CN216884011U - Terminal anchor clamps of robot and robot - Google Patents
Terminal anchor clamps of robot and robot Download PDFInfo
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- CN216884011U CN216884011U CN202123302807.5U CN202123302807U CN216884011U CN 216884011 U CN216884011 U CN 216884011U CN 202123302807 U CN202123302807 U CN 202123302807U CN 216884011 U CN216884011 U CN 216884011U
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- 230000008569 process Effects 0.000 description 3
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Abstract
The utility model discloses a terminal clamp of a robot and the robot, the terminal clamp of the robot comprises: a mounting base; a clamping mechanism; a float assembly, the float assembly comprising: the clamping mechanism comprises a connecting piece and a locking piece, wherein one end of the connecting piece is arranged on the clamping mechanism, the other end of the connecting piece is movably arranged on the mounting seat, so that the clamping mechanism can float relative to the mounting seat, and the connecting piece is provided with a limiting part; the locking piece can switch between locking position and unlocking position, and the locking piece is suitable for the cooperation on spacing portion when the locking piece is in the locking position to make the relative mount pad of connecting piece keep the locking, the locking piece breaks away from spacing portion when the locking piece is in the unlocking position. According to the utility model, the floating assembly is arranged between the clamping mechanism and the mounting seat, so that the clamping mechanism is quickly attached to an inclined workpiece and picks up the workpiece; in addition, the utility model also improves the applicability of the tail end clamp to the working environment, saves the space and leads the structure to be more compact by the matching of the locking piece and the limiting part on the connecting piece.
Description
Technical Field
The utility model relates to the technical field of clamps, in particular to a tail end clamp of a robot and the robot.
Background
In recent years, the industrial robot automation industry rises rapidly, and a good development opportunity is created for the manufacturing industry. Along with the maturity of technologies such as artificial intelligence, machine vision, automated equipment is more and more, and industrial robot is also more and more. The jig is used as an important component of an industrial robot and is increasingly used in various industries. But the existing clamp can not achieve the aim of quickly picking up the inclined workpiece.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides an end clamp of a robot, which achieves the aim of quickly picking up inclined workpieces.
The utility model also provides a robot applying the end clamp, which achieves the aim of quickly picking up inclined workpieces.
An end clamp according to an embodiment of the present invention includes: a mounting base; a clamping mechanism; a float assembly, the float assembly comprising: the clamping mechanism comprises a connecting piece and a locking piece, wherein one end of the connecting piece is arranged on the clamping mechanism, the other end of the connecting piece is movably arranged on the mounting seat, so that the clamping mechanism can float relative to the mounting seat, and a limiting part is arranged on the connecting piece; the locking piece can be switched between a locking position and an unlocking position, the locking piece is suitable for being matched on the limiting part when the locking piece is located at the locking position, so that the connecting piece is kept locked relative to the mounting seat, and the locking piece is separated from the limiting part when the locking piece is located at the unlocking position.
According to the tail end clamp disclosed by the embodiment of the utility model, the floating assembly is arranged between the clamping mechanism and the mounting seat, so that the clamping mechanism floats, and the clamping mechanism is quickly attached to an inclined workpiece and picks up the workpiece; in addition, the utility model also realizes the switching of the state of the clamping mechanism by the matching of the locking piece and the limiting part on the connecting piece, improves the applicability of the tail end clamp to the working environment, and the limiting part is arranged on the connecting piece, thereby saving the space and leading the structure to be more compact.
In some embodiments, the mounting seat is provided with a spherical hole, and the other end of the connecting member is provided with a spherical head portion adapted to fit into the spherical hole.
Specifically, the limiting part is a limiting hole formed in the head part, the locking piece is a locking column, and the locking column can be inserted into or separated from the locking hole.
More specifically, one end of the limiting hole, which is close to the locking column, is provided with a tapered opening, and the width of the tapered opening in the direction along which the locking column is inserted into the limiting hole is gradually reduced.
In other more specific embodiments, a tapered portion is disposed at an end of the locking column close to the limiting hole, and the width of the tapered portion in a direction close to the limiting hole is gradually reduced.
