A circuit breaker clamp for an industrial robot

Abstract

The utility model discloses a circuit breaker clamp for industrial robot belongs to robot end clamp technical field. The circuit breaker clamp includes the main support of connection in the end of industrial robot, the mounting bracket of connection in the main support, two clamping plates of symmetrical setting in the both sides of mounting bracket, the drive part of setting in mounting bracket and the transmission assembly of connection two clamping plates. Two clamping plates are parallel to each other, and the inner wall of the clamping end of clamping plate is equipped with the chuck; the output of drive part is connected with one of clamping plates to drive the movement of the clamping plate, when one of clamping plates is driven by drive part, transmission assembly drives the synchronous reverse movement of another clamping plate to make two clamping plates centering close or far away. The utility model discloses through single drive part cooperation transmission assembly realizes the synchronous reverse movement of two clamping plates, reduces the number of drive element, reduces cost and reduces overall size, can effectively improve the clamping precision and assembly efficiency of circuit breaker.

Description

Technical Field

[0001] This utility model relates to the field of robot end effector technology, and in particular to a circuit breaker clamp for industrial robots. Background Technology

[0002] In the mass production of energy storage cabinets, industrial robots are typically used to drive fixtures to clamp and move circuit breakers to complete the installation. The core functional components of the fixture are the two grippers, and the stability and synchronicity of their opening and closing actions directly affect the clamping reliability and assembly efficiency of the circuit breakers.

[0003] In existing technologies, two independent drive sources are typically used to drive the two grippers respectively, thereby achieving the gripping or releasing action. While this dual-drive-source solution can achieve the opening and closing of the grippers, it has the following drawbacks: Firstly, the two drive sources increase the number of parts in the fixture, resulting in a more complex structure and higher manufacturing costs.

[0004] Secondly, the dual drive sources and their associated air / electrical pipelines occupy a large installation space and are relatively heavy. When used at the end of an industrial robot, they not only occupy valuable payload but also easily restrict the robot's movement flexibility due to tangled air pipes / cables.

[0005] Third, the stroke and speed of the two independent drive sources are difficult to synchronize precisely. Even with coordination at the control system level, it is still inevitable that the two grippers will move inconsistently due to air pressure fluctuations, current differences, or response delays. This will cause the circuit breaker to shift or tilt when it is clamped, affecting the positioning accuracy of subsequent assembly, and may even damage the circuit breaker casing due to off-center load. Utility Model Content

[0006] Based on this, the purpose of this utility model is to provide a circuit breaker clamp for industrial robots to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model proposes a circuit breaker clamp for an industrial robot, which is disposed at the end of the industrial robot to clamp a circuit breaker. The circuit breaker clamp includes: The main support connected to the end effector of the industrial robot; Mounting bracket connected to the main support; Two clamping plates are symmetrically arranged on both sides of the mounting frame. The two clamping plates are parallel to each other, and the inner wall of the clamping end of the clamping plate is provided with a clamp. A drive unit is disposed within the mounting bracket, the output end of which is connected to one of the clamping plates to drive the clamping plate to move in a direction toward or away from the other clamping plate; A transmission assembly connects two clamping plates. When one clamping plate is driven by a drive unit, the transmission assembly drives the other clamping plate to move synchronously in the opposite direction, so that the two clamping plates are aligned closer or further apart.

[0008] As a further embodiment of this invention, the transmission assembly includes: A central gear is installed within the mounting bracket; A rack is connected at one end to the non-clamping end of a clamping plate. The rack is perpendicular to the clamping plate and the two racks are parallel to each other. The two racks mesh with the central gear on both sides.

[0009] As a further embodiment of this utility model, the mounting bracket is provided with a bearing seat, and the central gear is rotatably connected to the bearing seat through a bearing.

[0010] As a further embodiment of this invention, the output end of the drive component is connected to the clamping plate via a floating joint.

[0011] As a further embodiment of this utility model, the non-clamping end of the clamping plate is connected to the mounting frame through multiple limiting guide members, so that the two clamping plates can move in a direction closer to or further away from each other.

[0012] As a further embodiment of this utility model, the limiting guide is a guide rod, one end of which is fixed to the non-clamping end of the clamping plate and the guide rod is perpendicular to the clamping plate. The rod body of the guide rod is slidably connected to the mounting frame.

[0013] As a further embodiment of this invention, the driving component has an adjustable stroke.

[0014] As a further embodiment of this invention, the driving component is a cylinder.

[0015] As a further embodiment of this utility model, a five-position three-way solenoid valve is also included. The five-position three-way solenoid valve includes an air inlet, a first air outlet, a second air outlet, a first exhaust port, a second exhaust port, and an electromagnet. The air inlet is connected to an air source, the first air outlet is connected to the retraction port of the cylinder, and the second air outlet is connected to the extension port of the cylinder.

