A clamping portion length-adjustable industrial robot

Abstract

The utility model discloses an industrial robot of clamping partial length adjustable, this industrial robot is in order to solve the technical problem of the need manual adjustment or replacement of clamping jaw when meeting the workpiece of greater length difference under prior art, the contact point position change leads to the moment unbalance when rotating clamping jaw is clamped different size workpiece, influence the technical problem of clamping accuracy. The industrial robot includes the mechanical arm, and the bottom of mechanical arm is provided with clamping assembly, and clamping assembly includes horizontal rectangular frame, and the top of horizontal rectangular frame is bolted fixedly connected with mechanical arm, and both ends in the inside of horizontal rectangular frame are provided with clamping arm, and the outside of horizontal rectangular frame is provided with the rotating mechanism for the rotation of clamping arm, and the inside of horizontal rectangular frame is provided with the adjusting mechanism for the distance adjustment between two clamping arms, through the setting of adjusting mechanism, the stepless adjustment of the distance between two clamping arms can be realized, and a single set of device can adapt to the clamping demand of various specifications workpieces.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robots, specifically relating to an industrial robot with an adjustable gripping part length. Background Technology

[0002] In modern industrial production, industrial robots have become an important component of automated production lines. The gripping mechanism, as a key actuator of the robot, directly affects production efficiency and product quality. Currently, the most common industrial robot gripping devices on the market mainly adopt pneumatic or electric driven parallel gripper structures. Existing rotary grippers are mostly designed with a fixed rotation radius, which can only adapt to workpieces within a specific size range. When encountering workpieces with large length differences, manual adjustment or replacement of the grippers is required. When the rotary grippers hold workpieces of different sizes, the change in the contact point position causes torque imbalance, affecting the gripping accuracy. Therefore, an industrial robot with an adjustable gripping part length is designed to overcome the above-mentioned technical defects. Utility Model Content

[0003] (1) Technical problems to be solved To address the shortcomings of existing technologies, the purpose of this utility model is to provide an industrial robot with an adjustable clamping length. This industrial robot aims to solve the technical problems of requiring manual adjustment or replacement of the grippers when encountering workpieces with large length differences, and the resulting torque imbalance due to changes in the contact point position of the rotating grippers when clamping workpieces of different sizes, which affects the clamping accuracy.

[0004] (2) Technical solution To solve the above-mentioned technical problems, this utility model provides an industrial robot with an adjustable clamping part length. The industrial robot includes a robotic arm, and a clamping assembly is provided at the bottom of the robotic arm. The clamping assembly includes a horizontal rectangular frame, the top of which is bolted to the robotic arm. Clamping arms are provided at both ends inside the horizontal rectangular frame. A rotation mechanism for rotating the clamping arms is provided on the outside of the horizontal rectangular frame, and an adjustment mechanism for adjusting the distance between the two clamping arms is provided inside the horizontal rectangular frame.

[0005] Preferably, the rotating mechanism includes a vertical hydraulic cylinder, which is fixed to the outside of the horizontal rectangular frame. A circular sliding tube is fixed to the output end of the vertical hydraulic cylinder. Circular sliding tubes are slidably connected to both ends of the outer side of the horizontal rod. A rectangular lifting plate is provided on the side of the circular sliding tube near the clamping arm. A vertical sliding plate is fixed to the top of the rectangular lifting plate. A vertical sliding block is fixed to the top of the vertical sliding plate. A vertical mounting plate is slidably connected to the outside of the vertical sliding block. A first connecting column is fixed to the outside of one side of the rectangular lifting plate. An inclined rotating wall is rotatably connected to the inside of the clamping arm through a pin. The inclined rotating wall and the first connecting column are rotatably connected through a bearing. A second connecting column is fixed to one side of the vertical mounting plate. The clamping arm and the second connecting column are rotatably connected through a bearing.

[0006] Preferably, the circular sliding tube has a circular through hole inside, and the transverse smooth rod is located inside the circular through hole and is slidably connected to the circular sliding tube through the circular through hole.

[0007] Preferably, the vertical mounting plate has a vertical groove inside, and the vertical sliding block is located inside the vertical groove and is slidably connected to the vertical mounting plate through the vertical groove.

