A handling fixture for an industrial robot

Abstract

The utility model relates to the technical field of carrying clamp, concretely relates to a carrying clamp for industrial robot, including base, be provided with adjusting mechanism on base top, still include the clamping mechanism for carrying and clamping material, clamping mechanism is located adjusting mechanism top, the clamping plate is slidably installed in the sliding slot, the cleaning structure for cleaning the dust on the material surface is equipped between two clamping plates. Advantageous effects: before clamping the material, the dust at the clamping position of the material is scraped to both sides and blown off by the cleaning structure, preventing the dust from covering the clamping position of the material, preventing the dust from affecting the clamping effect of the clamping plate on the material, the clamping force of the clamping plate on the material is increased after cleaning the dust, the phenomenon that the material shakes after being clamped is reduced, and the stability of the material clamping is improved.

Description

Technical Field

[0001] This utility model relates to the field of handling fixture technology, and in particular to a handling fixture for industrial robots. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Generally, robots are used to handle the handling of goods, thereby reducing labor costs.

[0003] By comparing a handling fixture for an industrial robot with patent publication number CN222920568U, this solution involves a rubber suction cup contacting a smooth surface, and air being supplied through the suction cup fixing box and conveying pipe and then extracted by a vacuum machine, thereby creating a vacuum between the rubber suction cup and the object surface, achieving the effect of adsorption and preventing the object from sliding down. However, before adsorbing and clamping the material, there may be a certain amount of dust on the surface of the material. If this dust is not cleaned in time, it may affect the clamping effect between the suction cup and the fixing plate on the material, reducing the stability of the material clamping. Utility Model Content

[0004] The purpose of this invention is to provide a handling fixture for industrial robots in order to solve the above-mentioned problems.

[0005] This utility model achieves the above objectives through the following technical solutions: A handling gripper for an industrial robot includes a base, an adjustment mechanism above the base, and a clamping mechanism for handling and holding materials, the clamping mechanism being located above the adjustment mechanism. The clamping mechanism includes a fixed base that is vertically movable above the base. A rotating frame is rotatably mounted on the bottom of the fixed base. A rotary motor is mounted on the rotating end of the rotating frame. The output end of the rotary motor is fixed to the rotating end of the rotating frame via a coupling. Slide grooves are provided on both the left and right sides of the rotating frame. Clamping plates are slidably mounted in the slide grooves. A double-acting screw is rotatably mounted on the bottom of the rotating frame. The clamping plates are threadedly connected to the double-acting screw. A clamping motor is mounted on the rotating end of the double-acting screw. The output end of the clamping motor is fixed to the rotating end of the double-acting screw via a coupling. A guide seat is fixed on the top of the clamping plates. A cleaning structure for cleaning dust from the surface of the material is provided between the two clamping plates.

[0006] Preferred: The cleaning structure includes receiving grooves on the front and rear sides of the clamping plate, a pressing plate is rotatably installed inside the receiving groove, a torsion spring is connected between the rotating end of the pressing plate and the receiving groove, the two pressing plates form a figure-eight shape with each other, and a dust blowing structure for blowing dust off the surface of the material is provided at the center of the clamping plate.

[0007] Preferably, the soot blowing structure includes an air storage chamber located at the center of the clamping plate. Two rows of air outlets are symmetrically arranged along the front-back direction on the surface of the air storage chamber. The air outlets of the two rows of air outlets are inclined towards the pressing plate. An air storage tank is installed at the top of the guide seat. An air inlet pipe is connected between the air storage tank and the air storage chamber. The air inlet pipe is a flexible hose. An air inlet structure is provided between the two air storage tanks for discharging air into the air storage chamber and then discharging it through the air outlets.

[0008] Preferably, the air intake structure includes connecting pipes arranged on the front and rear sides of the air storage tank. The connecting pipes are L-shaped. Pressing columns are slidably installed at one end of the connecting pipes on both sides. A fixing ring is fixed on the inner wall of the connecting pipe. The pressing column and the fixing ring are slidably connected. A piston plate is fixed at one end of the two pressing columns away from each other. A compression spring is connected between the piston plate and the fixing ring.

