Industrial robot gripping structure kit

Abstract

The utility model provides a kind of industrial robot clamping structure suit, it is related to jig technical field.A kind of industrial robot clamping structure suit, including rack, jig selection component, rotary drive component, pneumatic drive component and telescopic drive component.Wherein, jig selection component is used to realize the selection of various jigs, so that corresponding pneumatic clamp, rotary clamp and telescopic clamp can reach predetermined work area respectively.And rotary drive component is used to drive rotary clamp located in work area, above-mentioned pneumatic drive component can drive pneumatic clamp of work area.Above-mentioned telescopic drive component is used to drive telescopic clamp in work area.Therefore, the industrial robot clamping structure suit can integrate pneumatic clamp, rotary clamp and telescopic clamp on the same robot, and can achieve free switching clamp, ensure that switched clamp can have normal drive.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, and more specifically, to an industrial robot clamping structure kit. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom robotic devices widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. Industrial robots are widely used in various industrial sectors such as electronics, logistics, and chemicals. Currently, in the machining industry, manipulators are frequently used to move machined workpieces to other locations. Existing manipulator grippers include pneumatic grippers, rotary-driven lead screw grippers, and linear motion-driven telescopic grippers. These types of grippers are generally installed and used separately, and cannot be integrated into a single package on the same robot, nor can they be freely switched between different grippers to meet different power source requirements. Utility Model Content

[0003] The purpose of this utility model is to provide an industrial robot gripping structure kit that can integrate pneumatic grippers, rotary grippers and telescopic grippers on the same robot, and can freely switch grippers to ensure that the switched grippers can have normal drive.

[0004] The embodiments of this utility model are implemented as follows:

[0005] This application provides an industrial robot clamping structure kit, including:

[0006] frame;

[0007] The clamp selection assembly includes a first connecting column, a first lifting mechanism, a first rotating mechanism, a rotating disk, a pneumatic clamp, a rotating clamp, and a telescopic clamp. The pneumatic clamp, the rotating clamp, and the telescopic clamp are circumferentially evenly spaced on the rotating disk. One end of the first connecting column is coaxially connected to the rotating disk. The first connecting column is rotatably mounted on the frame. The first lifting mechanism is mounted on the frame, and its lifting end is connected to the first connecting column. The first rotating mechanism is located between the lifting end of the first lifting mechanism and the first connecting column. The fixed end of the first rotating mechanism is located at the lifting end of the first lifting mechanism, and its rotating end is coaxially connected to the first connecting column.

[0008] A rotary drive assembly includes a second connecting post, a bushing, and a connecting shaft. The second connecting post is rotatably mounted on a frame. The bushing is disposed at the end of the second connecting post. One end of the connecting shaft is disposed at the rotary input end of the rotary fixture. The connecting shaft can rotate to a position coaxial with the bushing and can extend into the bushing. After the bushing rotates, it can drive the connecting shaft to rotate.

[0009] A pneumatic drive assembly includes a quick connector, which includes a female head and a female head. The female head is disposed on the pneumatic clamp, one end of which is connected to the air inlet of the pneumatic clamp. The female head is coaxially disposed on a second connecting post. One end of the female head is detachably connected to the free end of the female head, and the other end is connected to an air source. The female head can rotate to a position coaxial with the female head.

[0010] The telescopic drive assembly includes a telescopic rod and a plurality of second lifting mechanisms disposed between the bushing and the second connecting column. One end of the telescopic rod is connected to the telescopic drive end of the telescopic clamp, and the other end is detachably connected to the bushing. The fixed end of the second lifting mechanism is disposed on the second connecting column, and the telescopic end of the second lifting mechanism is connected to the bushing.

[0011] In some embodiments of this utility model, the first lifting mechanism is an electric push rod.

[0012] In some embodiments of this utility model, the first rotating mechanism is a rotary motor.

[0013] In some embodiments of this utility model, the cross-section of the connecting shaft is a segmental structure, and the opening of the bushing is adapted to the segmental structure.