[0008] Furthermore, the adjustment mechanism includes a drive motor, one end of the transverse rectangular frame is bolted to the drive motor, the output end of the drive motor is fixed to a first transverse threaded rod, the end of the first transverse threaded rod away from the drive motor is fixed to a second transverse threaded rod, the first transverse threaded rod and the second transverse threaded rod have opposite thread directions, the outer sides of the first transverse threaded rod and the second transverse threaded rod are threaded to transverse sliding plates, and the bottom of the transverse sliding plates is fixedly connected to the vertical mounting plate.

[0009] Furthermore, the interior of the horizontal rectangular frame is provided with a horizontal sliding groove, and the horizontal sliding plate is located inside the horizontal sliding groove and is slidably connected to the horizontal rectangular frame through the horizontal sliding groove.

[0010] (3) Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: This invention enables stepless adjustment of the distance between the two clamping arms through the setting of the adjustment mechanism. A single set of devices can adapt to the clamping needs of workpieces of various specifications. The unique rotating mechanism ensures that the clamping arms can maintain stable rotational clamping action after the distance is adjusted, which solves the problem of insufficient rigidity of traditional adjustable clamping arms. The synchronous rotation of the two clamping arms ensures that the clamping force is evenly distributed and avoids workpiece skewing. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the structure of the clamping arm and the inclined rotating wall of this utility model; Figure 3 This is a schematic diagram of the structure of the transverse smooth rod and the circular sliding tube of this utility model; Figure 4 This is a schematic diagram of the structure of the first connecting column and the second connecting column of this utility model; Figure 5 This is a schematic diagram of the structure of the vertical mounting plate and the vertical sliding block of this utility model; Figure 6 This is a schematic diagram of the structure of the first transverse threaded rod and the transverse sliding plate of this utility model.

[0012] The labels in the attached diagram are as follows: 1. Robotic arm; 2. Horizontal rectangular frame; 3. Clamping arm; 4. Angled rotating wall; 5. First connecting column; 6. Second connecting column; 7. Horizontal smooth rod; 8. Circular sliding tube; 9. Rectangular lifting plate; 10. Vertical sliding plate; 11. Vertical mounting plate; 12. Vertical sliding block; 13. Drive motor; 14. First horizontal threaded rod; 15. Second horizontal threaded rod; 16. Horizontal sliding plate; 17. Vertical hydraulic cylinder. Detailed Implementation