[0009] Preferably, the adjustment mechanism includes a bottom support arm disposed on the upper end of the base, a middle support arm mounted on the top of the bottom support arm, a top support arm rotatably mounted on the front end of the middle support arm, a middle adjustment motor mounted on the rotating end of the top support arm, the output end of the middle adjustment motor being fixed to the rotating end of the top support arm via a coupling, a rotating seat rotatably mounted on the end of the top support arm away from the middle support arm, a top adjustment motor mounted on the rotating end of the rotating seat, and the output end of the top adjustment motor being fixed to the rotating end of the rotating seat via a coupling.

[0010] Preferably, the ends of the clamping plate are covered with a rubber layer.

[0011] Preferably, the pressing plate is made of rubber.

[0012] Compared with existing technologies, the beneficial effects are as follows: Before clamping the material, the cleaning structure scrapes the dust at the clamping point to both sides and blows it off, preventing dust from covering the clamping point and affecting the clamping effect of the clamping plate. Cleaning the dust increases the clamping force of the clamping plate on the material, reduces the shaking of the material after clamping, and improves the stability of material clamping. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a spatial perspective view of a handling fixture for an industrial robot as described in this utility model; Figure 2This is a schematic diagram of the clamping mechanism of a handling fixture for an industrial robot according to the present invention; Figure 3 This is a cross-sectional view of the rotating base and the interior of the air storage tank of the handling fixture for industrial robots described in this utility model; Figure 4 This is a partial structural diagram of the clamping plate of a handling fixture for an industrial robot according to the present invention; Figure 5 This is a cross-sectional view of the internal structure of the air storage chamber of a handling fixture for an industrial robot according to the present invention; Figure 6 This is a cross-sectional view of the internal structure of the connecting pipe of a handling fixture for an industrial robot described in this utility model.

[0015] The annotations in the attached figures are explained as follows: 100. Base; 201. Fixed seat; 202. Rotary motor; 203. Rotating frame; 204. Slide groove; 205. Two-way lead screw; 206. Clamping plate; 207. Clamping motor; 208. Guide seat; 209. Receiving groove; 210. Pressing plate; 211. Torsion spring; 212. Air outlet; 213. Air storage chamber; 214. Air inlet pipe; 215. Air storage tank; 216. Connecting pipe; 217. Pressing column; 218. Piston plate; 219. Fixing ring; 301. Bottom support arm; 302. Middle support arm; 303. Top support arm; 304. Middle adjustment motor; 305. Rotating seat; 306. Top adjustment motor. Detailed Implementation

[0016] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection of two components. All electrical components mentioned in this document are electrically connected to an external main controller and 220V AC mains power, and the main controller can be a conventionally known control device such as a computer. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0017] The present invention will be further described below with reference to the accompanying drawings: like Figures 1-6 As shown, a handling fixture for an industrial robot includes a base 100, an adjustment mechanism for adjusting the position of the robot fixture, the adjustment mechanism being located above the base 100, and a clamping mechanism for handling and holding materials, the clamping mechanism being located above the adjustment mechanism.

[0018] In this embodiment: the adjustment mechanism includes a bottom support arm 301 disposed on the upper end of the base 100, a middle support arm 302 installed at the top of the bottom support arm 301, a top support arm 303 rotatably installed at the front end of the middle support arm 302, a middle adjustment motor 304 installed at the rotating end of the top support arm 303, the output end of the middle adjustment motor 304 being fixed to the rotating end of the top support arm 303 via a coupling, a rotating seat 305 rotatably installed at the end of the top support arm 303 away from the middle support arm 302, a top adjustment motor 306 installed at the rotating end of the rotating seat 305, and the output end of the top adjustment motor 306 being fixed to the rotating end of the rotating seat 305 via a coupling.

[0019] In this embodiment: the clamping mechanism includes a fixed base 201 fixedly disposed at the bottom of the rotating base 305, a rotating frame 203 rotatably mounted at the bottom of the fixed base 201, a rotary motor 202 mounted at the rotating end of the rotating frame 203, the output end of the rotary motor 202 being fixed to the rotating end of the rotating frame 203 via a coupling, sliding grooves 204 being provided on both the left and right sides of the rotating frame 203, a clamping plate 206 being slidably mounted in the sliding grooves 204, a bidirectional lead screw 205 rotatably mounted at the bottom of the rotating frame 203, the clamping plate 206 being threadedly connected to the bidirectional lead screw 205, a clamping motor 207 being mounted at the rotating end of the bidirectional lead screw 205, the output end of the clamping motor 207 being fixed to the rotating end of the bidirectional lead screw 205 via a coupling, a rubber layer being affixed to the end of the clamping plate 206, a guide seat 208 being fixed at the top of the clamping plate 206, and a cleaning structure for cleaning dust on the surface of the material being provided between the two clamping plates 206.