In other embodiments, the clamping mechanism comprises: the mounting plate is arranged on the connecting piece; and the adsorption piece is arranged on the mounting plate and used for adsorbing the workpiece to be clamped.
In some embodiments, the end clamp further comprises: the telescopic driving piece is arranged on the mounting seat, and the output end of the telescopic driving piece is connected with the locking piece so as to drive the locking piece to be switched between the locking position and the unlocking position.
Specifically, the mount includes: the mounting flange is used for connecting the tail end of the robot; a mounting flange, wherein the mounting flange is mounted to the mounting plate; the curb plate, the one end of curb plate is connected mounting flange and the other end are connected the fixed plate, the curb plate the fixed plate and inject between the mounting flange and have installation space, the locking piece with flexible driving piece is established in the installation space.
More specifically, the tip holder further includes: the guide assembly is arranged on the side plate and located in the installation space, and the locking piece is arranged on the guide assembly to switch between the locking position and the unlocking position.
According to the embodiment of the utility model, the robot comprises the end clamp of the robot.
According to the tail end clamp disclosed by the embodiment of the utility model, the floating assembly is arranged between the clamping mechanism and the mounting seat, so that the clamping mechanism floats, and the clamping mechanism is quickly attached to an inclined workpiece and picks up the workpiece; in addition, the utility model also realizes the switching of the states of the clamping mechanism by the matching of the locking piece and the limiting part on the connecting piece, improves the applicability of the tail end clamp to the working environment, and saves the space and leads the structure to be more compact by arranging the limiting part on the connecting piece.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a first schematic view of a terminal clamp according to an embodiment of the present invention;
FIG. 2 is a second schematic view of a terminal clamp according to an embodiment of the present invention;
FIG. 3 is a sectional view taken along line B-B of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 3 at I;
reference numerals:
100. a terminal clamp;
10. a mounting seat; 11. a spherical pore; 12. installing a flange; 13. a fixing plate; 14. a side plate; 15. an installation space;
20. a clamping mechanism; 21. mounting a plate; 22. an adsorbing member;
30. a floating assembly; 31. a connecting member; 311. a limiting part; 3111. a tapered mouth; 312. a ball head portion; 32. a locking member; 321. a tapered portion;
40. a telescopic driving member; 50. a guide assembly.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
An end clamp 100 according to an embodiment of the present invention will be described with reference to the drawings.
As shown in fig. 1 and 2, an end clamp 100 according to an embodiment of the present invention includes: mount 10, fixture 20 and floating assembly 30.
The floating assembly 30 includes: the connecting piece 31 and the locking piece 32, one end of the connecting piece 31 is arranged on the clamping mechanism 20 and the other end is movably arranged on the mounting seat 10, so that the clamping mechanism 20 can float relative to the mounting seat 10, and the connecting piece 31 is provided with a limiting part 311. According to the utility model, the connecting piece 31 is arranged to connect the clamping mechanism 20 and the mounting seat 10, so that the clamping mechanism 20 can float relative to the mounting seat 10, the clamping mechanism 20 is in a floating state in the process of picking up the workpiece, and the floating clamping mechanism 20 is suitable for the inclined workpiece, for example, attached to the surface of the workpiece, thereby realizing the picking up of the inclined workpiece.
The locking member 32 can be switched between a locking position and an unlocking position, the locking member 32 is adapted to fit on the limiting portion 311 when the locking member 32 is in the locking position, so that the connecting member 31 is kept locked relative to the mounting base 10, and the locking member 32 is disengaged from the limiting portion 311 when the locking member 32 is in the unlocking position. The locking piece 32 and the limiting part 311 are matched to enable the clamping mechanism 20 to be in a floating state or a locking state, different states are used in different working environments, and the adaptability of the tail end clamp 100 to the working environments is improved. Meanwhile, the locking piece 32 is matched with the positioning part 311 on the connecting piece 31 for locking, compared with the prior art, the space is saved, and the structure is compact.