[0014] In some embodiments of this utility model, the frame is provided with a second rotating mechanism for driving the second connecting column to rotate. The second rotating mechanism includes an external gear ring and a drive gear. The drive gear is rotatably mounted on the frame, the external gear ring is sleeved on the second connecting column, and the drive gear meshes with the external gear ring.

[0015] In some embodiments of this utility model, a detachable component is provided between the telescopic rod and the bushing. The detachable component includes a snap-fit ​​component. A special-shaped slot is provided inside the bushing. The snap-fit ​​component is disposed on the telescopic rod and can extend into the special-shaped slot and snap-fit ​​with the bushing.

[0016] In some embodiments of this utility model, the second lifting mechanism is a cylinder rod, and each cylinder rod is connected to a pneumatic control circuit, which is used to control the extension and retraction of the cylinder rod.

[0017] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0018] This invention provides an industrial robot gripping structure kit, wherein a gripper selection component is used to select various grippers, enabling corresponding pneumatic grippers, rotary grippers, and telescopic grippers to reach predetermined working areas. A rotary drive component drives the rotary grippers in the working area, while the pneumatic drive component drives the pneumatic grippers in the working area. The telescopic drive component drives the telescopic grippers in the working area. Therefore, this industrial robot gripping structure kit can integrate pneumatic grippers, rotary grippers, and telescopic grippers onto a single robot, and allows for free switching of grippers, ensuring that the switched grippers can function normally. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional cross-sectional structural diagram of an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of the fixture selection component according to an embodiment of the present invention;

[0022] Figure 3 This is a three-dimensional structural diagram of one embodiment of the present invention;

[0023] Figure 4 This is a three-dimensional structural schematic diagram of another embodiment of the present utility model;

[0024] Figure 5 This is a schematic diagram of the installation structure of the second lifting mechanism in an embodiment of this utility model;

[0025] Figure 6 This is a schematic diagram of the irregular bayonet structure in an embodiment of this utility model.

[0026] Icons: 1-Frame; 2-First connecting column; 3-First lifting mechanism; 4-First rotating mechanism; 5-Rotating disc; 6-Pneumatic clamp; 7-Rotating clamp; 8-Telescopic clamp; 9-Second connecting column; 10-Busset; 11-Connecting shaft; 12-Female head; 13-Female head; 14-Air source; 15-Telescopic rod; 16-Second lifting mechanism; 17-Second rotating mechanism; 171-External gear ring; 172-Drive gear; 173-Base plate; 174-Rotating shaft; 175-Drive motor; 18-Snap-fit ​​component; 19-Irregular bayonet. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] In the description of the embodiments of this utility model, it should be noted that the terms "first", "second", "third", etc. are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0030] Example

[0031] Please refer to Figures 1-6 This embodiment provides an industrial robot clamping structure kit, including a frame 1, a clamp selection component, a rotary drive component, a pneumatic drive component, and a telescopic drive component.

[0032] The clamp selection component allows for the selection of various clamps, enabling the corresponding pneumatic clamp 6, rotary clamp 7, and telescopic clamp 8 to reach the predetermined working area. The rotary drive component drives the rotary clamp 7 in the working area, while the pneumatic drive component drives the pneumatic clamp 6. The telescopic drive component drives the telescopic clamp 8 in the working area. Therefore, this industrial robot clamping structure kit integrates the pneumatic clamp 6, rotary clamp 7, and telescopic clamp 8 onto the same robot, allowing for free switching between clamps and ensuring that the switched clamps can function normally.

[0033] Specifically, the aforementioned clamp selection assembly includes a first connecting column 2, a first lifting mechanism 3, a first rotating mechanism 4, a rotating disk 5, a pneumatic clamp 6, a rotating clamp 7, and a telescopic clamp 8. The pneumatic clamp 6, rotating clamp 7, and telescopic clamp 8 are evenly spaced circumferentially on the rotating disk 5. One end of the first connecting column 2 is coaxially connected to the rotating disk 5, and the first connecting column 2 is rotatably mounted on the frame 1. The first lifting mechanism 3 is mounted on the frame 1, and its lifting end is connected to the first connecting column 2. The first rotating mechanism 4 is located between the lifting end of the first lifting mechanism 3 and the first connecting column 2, with its fixed end located at the lifting end of the first lifting mechanism 3, and its rotating end coaxially connected to the first connecting column 2. The first connecting column 2, after being rotatably mounted on the frame 1, can rotate freely. The pneumatic clamp 6, rotary clamp 7, and telescopic clamp 8 are mounted on the rotating disk 5. The rotating disk 5 is driven to rotate by the first connecting column 2, so that the pneumatic clamp 6, rotary clamp 7, and telescopic clamp 8 can rotate in sequence. In this way, the pneumatic clamp 6, rotary clamp 7, and telescopic clamp 8 can be selectively fed into the corresponding working area (the "working area" is the area where the clamp is rotated to the coaxial position with the second connecting shaft 11).