[0020] The cleaning structure includes receiving grooves 209 on the front and rear sides of the clamping plate 206. A pressing plate 210 is rotatably installed inside the receiving groove 209. The pressing plate 210 is made of rubber. A torsion spring 211 is connected between the rotating end of the pressing plate 210 and the receiving groove 209. The two pressing plates 210 form a V-shape with each other. A dust blowing structure for blowing dust off the surface of the material is provided at the center of the clamping plate 206.

[0021] The soot blowing structure includes an air storage chamber 213 located at the center of the clamping plate 206. Two rows of air outlets 212 are symmetrically arranged along the front-back direction on the surface of the air storage chamber 213. The air outlets of the two rows of air outlets 212 are inclined towards the pressing plate 210. An air storage tank 215 is installed at the top of the guide seat 208. An air inlet pipe 214 is connected between the air storage tank 215 and the air storage chamber 213. The air inlet pipe 214 is a flexible hose. An air inlet structure is provided between the two air storage tanks 215 for discharging air into the air storage chamber 213 and then discharging it through the air outlets 212.

[0022] The air intake structure includes connecting pipes 216 on both the front and rear sides of the air storage tank 215. The connecting pipes 216 are L-shaped. Pressing posts 217 are slidably installed at the ends of the connecting pipes 216 on both sides, close to each other. A fixing ring 219 is fixed to the inner wall of the connecting pipe 216. The pressing posts 217 are slidably connected to the fixing rings 219. Piston plates 218 are fixed at the ends of the two pressing posts 217 that are far apart from each other. A compression spring connects the piston plates 218 and the fixing rings 219. When the clamping plate 206 moves, it drives the air storage tank 215 and the connecting pipes 216 to move. The pressing columns 217 inside the 16 will squeeze each other. The pressing columns 217 move inside the connecting pipe 216, squeezing the air inside the connecting pipe 216 into the air storage chamber 213 through the air inlet pipe 214, and then expelling it outward through the multiple air outlets 212 on the surface of the air storage chamber 213. This blows away the dust on the surface of the material, causing the dust covering the material surface to separate from the material, making the material surface smooth. After cleaning the dust, the clamping force of the clamping plate 206 on the material is increased, reducing the phenomenon of material shaking after being clamped, and improving the stability of material clamping.

[0023] Working principle: First, start the middle adjustment motor 304 and the top adjustment motor 306 to drive the middle support arm 302 and the top support arm 303 to rotate, which in turn drives the rotating seat 305 to rotate, thereby adjusting the clamping position of the material. Then, start the rotary motor 202 to drive the rotating frame 203 to rotate, thereby adjusting the position of the rotating frame 203, and then moving the two clamping plates 206 to both sides of the material.

[0024] The clamping motor 207 is started, which drives the bidirectional lead screw 205 to rotate. This causes the two clamping plates 206 to move closer to each other to clamp the material in the middle. As the two clamping plates 206 move, they will drive the pressing plates 210 on the front and rear sides to move. The pressing plates 210 will first come into contact with the surface of the material. As the clamping plates 206 move continuously, the pressing plates 210 will continuously press the surface of the material, causing the pressing plates 210 to move from the center of the clamping plates 206 to the front and rear sides of the clamping plates 206.

