1. The utility model provides a compound anchor clamps based on industrial robot, includes mount pad (1), carousel (3), angle adjustment mechanism and splint (7), its characterized in that: install motor one (2) in mount pad (1), the output shaft and the carousel (3) top of motor one (2) are connected, angle adjustment mechanism includes motor two (4), support arm one (5), support arm two (6), install in carousel (3) bottom left and right sides motor two (4), the output shaft and the one end of support arm one (5) of motor two (4) are connected, the other end of support arm one (5) is articulated with the one end of support arm two (6), the other end of support arm two (6) is articulated with splint (7) top, mid-mounting has motor three (8) in splint (7), the output shaft and lead screw (9) of motor three (8) are connected, slide (10) have all screwed joint in the left and right sides of lead screw (9) outer wall, the slide has transversely been seted up in (10), install electromagnetic chuck (11) in the mounting groove, two be equipped with inserted block (12) between slide (10), inserted block (12) bottom is connected with slider (13), slider (13) bottom is connected with fixture.

2. An industrial robot based composite gripper according to claim 1, characterized in that: the clamping mechanism comprises a parallel cylinder (14), a moving seat (16), a fixed seat (17), a mounting seat (21) and a clamping jaw (22), a sliding rail (15) is transversely arranged at the top in the parallel cylinder (14), a sliding block (13) is connected in the sliding rail (15) in a sliding mode, a first spiral groove is longitudinally arranged at the upper portion in the parallel cylinder (14), and the sliding block (13) is connected in the first spiral groove in a threaded mode through a bolt in a threaded mode.

3. An industrial robot based compound gripper according to claim 2, characterized in that: remove seat (16) and install the left and right sides in parallel cylinder (14) bottom, fixing base (17) top and removal seat (16) bottom fixed connection, vertically movable groove one has been seted up in fixing base (17), be equipped with stopper (19), spacing dish (18), support column, spring one (20) in the movable groove one, the support column vertically inserts and establishes in movable groove one, the bottom of support column runs through fixing base (17) bottom and outwards extends and is connected with mount pad (21), the top and the spacing dish (18) bottom of support column are connected, the outer wall at the support column is established to spring one (20) cover, the top and the bottom of spring one (20) are connected with spacing dish (18) bottom, the bottom in the movable groove respectively.

4. An industrial robot based compound gripper according to claim 3, characterized in that: the limiting plate is characterized in that limiting grooves matched with limiting blocks (19) are longitudinally formed in the left side and the right side of the limiting plate (18), the limiting blocks (19) are inserted into the limiting grooves, and the clamping jaws (22) are installed below the mounting base (21).

5. An industrial robot based composite gripper according to claim 1, characterized in that: screw groove two has all vertically been seted up to both sides about in splint (7), the spiro union has double-screw bolt (23) in the screw groove two, double-screw bolt (23) top is equipped with air inlet (24), double-screw bolt (23) bottom is connected with guide post (25), vertically be equipped with guide bar (26) in guide post (25), activity groove two has vertically been seted up to the below in guide post (25), be equipped with bracing piece (27), limiting plate (28) and spring two (29) in the activity groove two, vertically seted up the slot in bracing piece (27), guide bar (26) are inserted and are established in the slot.

6. An industrial robot based compound gripper according to claim 5, characterized in that: the slot inner wall is equipped with the sealing ring, the inner wall, the outer wall of sealing ring laminate with guide bar (26) outer wall, slot inner wall respectively, bracing piece (27) outer wall middle part is connected with limiting plate (28), two (29) of spring are located the top and the below of limiting plate (28), just two (29) of spring cover are established at the outer wall of bracing piece (27), the both ends of two (29) of spring respectively with limiting plate (28), two interior wall connections in movable groove.

7. An industrial robot based composite gripper according to claim 6, characterized in that: sucking disc (30) are installed to bracing piece (27) bottom, guide bar (26) top vertically runs through double-screw bolt (23) and communicates with air inlet (24), vertically seted up the air inlet duct in guide bar (26), air inlet duct and slot intercommunication.

Background

Along with the acceleration of mechanical automation production process, the most industrial robot that use of machining production accomplishes the transport, the assembly, the packing, the required process of factory work such as welding and cutting, industrial robot not only can improve the work efficiency of machining, and can reduce workman's incident's emergence, industrial robot presss from both sides the structure of getting the product during operation during anchor clamps, when current anchor clamps and robot cooperate, anchor clamps itself can't be adjusted, thereby need to adjust the procedure of robot, adjust comparatively miscellaneous, waste time, and the chuck of current anchor clamps is often through the bolt mounting on anchor clamps, it is comparatively troublesome to change.