[0034] Specifically, the aforementioned rotary drive assembly includes a second connecting column 9, a bushing 10, and a connecting shaft 11. The second connecting column 9 is rotatably mounted on the frame 1, and the bushing 10 is located at the end of the second connecting column 9. One end of the connecting shaft 11 is located at the rotary input end of the rotary clamp 7. The connecting shaft 11 can rotate to a position coaxial with the bushing 10 and can extend into the bushing 10. After the bushing 10 rotates, it can drive the connecting shaft 11 to rotate. The aforementioned rotary clamp 7 is actually a clamping mechanism that drives the clamp to work through rotational motion. It is an existing structure and will not be described further here. If there is any unclear point, please refer to the prior art. After the aforementioned second connecting column 9 is rotatably mounted on the frame 1, it can drive the bushing 10 to rotate. The aforementioned first rotary mechanism 4 can drive the first connecting column 2 to rotate, thereby driving the rotary clamp 7 on the rotating disk 5 to rotate. When the aforementioned rotary clamp 7 rotates to a position coaxial with the second connecting column 9, it reaches the "working area". At this time, the first lifting mechanism 3 drives the first connecting column 2 to lift, thereby driving the rotary clamp 7 to lift. During the lifting process, the connecting shaft 11 on the rotary clamp 7 extends into the bushing 10, connecting the bushing 10 and the connecting shaft 11, at which point the first lifting mechanism 3 stops working. At this time, driving the second connecting column 9 to rotate will cause the bushing 10 to drive the connecting shaft 11 to rotate. After the connecting shaft 11 rotates, it inputs the rotational motion to the rotation input end of the rotary clamp 7, thereby driving the rotary clamp 7 to complete the clamping or releasing action normally.

[0035] Specifically, the aforementioned pneumatic drive assembly includes a quick connector, which comprises a female connector 12 and a female connector 13. The female connector 12 is mounted on the pneumatic clamp 6, with one end connected to the air inlet of the clamp 6. The female connector 13 is coaxially mounted on the second connecting post 9, with one end detachably connected to the free end of the female connector 12, and the other end connected to an air source 14 (not shown in the figure). The female connector 12 can rotate to a position coaxial with the female connector 13. The female connector 12 and female connector 13 form a quick connector. When connected, they are in a connected state, allowing the pneumatic clamp 6 to operate normally; when disconnected, they automatically close the port to prevent gas leakage. The female connector 12 is located at the air inlet of the pneumatic clamp 6. Similarly, the aforementioned first rotating mechanism 4 can drive the first connecting post 2 to rotate, thereby causing the pneumatic clamp 6 on the rotating disk 5 to rotate. When the pneumatic clamp 6 rotates to a position coaxial with the second connecting post 9, it reaches the "working area". At this time, the first lifting mechanism 3 drives the first connecting column 2 to rise, thereby lifting the pneumatic clamp 6. During the lifting process, the female head 12 on the pneumatic clamp 6 passes through the opening of the aforementioned bushing 10 and connects with the female head 13. After the connection is established, the first lifting mechanism 3 stops working. At this time, the second connecting column 9 does not rotate, and the air source 14 controls the gas to enter the pneumatic clamp 6 through a certain control circuit to drive the pneumatic clamp 6 to normally complete the clamping or releasing action. The above-mentioned pneumatic clamp 6 is an existing structure, and how it controls the gas pressure difference through the control circuit to achieve the clamping and releasing actions is existing technology, which will not be further described here.