According to the terminal fixture 100 of the embodiment of the utility model, the floating component 30 is arranged between the clamping mechanism 20 and the mounting seat 10, so that the clamping mechanism 20 floats, and the clamping mechanism 20 is quickly attached to an inclined workpiece and picks up the workpiece; in addition, the utility model also realizes the switching of the states of the clamping mechanism 20 through the matching of the locking piece 32 and the limiting part 311 on the connecting piece 31, improves the applicability of the tail end clamp 100 to the working environment, and the limiting part 311 is arranged on the connecting piece 31, saves the space and leads the structure to be more compact.
As shown in fig. 3 and 4, in some embodiments, the mounting seat 10 is provided with a spherical hole 11, the other end of the connecting member 31 is provided with a spherical head portion 312, the spherical head portion 312 is adapted to fit into the spherical hole 11, and the spherical head portion 312 and the spherical hole 11 are arranged to realize the movable connection between the connecting member 31 and the mounting seat 10, so that the fixture 20 can float relative to the mounting seat 10.
As shown in fig. 4, specifically, the limiting portion 311 is a limiting hole formed in the ball head portion 312, the locking member 32 is a locking post, the locking post can be inserted into or separated from the locking hole, and the switching of the states of the clamping mechanism 20 is realized by setting the matching between the locking post and the limiting hole, which is simple and convenient. It can be understood that when the locking piece 32 is in the locking position, the locking post is inserted into the locking hole, and the locking post prevents the ball head portion 312 from moving, so that the connecting piece 31 is locked relative to the mounting seat 10, and the clamping mechanism 20 cannot float; when the locking piece 32 is in the unlocking position, the locking column is separated from the locking hole, and the ball head part 312 can move in the ball-shaped hole 11, so that the floating of the clamping mechanism 20 is realized.
As shown in fig. 4, more specifically, one end of the limiting hole close to the locking post is provided with a tapered opening 3111, the width of the tapered opening 3111 in the direction along which the locking post is inserted into the limiting hole is gradually reduced, the locking post is convenient to enter the limiting hole by the arrangement of the tapered opening 3111, and the control difficulty is reduced. The tapered opening 3111 is relatively large in size in the width direction of the limiting hole, and even if the locking column is not aligned with the limiting hole in the process of being inserted into the limiting hole, the locking column can enter the limiting hole along the tapered opening 3111. Of course, the end of the limiting hole close to the locking column can be provided with an inlet with other shapes, such as a horn mouth, so that the locking column can conveniently enter the limiting hole.
As shown in fig. 4, in other more specific embodiments, a tapered portion 321 is disposed at an end of the locking post close to the limiting hole, a width of the tapered portion 321 in a direction close to the limiting hole is gradually reduced, the locking post can conveniently enter the limiting hole by the tapered portion 321, and the control difficulty is reduced. The tapered portion 321 is smaller in size in the width direction relative to the limiting hole, and even if the locking column is not completely aligned with the limiting hole in the process of being inserted into the limiting hole, the smaller end of the locking column can enter the limiting hole. Of course, one end of the locking column close to the limiting hole can be provided with one end in other shapes, so that the locking column can conveniently enter the limiting hole.
In other embodiments, as shown in fig. 1 and 2, the clamping mechanism 20 includes: mounting plate 21, suction piece 22.
The mounting plate 21 is provided on the connecting member 31. The adsorbing piece 22 is arranged on the mounting plate 21 and used for adsorbing a workpiece to be clamped, the workpiece is adsorbed by the adsorbing piece 22, the workpiece is picked up by the clamping mechanism 20, and meanwhile damage to the workpiece is reduced. For example, the adsorbing member 22 is a suction cup, and the suction cup adsorbs the surface of the workpiece by vacuum, so that the workpiece is not damaged; or, the adsorption part 22 is a magnetic part, and the workpiece is adsorbed by the magnetic part to realize the pick-up function.
As shown in fig. 1, optionally, a plurality of adsorbing members 22 are disposed on the mounting plate 21, and the plurality of adsorbing members 22 are disposed to increase the adsorbing force, so as to ensure the stability of the workpiece. For example, the mounting plate 21 is provided with 4 suction members 22.
