Workpiece clamping mechanism for a collaborative robot

Abstract

The application provides a workpiece clamping mechanism for a collaborative robot, and relates to the technical field of collaborative robots, which comprises a mounting seat, the bottom of the mounting seat is provided with a suction structure and two clamping structures located on the two sides of the suction structure respectively, the clamping structure comprises a driving element mounted on the mounting seat, the driving element is connected with two clamping arms, the bottom end of the clamping arm is fixedly connected with a hook, the suction structure is used for sucking up a workpiece, the driving element is used for driving the clamping arm and the hook to move, and the hook is used for moving to the bottom of the workpiece after the workpiece is sucked up. Through the suction structure, when the workpiece is clamped, the suction structure can first suck up the workpiece upward, so that the workpiece is separated from the supporting surface, thereby creating favorable conditions for the hook to move to the bottom of the workpiece, and solving the problem that the hook is not convenient to insert into the bottom in the traditional clamping mechanism because the workpiece is placed on the supporting surface.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robot technology, and more specifically, to a workpiece clamping mechanism for collaborative robots. Background Technology

[0002] In the field of industrial automation production, collaborative robots are widely used in various operations such as handling and assembling workpieces due to their safety and flexibility. As a key execution component of collaborative robots, the performance of the workpiece clamping mechanism directly affects the stability and reliability of the collaborative robot's workpiece clamping. Currently, existing workpiece clamping mechanisms for collaborative robots typically incorporate a hook structure at the bottom of the clamping arm to enhance workpiece clamping stability. This design uses the hook to limit the movement of the workpiece's bottom. However, in practical production applications, when the workpiece is placed on a support surface, the space between the hook and the support surface hinders the hook's insertion into the workpiece's bottom, especially when handling workpieces with relatively flat bottoms that fit tightly against the support surface. Therefore, we propose an improvement to this design, namely a workpiece clamping mechanism for collaborative robots. Utility Model Content

[0003] This utility model provides a workpiece clamping mechanism for collaborative robots, including a mounting base. The bottom of the mounting base is equipped with an adsorption structure and two clamping structures located on both sides of the adsorption structure. The clamping structure includes a driving component mounted on the mounting base, and the driving component is connected to two clamping arms. The bottom end of each clamping arm is fixedly connected to a hook. The adsorption structure is used to pick up the workpiece, and the driving component is used to drive the clamping arms and hooks to move. The hooks are used to move to the bottom of the workpiece after it is picked up.

[0004] As a preferred technical solution of this application, the adsorption structure includes a first cylinder located at the bottom of the mounting base, and a plurality of connecting rods are connected between the first cylinder and the mounting base.

[0005] As a preferred technical solution of this application, the piston rod of the first cylinder is connected to a first connecting plate, and a plurality of vacuum suction cups are installed on the first connecting plate.

[0006] As a preferred technical solution of this application, the driving component includes a second cylinder connected to the mounting base, the piston rod of the second cylinder is connected to a pneumatic gripper, and the gripper arm is connected to the pneumatic gripper.

[0007] As a preferred technical solution of this application, the hook is provided with an auxiliary component, which is used for auxiliary positioning of the workpiece.

[0008] As a preferred technical solution of this application, the auxiliary component includes a second connecting plate that is interlocked with the hook, and a limiting plate is fixedly connected to the end of the second connecting plate away from the adsorption structure.

[0009] As a preferred technical solution of this application, the clamping arm is provided with a fixing member, which is used to fix the position of the second connecting plate.

[0010] As a preferred technical solution of this application, the fastener includes a hand-tightening bolt threaded onto the clamping arm, one end of which passes through the clamping arm and the hook and abuts against the side of the second connecting plate.

[0011] As a preferred technical solution of this application, the end of the hook away from the clamping arm is provided with a ramp.