[0036] Specifically, the aforementioned telescopic drive assembly includes a telescopic rod 15 and multiple second lifting mechanisms 16 disposed between the bushing 10 and the second connecting column 9. One end of the telescopic rod 15 is connected to the telescopic drive end of the telescopic clamp 8, and the other end is detachably connected to the bushing 10. The fixed end of the second lifting mechanism 16 is disposed on the second connecting column 9, and the telescopic end of the second lifting mechanism 16 is connected to the bushing 10. The aforementioned telescopic rod 15 is actually the component that drives the telescopic clamp 8 to move, and it enables the telescopic clamp 8 to work normally during the telescopic process. Among them, the second lifting mechanism 16 is actually used to drive the telescopic rod 15 to telescopic. Specifically, after driving the bushing 10 to telescopic, it can drive the telescopic rod 15 connected to the bushing 10 to telescopic. Similarly, the aforementioned first rotating mechanism 4 can drive the first connecting column 2 to rotate, thereby driving the telescopic clamp 8 on the rotating disk 5 to rotate. When the aforementioned telescopic clamp 8 rotates to the coaxial position with the second connecting column 9, it reaches the "working area". At this time, the first lifting mechanism 3 drives the first connecting column 2 to lift, thereby driving the telescopic clamp 8 to lift. During the lifting process, the telescopic rod 15 on the telescopic clamp 8 connects with the bushing 10, and the first lifting mechanism 3 stops working after connection. At this time, the second connecting column 9 does not rotate, and the second lifting mechanism 16 drives the telescopic rod 15 to extend and retract, thereby driving the telescopic clamp 8 to complete the clamping or releasing work normally. Similarly, the above-mentioned telescopic clamp 8 is an existing structure, and will not be described further here.

[0037] It should be noted that when switching between different clamps, only the first lifting mechanism 3 needs to work to drive the corresponding clamp down so that the corresponding parts can be separated.

[0038] Preferably, the first lifting mechanism 3 is an electric push rod.

[0039] Preferably, the first rotating mechanism 4 is a rotary motor.

[0040] In some embodiments of this example, the cross-section of the connecting shaft 11 is a segmental circle, and the opening of the bushing 10 is adapted to this segmental circle. The segmental circle is actually a non-standard semi-circular structure formed by cutting the connecting shaft 11 along its axial direction using a circle-cutting technique. This structure ensures that its side has at least one flat surface. When the connecting shaft 11 extends into the opening, the flat surface of the connecting shaft 11 fits against the corresponding flat surface, thus constraining the connecting shaft 11 and preventing relative rotation between it and the bushing 10 in the circumferential direction. In this way, the bushing 10 can drive the connecting shaft 11 to rotate.

[0041] In some embodiments of this example, the frame 1 is provided with a second rotating mechanism 17 for driving the second connecting post 9 to rotate. The second rotating mechanism 17 includes an external gear ring 171 and a drive gear 172, with the drive gear 172 rotatably mounted on the frame 1. The external gear ring 171 is sleeved on the second connecting post 9, and the drive gear 172 meshes with the external gear ring 171. The second rotating mechanism 17 is used to drive the second connecting post 9 to rotate. Specifically, after the external gear ring 171 is sleeved on the second connecting post 9, it drives the drive gear 172 to rotate, thereby driving the external gear ring 171 to rotate, and thus driving the second connecting post 9 to rotate. Further, in this embodiment, the female head 13 is coaxially disposed within the second connecting post 9 and can rotate freely within the second connecting post 9. The structure of the second rotating mechanism 17, consisting of the external gear ring 171 and the drive gear 172, enables the female head 13 to be normally connected to the air source 14. Specifically, the frame 1 is provided with a base plate 173, one end of the rotating shaft 174 is rotatably engaged with the frame 1, and the other end is rotatably engaged with the base plate 173. A drive motor 175 is provided on the base plate 173, which can be used to drive the rotating shaft 174 to rotate.