Disclosure of Invention

The invention aims to provide a composite clamp based on an industrial robot, and aims to solve the problems that the clamp provided by the background technology cannot be adjusted and a chuck is troublesome to replace.

In order to achieve the purpose, the invention provides the following technical scheme: a composite clamp based on an industrial robot comprises a mounting seat, a rotary table, an angle adjusting mechanism and a clamping plate, wherein a first motor is mounted in the mounting seat, an output shaft of the first motor is connected with the top of the rotary table, the angle adjusting mechanism comprises a second motor, a first supporting arm and a second supporting arm, the second motor is mounted on the left side and the right side of the bottom of the rotary table, an output shaft of the second motor is connected with one end of the first supporting arm, the other end of the first supporting arm is hinged with one end of the second supporting arm, the other end of the second supporting arm is hinged with the top of the clamping plate, a third motor is mounted in the middle of the clamping plate, an output shaft of the third motor is connected with a lead screw, sliding seats are screwed on the left side and the right side of the outer wall of the lead screw, mounting grooves are transversely formed in the sliding seats, electromagnetic suckers are mounted in the mounting grooves, insert blocks are arranged between the two sliding seats, and the bottoms of the insert blocks are connected with sliding blocks, and the bottom of the sliding block is connected with a clamping mechanism.

Preferably, the clamping mechanism comprises a parallel cylinder, a moving seat, a fixed seat, a mounting seat and a clamping jaw, a sliding rail is transversely arranged at the top in the parallel cylinder, the sliding block is connected in the sliding rail in a sliding mode, a first spiral groove is longitudinally arranged at the upper portion in the parallel cylinder, and the sliding block is connected in the first spiral groove in a threaded mode through a bolt.

Preferably, remove the seat and install the left and right sides in parallel cylinder bottom, fixing base top and removal seat bottom fixed connection, vertically seted up movable groove one in the fixing base, be equipped with stopper, spacing dish, support column, spring one in the movable groove one, the support column vertically inserts and establishes in movable groove one, the bottom of support column runs through the fixing base bottom and outwards extends and is connected with the mount pad, the top and the spacing dish bottom of support column are connected, the outer wall at the support column is established to the spring suit, the top and the bottom of spring one are connected with spacing dish bottom, the bottom in the movable groove one respectively.

Preferably, the left side and the right side of the limiting disc are longitudinally provided with limiting grooves matched with the limiting blocks, the limiting blocks are inserted in the limiting grooves, and the clamping jaws are installed below the mounting seat.

Preferably, the left and right sides all vertically has seted up thread groove two in the splint, the spiro union has the double-screw bolt in the thread groove two, the double-screw bolt top is equipped with the air inlet, the double-screw bolt bottom is connected with the guide post, vertically be equipped with the guide bar in the guide post, activity groove two has vertically been seted up to the below in the guide post, be equipped with bracing piece, limiting plate and spring two in the activity groove two, vertically seted up the slot in the bracing piece, the guide bar is inserted and is established in the slot.

Preferably, the slot inner wall is equipped with the sealing ring, inner wall, the outer wall of sealing ring laminate with guide bar outer wall, slot inner wall respectively, bracing piece outer wall middle part is connected with the limiting plate, the spring is two in the top and the below of limiting plate, just the outer wall at the bracing piece is established to the spring second cover, the both ends of spring second respectively with two inner wall connections of limiting plate, movable groove.

Preferably, the sucking disc is installed to the bracing piece bottom, the guide bar top vertically runs through the double-screw bolt and communicates with the air inlet, vertically seted up the air inlet duct in the guide bar, the air inlet duct communicates with the slot.

Compared with the prior art, the invention has the beneficial effects that:

1) the clamping jaw and the sucker can be adjusted in multiple directions by driving the turntable to rotate through the first motor so as to drive the clamping plates to rotate, and simultaneously, by adjusting the angles of the first support arm and the second support arm which are opposite to each other, the second motor works.