As shown in fig. 2 and 3, in some embodiments, the end clamp 100 further includes: telescopic driving member 40, telescopic driving member 40 establish on mount pad 10, and locking piece 32 is connected to telescopic driving member 40's output to drive locking piece 32 and switch between locking position and unblock position, through setting up telescopic driving member 40 drive locking piece 32 and switch between locking position and unblock position, simple structure, convenient operation. For example, the telescopic driving member 40 is a telescopic cylinder, and an output end of the telescopic cylinder is connected to the locking member 32 to drive the locking member 32 to extend and retract.
As shown in fig. 1, specifically, the mount 10 includes: mounting flange 12, fixing plate 13 and side plate 14.
The mounting flange 12 is used to attach the end of a robot. The mounting plate 13 and the mounting flange 12 are spaced apart. One end of the side plate 14 is connected with the mounting flange 12, the other end of the side plate is connected with the fixing plate 13, a mounting space 15 is limited among the side plate 14, the fixing plate 13 and the mounting flange 12, and the locking piece 32 and the telescopic driving piece 40 are arranged in the mounting space 15. The present invention protects the locking member 32 and the telescopic driving member 40 by defining the installation space 15 for placing the locking member 32 and the telescopic driving member 40, prevents the locking member 32 and the telescopic driving member 40 from being damaged, and makes the structure compact.
As shown in fig. 1 and 2, more specifically, the end clamp 100 further includes: the guide assembly 50, the guide assembly 50 is set up on the curb plate 14 and is located in installation space 15, and the locking piece 32 is set up on the guide assembly 50 in order to switch between locking position and unblock position, limits the moving track of locking piece 32 through setting up the guide assembly 50, makes the more steady that the locking piece 32 removed.
For example, the guide assembly 50 is a linear guide assembly including a linear guide and a slider sliding on the linear guide, and the locking member 32 is disposed on the slider to move with the slider. Of course, the guide assembly 50 may also be a ball screw assembly or other assembly.
One embodiment of an end clamp 100 of the present invention is described below in conjunction with fig. 1-4.
An end clamp 100 comprising: the mounting seat 10, the floating assembly 30, the clamping mechanism 20, the telescopic driving member 40 and the guiding assembly 50.
The mount 10 includes: mounting flange 12, fixing plate 13 and side plate 14.
A mounting flange 12 is used to attach the end of the robot. The fixing plate 13 and the mounting flange 12 are arranged at a distance, and the fixing plate 13 is provided with a spherical hole 11. The side plate 14 has one end connected to the mounting flange 12 and the other end connected to the fixing plate 13, and a mounting space 15 is defined between the side plate 14, the fixing plate 13 and the mounting flange 12.
The telescopic driving member 40 is a telescopic cylinder, the telescopic driving member 40 is arranged on the mounting flange 12, and the telescopic driving member 40 is located in the mounting space 15.
The guide assembly 50 is a linear guide assembly including a linear guide and a slider, and the linear guide is disposed on the side plate 14 and located in the installation space 15.
The floating assembly 30 includes: a locking member 32 and a connecting member 31. The locking piece 32 is a locking column, the locking piece 32 has a locking position and an unlocking position, the locking piece 32 and the telescopic driving piece 40 are also arranged in the installation space 15, the locking piece 32 is connected with the output end of the telescopic driving piece 40, and meanwhile the locking piece 32 is arranged on the sliding block so as to drive the locking piece 32 to switch between the locking position and the unlocking position. One end of the lock member 32 is provided with a tapered portion 321, and the width of the tapered portion 321 in the downward direction gradually decreases. One end of the connecting member 31 is provided with a ball head portion 312, the ball head portion 312 being adapted to fit the ball-shaped hole 11. The ball head part 312 is provided with a limiting part 311, the limiting part 311 is a limiting hole, and the locking post can be inserted into or separated from the locking hole; one end of the limiting hole close to the locking column is provided with a conical opening 3111, and the width of the conical opening 3111 in the direction along which the locking column is inserted into the limiting hole is gradually reduced.
The clamping mechanism 20 includes: mounting plate 21, suction piece 22. The mounting plate 21 is disposed at the other end of the connecting member 31, the locking member 32 is adapted to fit over the limiting hole when the locking member 32 is in the locking position, so that the mounting plate 21 is kept locked with respect to the mounting seat 10, and the locking member 32 is disengaged from the limiting portion 311 when the locking member 32 is in the unlocking position, so that the mounting plate 21 can float with respect to the mounting seat 10. The adsorption pieces 22 are magnetic pieces, and the four adsorption pieces 22 are arranged on the bottom surface of the mounting plate 21 and used for adsorbing a workpiece to be clamped.