[0013] This specific embodiment is an industrial robot with an adjustable clamping part length, and its structural schematic diagram is shown below. Figures 1-6 As shown, the industrial robot includes a robotic arm 1, a clamping assembly at the bottom of the robotic arm 1, a horizontal rectangular frame 2, the top of the horizontal rectangular frame 2 being bolted to the robotic arm 1, clamping arms 3 being provided at both ends inside the horizontal rectangular frame 2, a rotating mechanism for rotating the clamping arms 3 being provided on the outside of the horizontal rectangular frame 2, and an adjustment mechanism for adjusting the distance between the two clamping arms 3 being provided inside the horizontal rectangular frame 2. The rotating mechanism includes a vertical hydraulic cylinder 17, which is fixed to the outside of the horizontal rectangular frame 2. A circular sliding tube 8 is fixed to the output end of the vertical hydraulic cylinder 17. The two ends of the horizontal smooth rod 7 are slidably connected to the circular sliding tube 8. A rectangular lifting plate 9 is provided on the side of the circular sliding tube 8 near the clamping arm 3. A vertical sliding plate 10 is fixed to the top of the rectangular lifting plate 9. A vertical sliding block 12 is fixed to the top of the vertical sliding plate 10. A vertical mounting plate 11 is slidably connected to the outside of the vertical sliding block 12. A first connecting column 5 is fixed to the outside of one side of the rectangular lifting plate 9. An inclined rotating wall 4 is rotatably connected to the inside of the clamping arm 3 through a pin. The inclined rotating wall 4 and the first connecting column 5 are rotatably connected through a bearing. A second connecting column 6 is fixed to one side of the vertical mounting plate 11. The clamping arm 3 and the second connecting column 6 are rotatably connected through a bearing. The circular sliding tube 8 has a circular through hole inside. The transverse light rod 7 is located inside the circular through hole and is slidably connected to the circular sliding tube 8 through the circular through hole. The circular through hole allows the circular sliding tube 8 to slide on the outside of the transverse light rod 7. The vertical mounting plate 11 has a vertical groove inside. The vertical sliding block 12 is located inside the vertical groove and is slidably connected to the vertical mounting plate 11 through the vertical groove. The vertical groove allows the vertical sliding block 12 to slide vertically inside the vertical mounting plate 11. The sliding of the vertical sliding block 12 enables the rectangular lifting plate 9 to be raised and lowered vertically. Here, the operation of the vertical hydraulic cylinder 17 enables the horizontal guide rod 7 to be raised and lowered vertically. The vertical raising and lowering of the horizontal guide rod 7 enables the rectangular lifting plate 9 and the vertical sliding plate 10 to be raised and lowered vertically, thereby enabling the vertical sliding block 12 to slide vertically inside the vertical mounting plate 11. The movement of the rectangular lifting plate 9 enables the first connecting column 5 to move, and the movement of the first connecting column 5 enables the clamping arm 3 to rotate around the second connecting column 6 as the center, thereby enabling the clamping arm 3 to clamp the workpiece. The adjustment mechanism includes a drive motor 13. One end of the transverse rectangular frame 2 is bolted to the drive motor 13. The output end of the drive motor 13 is fixed to a first transverse threaded rod 14. The end of the first transverse threaded rod 14 away from the drive motor 13 is fixed to a second transverse threaded rod 15. The threads of the first transverse threaded rod 14 and the second transverse threaded rod 15 are opposite in direction. The outer sides of both the first transverse threaded rod 14 and the second transverse threaded rod 15 are threaded to a transverse sliding plate 16. The bottom of the transverse sliding plate 16 is fixedly connected to the vertical mounting plate 11. The interior of the horizontal rectangular frame 2 is provided with a horizontal sliding groove. The horizontal sliding plate 16 is located inside the horizontal sliding groove and is slidably connected to the horizontal rectangular frame 2 through the horizontal sliding groove. The horizontal sliding groove allows the horizontal sliding plate 16 to move horizontally inside the horizontal rectangular frame 2. The movement of the horizontal sliding plate 16 allows the vertical mounting plate 11 and the rectangular lifting plate 9 to move. Here, the operation of the drive motor 13 enables the first transverse threaded rod 14 and the second transverse threaded rod 15 to rotate. The rotation of the first transverse threaded rod 14 and the second transverse threaded rod 15 enables the transverse sliding plate 16 to slide inside the transverse rectangular frame 2. The sliding of the transverse sliding plate 16 enables the vertical mounting plate 11 and the rectangular lifting plate 9 to slide laterally. The sliding of the rectangular lifting plate 9 and the vertical mounting plate 11 enables the two clamping arms 3 to slide laterally, thereby adapting to the clamping of workpieces of different specifications. This allows the clamping range of the two clamping arms 3 to be adjusted. Furthermore, the movement of the rectangular lifting plate 9 enables the circular sliding tube 8 to slide laterally outside the transverse smooth rod 7.

[0014] Working principle: When using the industrial robot of this technical solution, the operation of the vertical hydraulic cylinder 17 enables the horizontal guide rod 7 to be raised and lowered vertically. The vertical raising and lowering of the horizontal guide rod 7 enables the rectangular lifting plate 9 and the vertical sliding plate 10 to be raised and lowered vertically, thereby enabling the vertical sliding block 12 to slide vertically inside the vertical mounting plate 11. The movement of the rectangular lifting plate 9 enables the first connecting column 5 to move, and the movement of the first connecting column 5 enables the clamping arm 3 to rotate around the second connecting column 6 as the center, thereby enabling the clamping arm 3 to clamp the workpiece. The operation of the drive motor 13 enables the first transverse threaded rod 14 and the second transverse threaded rod 15 to rotate. The rotation of the first transverse threaded rod 14 and the second transverse threaded rod 15 enables the transverse sliding plate 16 to slide inside the transverse rectangular frame 2. The sliding of the transverse sliding plate 16 enables the vertical mounting plate 11 and the rectangular lifting plate 9 to slide laterally. The sliding of the rectangular lifting plate 9 and the vertical mounting plate 11 enables the two clamping arms 3 to slide laterally, thereby adapting to the clamping of workpieces of different specifications. This allows the clamping range of the two clamping arms 3 to be adjusted. Furthermore, the movement of the rectangular lifting plate 9 enables the circular sliding tube 8 to slide laterally outside the transverse smooth rod 7. By adjusting the mechanism, the distance between the two clamping arms 3 can be infinitely adjusted. A single device can meet the clamping requirements of various workpiece specifications. The unique rotating mechanism ensures that the clamping arms 3 can maintain stable rotational clamping action after the distance is adjusted, which solves the problem of insufficient rigidity of traditional adjustable clamping arms 3. The synchronous rotation of the two clamping arms 3 ensures that the clamping force is evenly distributed and avoids workpiece skewing.