[0012] As a preferred technical solution of this application, the mounting base is used to connect with a collaborative robot.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: In the scheme of this application: This application utilizes an adsorption structure that, when clamping a workpiece, first lifts the workpiece upwards, separating it from the support surface. This creates favorable conditions for the hook to move to the bottom of the workpiece, solving the problem in traditional clamping mechanisms where the hook is difficult to insert into the bottom because the workpiece is placed on the support surface. Attached Figure Description

[0014] Figure 1 A schematic diagram of the workpiece clamping mechanism for collaborative robots provided in this application; Figure 2 A bottom view of the workpiece clamping mechanism for collaborative robots provided in this application; Figure 3 A schematic diagram of the adsorption structure and clamping structure provided in this application; Figure 4 A schematic diagram of the mounting base and adsorption structure provided in this application; Figure 5 A schematic diagram of the clamping structure provided in this application.

[0015] The image shows: 1. Mounting base; 2. Adsorption structure; 201. Connecting rod; 202. First cylinder; 203. First connecting plate; 204. Vacuum suction cup; 3. Clamping structure; 301. Second cylinder; 302. Pneumatic gripper; 303. Clamping arm; 304. Hook; 305. Second connecting plate; 306. Limiting plate; 307. Hand-tightening bolt. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0017] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] For an example, please refer to... Figures 1-5 A workpiece clamping mechanism for a collaborative robot includes a mounting base 1. An adsorption structure 2 and two clamping structures 3 located on both sides of the adsorption structure 2 are mounted on the bottom of the mounting base 1. Each clamping structure 3 includes a drive unit mounted on the mounting base 1, and the drive unit is connected to two clamping arms 303. A hook 304 is fixedly connected to the bottom end of each clamping arm 303. The adsorption structure 2 is used to pick up the workpiece, and the drive unit is used to drive the clamping arms 303 and the hook 304 to move. The hook 304 is used to move to the bottom of the workpiece after it is picked up, which solves the problem in traditional clamping mechanisms where the hook 304 is not easy to insert into the bottom because the workpiece is placed on the support surface.

[0020] Furthermore, the adsorption structure 2 includes a first cylinder 202 located at the bottom of the mounting base 1. Several connecting rods 201 are connected between the first cylinder 202 and the mounting base 1. The connecting rods 201, the mounting base 1, and the first cylinder 202 are all connected by bolts. The piston rod of the first cylinder 202 is connected to a first connecting plate 203. Several vacuum suction cups 204 are installed on the first connecting plate 203. The first cylinder 202 is connected to the first connecting plate 203 by bolts. The first cylinder 202 is used to drive the first connecting plate 203 and the vacuum suction cups 204 to rise and fall, and the vacuum suction cups 204 adsorb the workpiece.

[0021] Furthermore, the driving component includes a second cylinder 301 connected to the mounting base 1. The piston rod of the second cylinder 301 is connected to a pneumatic gripper 302, and the gripper arm 303 is connected to the pneumatic gripper 302. The second cylinder 301 is bolted to the mounting base 1 and the pneumatic gripper 302. The gripper arm 303 is bolted to the pneumatic gripper 302. The second cylinder 301 is used to drive the pneumatic gripper 302 to rise and fall, and the pneumatic gripper 302 is used to drive the two gripper arms 303 to open and close.

[0022] Furthermore, the hook 304 is provided with an auxiliary component for auxiliary positioning of the workpiece. The auxiliary component includes a second connecting plate 305 that is inserted and connected to the hook 304. A limiting plate 306 is fixedly connected to the end of the second connecting plate 305 away from the adsorption structure 2. The limiting plate 306, the hook 304 and the clamping arm 303 cooperate with each other to limit the workpiece on three sides and the bottom, so as to improve the stability of the workpiece clamping.

[0023] Furthermore, a fixing component is provided on the clamping arm 303. The fixing component is used to fix the position of the second connecting plate 305. The fixing component includes a hand-tightening bolt 307 threadedly connected to the clamping arm 303. One end of the hand-tightening bolt 307 passes through the clamping arm 303 and the hook 304 and abuts against the side of the second connecting plate 305. Tightening the hand-tightening bolt 307 can fix the position of the second connecting plate 305, thereby fixing the position of the limiting plate 306. Loosening the hand-tightening bolt 307 can move the limiting plate 306 to adjust the distance between the limiting plate 306 and the clamping arm 303, thereby improving the applicability.