[0042] In some embodiments of this example, a detachable component is provided between the telescopic rod 15 and the bushing 10. The detachable component includes a snap-fit ​​component 18. A special-shaped bayonet 19 is provided inside the bushing 10. The snap-fit ​​component 18 is disposed on the telescopic rod 15 and can extend into the special-shaped bayonet 19 and engage with the bushing 10. The special-shaped bayonet 19 is actually an L-shaped bayonet structure. After the connector is snapped into one section of the L-shaped bayonet structure, the second connecting post 9 can be rotated, so that the connector moves from the corner where it is snapped into the other section of the L-shaped bayonet structure. In this way, the snap-fit ​​component 18 is limited in the axial direction of the second connecting post 9, so that it is connected to the second connecting post 9 in the axial direction.

[0043] In some embodiments of this utility model, the second lifting mechanism 16 is a cylinder rod, and each cylinder rod is connected to a pneumatic control circuit (not shown in the figure). The pneumatic control circuit is used to control the extension and retraction of the cylinder rod.

[0044] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An industrial robot clamping structure kit, characterized in that, include: frame; The clamp selection assembly includes a first connecting column, a first lifting mechanism, a first rotating mechanism, a rotating disk, a pneumatic clamp, a rotating clamp, and a telescopic clamp. The pneumatic clamp, the rotating clamp, and the telescopic clamp are circumferentially evenly spaced on the rotating disk. One end of the first connecting column is coaxially connected to the rotating disk. The first connecting column is rotatably mounted on the frame. The first lifting mechanism is mounted on the frame, and its lifting end is connected to the first connecting column. The first rotating mechanism is located between the lifting end of the first lifting mechanism and the first connecting column. The fixed end of the first rotating mechanism is located at the lifting end of the first lifting mechanism, and its rotating end is coaxially connected to the first connecting column. A rotary drive assembly includes a second connecting post, a bushing, and a connecting shaft. The second connecting post is rotatably mounted on a frame. The bushing is disposed at the end of the second connecting post. One end of the connecting shaft is disposed at the rotary input end of the rotary fixture. The connecting shaft can rotate to a position coaxial with the bushing and can extend into the bushing. After the bushing rotates, it can drive the connecting shaft to rotate. A pneumatic drive assembly includes a quick connector, which includes a female head and a female head. The female head is disposed on the pneumatic clamp, one end of which is connected to the air inlet of the pneumatic clamp. The female head is coaxially disposed on a second connecting post. One end of the female head is detachably connected to the free end of the female head, and the other end is connected to an air source. The female head can rotate to a position coaxial with the female head. The telescopic drive assembly includes a telescopic rod and a plurality of second lifting mechanisms disposed between the bushing and the second connecting column. One end of the telescopic rod is connected to the telescopic drive end of the telescopic clamp, and the other end is detachably connected to the bushing. The fixed end of the second lifting mechanism is disposed on the second connecting column, and the telescopic end of the second lifting mechanism is connected to the bushing.

2. The industrial robot clamping structure kit according to claim 1, characterized in that, The first lifting mechanism is an electric push rod.

3. The industrial robot clamping structure kit according to claim 1, characterized in that, The first rotating mechanism is a rotary motor.

4. The industrial robot clamping structure kit according to claim 1, characterized in that, The cross-section of the connecting shaft is a segmental structure, and the opening of the bushing is adapted to the segmental structure.

5. The industrial robot clamping structure kit according to claim 1, characterized in that, The frame is provided with a second rotating mechanism for driving the second connecting column to rotate. The second rotating mechanism includes an external gear ring and a drive gear. The drive gear is rotatably mounted on the frame, and the external gear ring is sleeved on the second connecting column. The drive gear meshes with the external gear ring.

6. The industrial robot clamping structure kit according to claim 1, characterized in that, A detachable component is provided between the telescopic rod and the bushing. The detachable component includes a snap-fit ​​component. The bushing has a special-shaped slot. The snap-fit ​​component is disposed on the telescopic rod and can extend into the special-shaped slot and snap-fit ​​with the bushing.

7. The industrial robot clamping structure kit according to claim 1, characterized in that, The second lifting mechanism is a cylinder rod, and each cylinder rod is connected to a pneumatic control circuit, which is used to control the extension and retraction of the cylinder rod.

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