the mounting plate. The support rod and the hole wall of the through hole can slide together along the x-direction. The elastic damping member is fitted on the support rod.
11. The mixing robot as described in claim 10, characterized in that, The two clamping members constituting the clamping assembly are also arranged along the x-direction, and the support rod is set on the end face of each clamping member away from the other clamping member; or, the axial direction of the cylinder is defined to extend along the z-direction, the two clamping members constituting the clamping assembly are arranged along the y-direction, and the support rod is set on the end face of each clamping member at both ends in the x-direction.
12. The mixing robot as described in claim 10, characterized in that, One of the two clamping members constituting the clamping assembly has a threaded hole, and the other has a countersunk hole, so that the two clamping members constituting the clamping assembly are fixedly connected by bolts.
13. The mixing robot as described in any one of claims 9 to 2, characterized in that, The number of the first mounting plate and the second mounting plate is n, n≥2, and the first mounting plate and the second mounting plate are in one-to-one correspondence to form n pairs of mounting plates. Each pair of mounting plates is provided with a clamping component, and the clamping components located between different pairs of mounting plates are used to clamp different flexible shafts.
14. The mixing robot as described in claim 13, characterized in that, At least two sets of clamping assemblies are provided between each pair of mounting plates, and the clamping assemblies located between the same pair of mounting plates are used to clamp the same flexible shaft.
15. The mixing robot as described in any one of claims 9 to 12, characterized in that, The two support plates are parallel to each other, and the arrangement direction of the two support plates is defined as the z-direction. Both ends of the first mounting plate in the z-direction are connected to connecting horizontal plates. The two connecting horizontal plates are parallel to each other, and each connecting horizontal plate is provided with bolt holes. The support plate is provided with threaded holes corresponding to the bolt holes on the connecting horizontal plates. Each connecting horizontal plate is fixedly connected to different support plates by bolts to achieve indirect fixed connection between the first mounting plate and the support plate.
16. The mixing robot as described in any one of claims 9 to 12, characterized in that, The two support plates are parallel to each other, and the first mounting plate and the second mounting plate are parallel to each other. The arrangement direction of the two support plates is defined as the z-direction, and the arrangement direction of the first mounting plate and the second mounting plate is defined as the x-direction. The two ends of the second mounting plate in the z-direction are welded to different support plates respectively. One end of the second mounting plate in the y-direction is welded to the cylinder, and the other end is connected to a reinforcing plate. The two ends of the reinforcing plate in the z-direction are welded to different support plates respectively.