[0025] Simultaneously, as the clamping plate 206 moves, it drives the air storage tank 215 and the connecting pipe 216 to move as well. The pressing columns 217 inside the connecting pipes 216 on both sides will press against each other. As the pressing columns 217 move inside the connecting pipes 216, they force the air inside the connecting pipes 216 through the air inlet pipe 214 into the air storage chamber 213, and then discharge it outward through the multiple air outlets 212 on the surface of the air storage chamber 213. When the gas is discharged outward, the angle formed between the two clamping plates 206 can gather the gas, allowing it to be concentrated and precisely blown away the dust on the surface of the material, preventing it from being discharged. The gas flows in other directions, guiding the airflow. At the same time, as the two clamping plates 206 move continuously on the material surface, a certain gap is formed between the clamping plates 206 and the edges and corners of the material. The gas is discharged through the gap between the two clamping plates 206 and the edges and corners of the material, blowing away the dust on the material surface and causing the dust covering the material surface to separate from the material, making the material surface smooth. After cleaning the dust, the clamping force of the clamping plates 206 on the material is increased, reducing the phenomenon of material shaking after being clamped and improving the stability of material clamping.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A handling gripper for an industrial robot, comprising a base (100), wherein an adjustment mechanism is disposed above the base (100), characterized in that: It also includes a clamping mechanism for clamping and holding materials, the clamping mechanism being located above the adjusting mechanism; The clamping mechanism includes a fixed base (201) that is vertically movable above the base (100). A rotating frame (203) is rotatably mounted on the bottom end of the fixed base (201). A rotary motor (202) is mounted on the rotating end of the rotating frame (203). The output end of the rotary motor (202) is fixed to the rotating end of the rotating frame (203) via a coupling. Slide grooves (204) are provided on both the left and right sides of the rotating frame (203). A clamping plate (206) is slidably mounted in the slide grooves (204). A bidirectional lead screw (205) is rotatably mounted at the bottom of the rotating frame (203). The clamping plate (206) is threadedly connected to the bidirectional lead screw (205). A clamping motor (207) is mounted on the rotating end of the bidirectional lead screw (205). The output end of the clamping motor (207) is fixed to the rotating end of the bidirectional lead screw (205) through a coupling. A guide seat (208) is fixed on the top of the clamping plate (206). A cleaning structure for cleaning dust on the surface of the material is provided between the two clamping plates (206).

2. The handling fixture for an industrial robot according to claim 1, characterized in that: The cleaning structure includes receiving grooves (209) on the front and rear sides of the clamping plate (206). A pressing plate (210) is rotatably installed inside the receiving groove (209). A torsion spring (211) is connected between the rotating end of the pressing plate (210) and the receiving groove (209). The two pressing plates (210) form a figure-eight shape with each other. A dust blowing structure for blowing dust off the surface of the material is provided at the center of the clamping plate (206).

3. The handling fixture for an industrial robot according to claim 2, characterized in that: The soot blowing structure includes an air storage chamber (213) located at the center of the clamping plate (206). Two rows of air outlets (212) are symmetrically arranged along the front-back direction on the surface of the air storage chamber (213). The air outlets of the two rows of air outlets (212) are inclined towards the pressing plate (210). An air storage tank (215) is installed at the top of the guide seat (208). An air inlet pipe (214) is connected between the air storage tank (215) and the air storage chamber (213). The air inlet pipe (214) is a flexible hose. An air inlet structure is provided between the two air storage tanks (215) for discharging air into the air storage chamber (213) and then discharging it through the air outlets (212).

4. The handling fixture for an industrial robot according to claim 3, characterized in that: The air intake structure includes connecting pipes (216) disposed on the front and rear sides of the air storage tank (215). The connecting pipes (216) are L-shaped. Pressing posts (217) are slidably installed on the left and right sides of the connecting pipes (216) close to each other at one end. A fixing ring (219) is fixed on the inner wall of the connecting pipe (216). The pressing posts (217) are slidably connected to the fixing rings (219). Piston plates (218) are fixed on the two pressing posts (217) at one end away from each other. A compression spring is connected between the piston plates (218) and the fixing rings (219).

5. A handling fixture for an industrial robot according to claim 4, characterized in that: The adjustment mechanism includes a bottom support arm (301) disposed on the upper end of the base (100), a middle support arm (302) installed at the top of the bottom support arm (301), a top support arm (303) rotatably installed at the front end of the middle support arm (302), a middle adjustment motor (304) installed at the rotating end of the top support arm (303), the output end of the middle adjustment motor (304) being fixed to the rotating end of the top support arm (303) via a coupling, a rotating seat (305) rotatably installed at the end of the top support arm (303) away from the middle support arm (302), a top adjustment motor (306) installed at the rotating end of the rotating seat (305), and the output end of the top adjustment motor (306) being fixed to the rotating end of the rotating seat (305) via a coupling.

6. A handling fixture for an industrial robot according to claim 5, characterized in that: The clamping plate (206) has a rubber layer attached to its end.

7. A handling fixture for an industrial robot according to claim 6, characterized in that: The pressing plate (210) is made of rubber.

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