A robot (not shown) according to an embodiment of the present invention includes the above-described end gripper 100 of the robot.
According to the tail end clamp 100 provided by the embodiment of the utility model, the floating component 30 is arranged between the clamping mechanism 20 and the mounting seat 10, so that the clamping mechanism 20 floats, and the clamping mechanism 20 is quickly attached to an inclined workpiece and picks up the workpiece; in addition, the utility model also realizes the switching of the states of the clamping mechanism 20 through the matching of the locking piece 32 and the limiting part 311 on the connecting piece 31, improves the applicability of the tail end clamp 100 to the working environment, and the limiting part 311 is arranged on the connecting piece 31, saves the space and leads the structure to be more compact.
Other constructions and operations of the end clamp 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An end clamp for a robot, comprising:
a mounting seat;
a clamping mechanism;
a float assembly, the float assembly comprising: the clamping mechanism comprises a connecting piece and a locking piece, wherein one end of the connecting piece is arranged on the clamping mechanism, the other end of the connecting piece is movably arranged on the mounting seat, so that the clamping mechanism can float relative to the mounting seat, and a limiting part is arranged on the connecting piece; the locking piece can be switched between a locking position and an unlocking position, the locking piece is suitable for being matched on the limiting part when the locking piece is located at the locking position, so that the connecting piece is kept locked relative to the mounting seat, and the locking piece is separated from the limiting part when the locking piece is located at the unlocking position.
2. A robot end clamp according to claim 1, wherein said mounting seat is provided with a spherical hole, and the other end of said connecting member is provided with a ball head portion adapted to fit into said spherical hole.
3. The end clamp of a robot according to claim 2, wherein the position-limiting portion is a position-limiting hole provided on the ball head portion, and the locking member is a locking post that can be inserted into or removed from the locking hole.
4. The end clamp of a robot according to claim 3, wherein a tapered opening is provided at an end of the stopper hole close to the lock post, and a width of the tapered opening is gradually reduced in a direction along which the lock post is inserted into the stopper hole.
5. The end clamp of a robot according to claim 3, wherein a tapered portion is provided at an end of the locking post adjacent to the stopper hole, and a width of the tapered portion in a direction adjacent to the stopper hole is gradually reduced.
6. The end clamp of a robot of claim 1, wherein the clamping mechanism comprises:
the mounting plate is arranged on the connecting piece;
and the adsorption piece is arranged on the mounting plate and used for adsorbing the workpiece to be clamped.
7. The end clamp of a robot as recited in claim 1, further comprising: the telescopic driving piece is arranged on the mounting seat, and the output end of the telescopic driving piece is connected with the locking piece so as to drive the locking piece to be switched between the locking position and the unlocking position.
8. The robotic end gripper of claim 7, wherein the mounting base comprises:
the mounting flange is used for connecting the tail end of the robot;
a mounting flange, wherein the mounting flange is mounted to the mounting plate;
the curb plate, the one end of curb plate is connected mounting flange and the other end are connected the fixed plate, the curb plate the fixed plate and inject between the mounting flange and have installation space, the locking piece with flexible driving piece is established in the installation space.
9. The end clamp of a robot of claim 8, further comprising: the guide assembly is arranged on the side plate and located in the installation space, and the locking piece is arranged on the guide assembly to switch between the locking position and the unlocking position.
10. A robot characterized by comprising the end gripper of the robot of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123302807.5U CN216884011U (en) | 2021-12-24 | 2021-12-24 | Terminal anchor clamps of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123302807.5U CN216884011U (en) | 2021-12-24 | 2021-12-24 | Terminal anchor clamps of robot and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216884011U true CN216884011U (en) | 2022-07-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123302807.5U Active CN216884011U (en) | 2021-12-24 | 2021-12-24 | Terminal anchor clamps of robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216884011U (en) |
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2021
- 2021-12-24 CN CN202123302807.5U patent/CN216884011U/en active Active
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