[0024] Furthermore, the end of the hook 304 away from the clamping arm 303 is provided with a ramp, which facilitates the hook 304 to move to the bottom of the workpiece.

[0025] Furthermore, the mounting base 1 is used to connect with the collaborative robot. The mounting base 1 and the collaborative robot are connected by bolts. The collaborative robot is used to drive the mounting base 1, the adsorption structure 2 and the clamping structure 3 to move. For ease of understanding, this application uses A to represent the collaborative robot and it is labeled in the figure.

[0026] The pneumatic gripper 302 drives the two gripping arms 303 connected to it to move away from each other. The first cylinder 202 drives the first connecting plate 203 and the vacuum suction cup 204 to descend, so that the bottom of the vacuum suction cup 204 contacts the top of the workpiece and the workpiece is sucked up by the vacuum suction cup 204. Then the first cylinder 202 drives the first connecting plate 203 and the vacuum suction cup 204 to rise, thereby raising the workpiece. Then the pneumatic gripper 302 drives the two gripping arms 303 connected to it to move closer to each other to clamp the workpiece, and the hook 304 moves to the bottom of the workpiece. The collaborative robot drives the mounting base 1, the adsorption structure 2 and the clamping structure 3 to move, thereby moving the workpiece to the target area. After the workpiece reaches the target area, the pneumatic gripper 302 drives the two gripping arms 303 connected to it to move away from each other. Then the first cylinder 202 drives the first connecting plate 203 and the vacuum suction cup 204 to descend, and the vacuum suction cup 204 releases the workpiece.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A workpiece clamping mechanism for a collaborative robot, characterized by, The device includes a mounting base (1), on the bottom of which is an adsorption structure (2) and two clamping structures (3) located on both sides of the adsorption structure (2). The clamping structure (3) includes a driving component mounted on the mounting base (1), and the driving component is connected to two clamping arms (303). The bottom end of the clamping arms (303) is fixedly connected to a hook (304). The adsorption structure (2) is used to pick up the workpiece, and the driving component is used to drive the clamping arms (303) and the hook (304) to move. The hook (304) is used to move to the bottom of the workpiece after it is picked up.

2. The workpiece clamping mechanism for a collaborative robot according to claim 1, characterized by, The adsorption structure (2) includes a first cylinder (202) located at the bottom of the mounting base (1), and a plurality of connecting rods (201) are connected between the first cylinder (202) and the mounting base (1).

3. The workpiece clamping mechanism for a collaborative robot according to claim 2, characterized by, The piston rod of the first cylinder (202) is connected to a first connecting plate (203), and a plurality of vacuum suction cups (204) are installed on the first connecting plate (203).

4. The workpiece clamping mechanism for a collaborative robot according to Claim 1, characterized by, The drive unit includes a second cylinder (301) connected to the mounting base (1), the piston rod of the second cylinder (301) is connected to a pneumatic gripper (302), and the gripper arm (303) is connected to the pneumatic gripper (302).

5. The workpiece clamping mechanism for a collaborative robot according to claim 4, characterized by, The hook (304) is provided with an auxiliary component, which is used for auxiliary positioning of the workpiece.

6. The workpiece clamping mechanism for a collaborative robot according to claim 5, characterized by, The auxiliary component includes a second connecting plate (305) that is inserted into the hook (304), and a limiting plate (306) is fixedly connected to one end of the second connecting plate (305) away from the adsorption structure (2).

7. The workpiece clamping mechanism for a collaborative robot according to claim 6, characterized by, The clamping arm (303) is provided with a fixing member, which is used to fix the position of the second connecting plate (305).

8. The workpiece clamping mechanism for a collaborative robot according to claim 7, characterized by, The fastener includes a hand-tightening bolt (307) threaded onto the clamping arm (303), one end of which passes through the clamping arm (303) and the hook (304) and abuts against the side of the second connecting plate (305).

9. The workpiece clamping mechanism for a collaborative robot according to Claim 1, wherein The hook (304) has a ramp at the end away from the clamping arm (303).

10. The workpiece clamping mechanism for a collaborative robot according to Claim 1, wherein The mounting base (1) is used to connect with the collaborative robot.

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