[0016] As a further embodiment of this utility model, a contact element is provided between the clamping plates, the contact element is connected to the main body support through an elastic telescopic element, a limit switch is provided on the mounting frame, the limit switch is provided with a swing arm, the head of the swing arm is hinged to the contact element, and a delay switch is also included. The electromagnet, the normally open terminal of the limit switch, the time delay switch, and the power supply are connected in series to form a current loop, and the time delay switch is a normally closed switch.

[0017] Compared with the prior art, the present invention has the following beneficial effects: Firstly, by using a single driving component in conjunction with a transmission assembly, the synchronous reverse movement of the two clamping plates is achieved. Compared with the existing technology that uses two independent driving sources to drive the two grippers respectively, this reduces the number of driving components, lowers the cost, and reduces the overall size.

[0018] Secondly, by employing a transmission assembly to achieve linkage between the two clamping plates, when one clamping plate is driven by a drive component, the transmission assembly drives the other clamping plate to move synchronously in the opposite direction, causing the two clamping plates to align closer or further apart. This avoids the problem of inconsistent jaw movements caused by differences between different drive sources, achieving strictly synchronized movement of the two clamping plates, preventing the circuit breaker from shifting or tilting when clamped, and improving the assembly accuracy of the circuit breaker. Attached Figure Description

[0019] Figure 1 An isometric view of a circuit breaker clamp for use in industrial robots; Figure 2 A top view of a circuit breaker clamp for industrial robots; Figure 3 A longitudinal sectional view of a circuit breaker clamp for an industrial robot; Figure 4 A cross-sectional view of a circuit breaker clamp for use in industrial robots; Figure 5 This is a partial schematic diagram of the position of the limit switch; Figure 6 This is a schematic diagram of the air circuit connection when the driving component is a cylinder; Figure 7 This is the control circuit diagram for an electromagnet.

[0020] Reference numerals: 1-Main support, 2-Mounting bracket, 3-Clamping plate, 31-Clamping head, 32-Limiting guide, 4-Drive component, 4a-Retracting air hole, 4b-Extending air hole, 41-Floating joint, 51-Center gear, 52-Rack, 53-Bearing seat, 54-Bearing, 6-Five-position three-way solenoid valve, 61-Air inlet, 62-First air outlet, 63-Second air outlet, 64-First exhaust port, 65-Second exhaust port, 66-Electromagnet, 67-Air source, 71-Contact component, 72-Elastic telescopic component, 73-Limit switch, 731-Swing arm, 74-Delay switch, 75-Power supply. Detailed Implementation

[0021] To facilitate understanding of this invention, a more comprehensive description of the invention will be provided below with reference to specific embodiments. However, this invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of this invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0023] Example 1 like Figure 1 and Figure 2 As shown, this embodiment proposes a circuit breaker gripper for industrial robots, which is installed at the end of the industrial robot to achieve the gripping, handling and release of the circuit breaker under the drive of the industrial robot.

[0024] The circuit breaker clamp mainly includes a main support 1, a mounting frame 2, two clamping plates 3, a drive component 4, and a transmission assembly. The main support 1 is used for fixed connection to the end effector of an industrial robot and serves as the mounting base for the entire clamp. The mounting frame 2 is fixedly connected to one side of the main support 1 and is used to support and install other functional components of the clamp. The two clamping plates 3 are symmetrically arranged on both sides of the mounting frame 2 and are parallel to each other. Each clamping end of each clamping plate 3 has a clamping head 31 fixedly installed on its inner wall. The clamping head 31 is used to directly contact the circuit breaker to clamp it.

[0025] The driving component 4 is located inside the mounting bracket 2, and its power output end is connected to one of the clamping plates 3. This drives the clamping plate 3 to move linearly towards or away from the other clamping plate 3. A transmission assembly connects the two clamping plates 3. When one clamping plate 3 is driven by the driving component 4, the transmission assembly drives the other clamping plate 3 to move synchronously in the opposite direction, thereby achieving the alignment and movement of the two clamping plates 3. When the two clamping plates 3 are aligned and close together, they clamp the circuit breaker; when they are aligned and move away from each other, they release the circuit breaker.