[0015] All technical features in this embodiment can be freely combined according to actual needs.

[0016] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. An industrial robot with an adjustable clamping section length, characterized in that: The industrial robot includes a robotic arm (1) and a horizontal rod (7). The bottom of the robotic arm (1) is provided with a clamping assembly. The clamping assembly includes a horizontal rectangular frame (2). The top of the horizontal rectangular frame (2) is bolted to the robotic arm (1). Both ends of the interior of the horizontal rectangular frame (2) are provided with clamping arms (3). The outer side of the horizontal rectangular frame (2) is provided with a rotating mechanism for rotating the clamping arms (3). The interior of the horizontal rectangular frame (2) is provided with an adjustment mechanism for adjusting the distance between the two clamping arms (3). The rotating mechanism includes a vertical hydraulic cylinder (17), which is fixed to the outside of the horizontal rectangular frame (2). A circular sliding tube (8) is fixed to the output end of the vertical hydraulic cylinder (17). Circular sliding tubes (8) are slidably connected to both ends of the outside of the horizontal rod (7). A rectangular lifting plate (9) is provided on the side of the circular sliding tube (8) near the clamping arm (3). A vertical sliding plate (10) is fixed to the top of the rectangular lifting plate (9). A vertical sliding plate (10) is fixed to the top of the vertical sliding plate (10). A vertical sliding block (12) is slidably connected to a vertical mounting plate (11) on its outer side. A first connecting column (5) is fixed on the outer side of one side of the rectangular lifting plate (9). An inclined rotating wall (4) is rotatably connected to the inside of the clamping arm (3) through a pin shaft. The inclined rotating wall (4) and the first connecting column (5) are rotatably connected through a bearing. A second connecting column (6) is fixed on one side of the vertical mounting plate (11). The clamping arm (3) and the second connecting column (6) are rotatably connected through a bearing. The adjustment mechanism includes a drive motor (13). One end of the transverse rectangular frame (2) is bolted to the drive motor (13). The output end of the drive motor (13) is fixed to a first transverse threaded rod (14). The end of the first transverse threaded rod (14) away from the drive motor (13) is fixed to a second transverse threaded rod (15). The threads of the first transverse threaded rod (14) and the second transverse threaded rod (15) are opposite in direction. The outer sides of both the first transverse threaded rod (14) and the second transverse threaded rod (15) are threaded to a transverse sliding plate (16). The bottom of the transverse sliding plate (16) is fixedly connected to the vertical mounting plate (11).

2. An industrial robot with an adjustable clamping part length according to claim 1, characterized in that: The circular sliding tube (8) has a circular through hole inside, and the transverse light rod (7) is located inside the circular through hole and is slidably connected to the circular sliding tube (8) through the circular through hole.

3. An industrial robot with an adjustable clamping part length according to claim 2, characterized in that: The vertical mounting plate (11) has a vertical groove inside, and the vertical sliding block (12) is located inside the vertical groove and is slidably connected to the vertical mounting plate (11) through the vertical groove.

4. An industrial robot with an adjustable clamping part length according to claim 3, characterized in that: The interior of the horizontal rectangular frame (2) is provided with a horizontal sliding groove, and the horizontal sliding plate (16) is located inside the horizontal sliding groove and is slidably connected to the horizontal rectangular frame (2) through the horizontal sliding groove.

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