[0026] like Figure 3 As shown, the non-clamping end of each clamping plate 3 is connected to the mounting frame 2 via multiple limiting guide members 32, allowing the two clamping plates 3 to move stably in a straight line, either close to or far from each other. In this embodiment, the limiting guide member 32 is a guide rod, one end of which is fixedly connected to the non-clamping end of the clamping plate 3, and the guide rod is perpendicular to the clamping plate 3. Specifically, at least two guide rods are fixedly connected to the non-clamping end of each clamping plate 3. Preferably, four guide rods are connected to each clamping plate 3, and the four guide rods are respectively located at the four corners of the non-clamping end of the clamping plate 3. The rod body passes through the guide hole on the side wall of the mounting frame 2 and slides with the guide hole, thereby precisely guiding the movement direction of the clamping plate 3 and preventing the clamping plate 3 from swaying during movement.

[0027] It is understandable that the limiting guide 32 can also adopt the structure of linear guide rail and slider, that is, the linear guide rail is fixedly installed on the mounting bracket 2, and the slider is fixedly installed on the non-clamping end of the clamping plate 3, and the slider slides in cooperation with the linear guide rail.

[0028] like Figure 3 and Figure 4 As shown, the drive component 4 is disposed in the cavity inside the mounting bracket 2. In this embodiment, the drive component 4 is a cylinder, and the head of its piston rod is connected to one of the clamping plates 3 through a floating joint 41. The floating joint 41 is used to compensate for the coaxiality deviation between the piston rod and the clamping plate 3, avoiding the piston rod from bearing additional radial force due to installation errors, thereby extending the service life of the cylinder.

[0029] The transmission assembly is housed within the internal cavity of the mounting frame 2, connecting the two clamping plates 3 to allow them to be aligned closer together or further apart. The transmission assembly includes a central gear 51 and two racks 52. The mounting frame 2 contains bearing seats 53, which are bolted to the mounting frame 2. Bearings 54 are fitted onto the bearing seats 53, and the central gear 51 is fitted onto the outside of the bearings 54 to achieve a rotatable connection between the central gear 51 and the bearing seats 53.

[0030] Two racks 52 are respectively disposed on both sides of the central gear 51 and mesh with it, and the two racks 52 are parallel to each other. One end of each rack 52 extends out of the mounting bracket 2 and is fixedly connected to the non-clamping end of the clamping plate 3 on the corresponding side. The extending direction of the rack 52 is consistent with the extending direction of the guide rod, that is, the rack 52 and the clamping plate 3 are perpendicular to each other.

[0031] When the driving component 4 drives one of the clamping plates 3 to move linearly, the rack 52 fixed on that clamping plate 3 moves accordingly. The rack 52 drives the central gear 51 to rotate, and the central gear 51 then drives the other rack 52 to move in the opposite direction, thereby driving the other clamping plate 3 to move synchronously in the opposite direction. Since the meshing transmission of the gear and rack 52 has a constant transmission ratio, the moving speeds of the two clamping plates 3 are equal in magnitude and opposite in direction, achieving strict synchronous centering motion.

[0032] The drive component 4 in this application uses a cylinder with adjustable stroke, model TCMJ, where TCM represents a brass guide sleeve triaxial cylinder and J represents adjustable stroke. By adjusting the stroke of the cylinder, the opening and closing degree of the two clamping plates 3 can be controlled, thereby adapting to circuit breakers of different widths.

[0033] Example 2 like Figures 5-7As shown, it also includes a five-position three-way solenoid valve 6, which is mounted on the main support 1. The five-position three-way solenoid valve 6 includes an air inlet 61, a first air outlet 62, a second air outlet 63, a first exhaust port 64, a second exhaust port 65, and an electromagnet 66. The air inlet 61 is connected to an air source 67, the first air outlet 62 is connected to the retraction air port 4a of the cylinder, and the second air outlet 63 is connected to the extension air port 4b of the cylinder.

[0034] Figure 6 In the middle (a), the state of the electromagnet 66 is when it is energized. The valve core of the five-position three-way solenoid valve 6 is pushed to the right. At this time, the air inlet 61 is connected to the first air outlet 62, and the gas enters the retraction air hole 4a of the cylinder. The extension air hole 4b of the cylinder is connected to the first exhaust port 64. The piston rod of the cylinder retracts, and the two clamps 3 move closer to each other to clamp the circuit breaker. Figure 6 In the middle (b) state, the electromagnet 66 is de-energized. At this time, the valve core of the five-position three-way solenoid valve 6 is pushed to the left by the spring. The air inlet 61 is connected to the second air outlet 63, and the gas enters the cylinder's extension air hole 4b. The cylinder's retraction air hole 4a is connected to the second exhaust port 65. The cylinder's piston rod extends, and the two clamps 3 move away from each other, completing the release of the circuit breaker.

[0035] A contact 71 is provided between the clamping plates 3. The contact 71 is connected to the main support 1 through an elastic telescopic member 72. A limit switch 73 is provided on the mounting frame 2. The limit switch 73 is provided with a swing arm 731. The head of the swing arm 731 is hinged to the contact 71. It also includes a time delay switch 74. The electromagnet 66, the normally open terminal of the limit switch 73, the time delay switch 74 and the power supply 75 are connected in series to form a current loop. The time delay switch 74 is a normally closed switch.

[0036] The power source 75 is specifically a mobile power source such as a battery, which can be set on the main support 1 or at the end of the industrial robot and move with the gripper.

[0037] like Figure 7 As shown, in the initial state, the time delay switch 74 is turned on while the limit switch 73 is turned off, the electromagnet 66 is de-energized, the piston rod of the cylinder extends, and the clamping plates 3 move away from each other.

[0038] When the circuit breaker is clamped, the circuit breaker continuously enters between the clamping plates 3 and presses against the contact 71. The limit switch 73 is turned on, the electromagnet 66 is energized, and the piston rod of the cylinder retracts to clamp the circuit breaker.

[0039] When the circuit breaker is in position and clamp 3 needs to be opened, manually disconnect the time delay switch 74. The electromagnet 66 is de-energized, the piston rod of the cylinder extends, and clamp 3 moves away from each other. After a period of time, the time delay switch 74 automatically reconnects, returning to the initial state.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A circuit breaker gripper for an industrial robot, disposed at the end of the industrial robot to grip a circuit breaker, characterized in that, Circuit breaker clamps include: Main support connected to the end of the industrial robot (1); Mounting bracket (2) connected to the main support (1); Two clamping plates (3) are symmetrically arranged on both sides of the mounting frame (2). The two clamping plates (3) are parallel to each other, and the clamping end of the clamping plate (3) is provided with a clamp (31). A drive unit (4) is provided in the mounting bracket (2), the output end of which is connected to one of the clamps (3) to drive the clamp (3) to move in a direction closer to or further away from the other clamp (3); The transmission assembly connecting the two clamping plates (3) allows the other clamping plate (3) to move synchronously in the opposite direction when one of the clamping plates (3) is driven by the drive member (4), so that the two clamping plates (3) are aligned and move closer or further apart.

2. The circuit breaker clamp for an industrial robot according to claim 1, characterized in that, The transmission assembly includes: A central gear (51) is installed inside the mounting bracket (2); A rack (52) is connected at one end to the non-clamping end of the clamping plate (3). The rack (52) is perpendicular to the clamping plate (3) and the two racks (52) are parallel to each other. The two racks (52) mesh with the central gear (51) on both sides respectively.

3. A circuit breaker clamp for an industrial robot according to claim 2, characterized in that, The mounting bracket (2) is provided with a bearing seat (53), and the central gear (51) is rotatably connected to the bearing seat (53) through a bearing (54).

4. A circuit breaker clamp for an industrial robot according to claim 1, characterized in that, The output end of the drive unit (4) is connected to the clamp plate (3) through a floating connector (41).

5. The circuit breaker clamp for an industrial robot of claim 1, wherein, The non-clamping end of the clamping plate (3) is connected to the mounting bracket (2) through multiple limiting guides (32) so that the two clamping plates (3) can move in a direction closer to or further away from each other.

6. A circuit breaker clamp for an industrial robot according to claim 5, characterized in that, The limiting guide (32) is a guide rod. One end of the guide rod is fixed to the non-clamping end of the clamping plate (3) and the guide rod is perpendicular to the clamping plate (3). The rod body of the guide rod is slidably connected to the mounting frame (2).

7. A circuit breaker clamp for an industrial robot according to claim 1, characterized in that, The drive unit (4) has an adjustable stroke.

8. A circuit breaker clamp for an industrial robot according to claim 1, characterized in that, The driving component (4) is a cylinder.

9. A circuit breaker clamp for an industrial robot according to claim 8, characterized in that, It also includes a five-position three-way solenoid valve (6), which includes an air inlet (61), a first air outlet (62), a second air outlet (63), a first exhaust port (64), a second exhaust port (65), and an electromagnet (66). The air inlet (61) is connected to an air source (67), the first air outlet (62) is connected to the retraction port (4a) of the cylinder, and the second air outlet (63) is connected to the extension port (4b) of the cylinder.

10. The circuit breaker clamp for an industrial robot according to claim 9, characterized in that, The clamps (3) are provided with a contact (71), the contact (71) is connected to the main support (1) through an elastic telescopic member (72), the mounting bracket (2) is provided with a limit switch (73), the limit switch (73) is provided with a swing arm (731), the head of the swing arm (731) is hinged to the contact (71), and also includes a delay switch (74). The electromagnet (66), the normally open terminal of the limit switch (73), the time delay switch (74) and the power supply (75) are connected in series to form a current loop, and the time delay switch (74) is a normally closed switch.

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