2) The screw rod is driven to rotate by the motor III, so that the sliding seats are driven to move, the distance between the left sliding seat and the right sliding seat is adjusted, the chuck is clamped in the middle, the chuck is sucked and fixed by the electromagnetic chuck, the chuck cannot move, and the installation is more convenient and rapid.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a slide rail structure according to the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 1 according to the present invention;

FIG. 4 is an enlarged view of the invention at B of FIG. 1.

In the figure: the device comprises a mounting seat 1, a first motor 2, a rotary table 3, a second motor 4, a first support arm 5, a second support arm 6, a clamping plate 7, a third motor 8, a lead screw 9, a sliding seat 10, an electromagnetic sucker 11, an inserting block 12, a sliding block 13, a parallel cylinder 14, a sliding rail 15, a movable seat 16, a fixed seat 17, a limiting plate 18, a limiting block 19, a first spring 20, a mounting seat 21, a clamping jaw 22, a stud 23, an air inlet 24, a guide column 25, a guide rod 26, a support rod 27, a limiting plate 28, a second spring 29 and a sucker 30.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and 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 construed as limiting the present invention.

Example (b):

referring to fig. 1-4, the present invention provides a technical solution: a composite clamp based on an industrial robot comprises a mounting seat 1, a rotary table 3, an angle adjusting mechanism and a clamping plate 7, wherein a motor I2 is installed in the mounting seat 1, an output shaft of the motor I2 is connected with the top of the rotary table 3, the angle adjusting mechanism comprises a motor II 4, a supporting arm I5 and a supporting arm II 6, the motor II 4 is installed on the left side and the right side of the bottom of the rotary table 3, an output shaft of the motor II 4 is connected with one end of the supporting arm I5, the other end of the supporting arm I5 is hinged with one end of the supporting arm II 6, the other end of the supporting arm II 6 is hinged with the top of the clamping plate 7, the motor I2 works to drive the rotary table 3 to rotate, the motor II 4 works to adjust the angle of the clamping plate 7 through the supporting arm I5 and the supporting arm II 6, so that the clamping jaw 22 and the sucker 30 can be adjusted in multiple directions, a motor III 8 is installed in the clamping plate 7 in the middle, three 8's of motor output shaft is connected with lead screw 9, the equal spiro union in the lead screw 9 outer wall left and right sides has slide 10, transversely seted up the mounting groove in the slide 10, install electromagnet 11 in the mounting groove, two be equipped with inserted block 12 between the slide 10, inserted block 12 bottom is connected with slider 13, slider 13 bottom is connected with fixture, and three 8 work of motor drive lead screw 9 rotates the interval that can adjust between the slide 10, carries out the centre gripping to inserted block 12, and electromagnet 11 switch-on electricities absorb inserted block 12, prevent that inserted block 12 from producing the displacement.

The clamping mechanism comprises a parallel cylinder 14, a moving seat 16, a fixed seat 17, an installation seat 21 and a clamping jaw 22, a sliding rail 15 is transversely arranged at the top in the parallel cylinder 14, a sliding block 13 is connected in the sliding rail 15 in a sliding mode, a first screw groove is longitudinally arranged at the upper portion in the parallel cylinder 14, the sliding block 13 is in threaded connection with the first screw groove through a bolt, the bolt is screwed out of the first screw groove, and therefore the position of the parallel cylinder 14 can be transversely adjusted.

The movable seat 16 is arranged on the left side and the right side of the bottom of the parallel cylinder 14, the top of the fixed seat 17 is fixedly connected with the bottom of the movable seat 16, a first movable groove is longitudinally formed in the fixed seat 17, a limit block 19, a limit disc 18, a support column and a first spring 20 are arranged in the first movable groove, the support column is longitudinally inserted in the first movable groove, the bottom of the support column penetrates through the bottom of the fixed seat 17 and extends outwards and is connected with the installation seat 21, the top of the support column is connected with the bottom of the limit disc 18, the first spring 20 is sleeved on the outer wall of the support column, the top and the bottom of the first spring 20 are respectively connected with the bottom of the limit disc 18 and the inner bottom of the first movable groove, the installation seat 21 is pulled downwards, the installation seat 21 drives the limit disc 18 to descend through the support column, the limit block 19 is separated from the limit groove, the installation seat 21, the limiting block 19 is inserted into the limiting groove, the one-side clamping jaw 22 is rotated, and the inner wall of a product can be clamped.

Spacing groove with 19 assorted of stopper is vertically seted up all to the spacing dish 18 left and right sides, stopper 19 is inserted and is established in the spacing groove, clamping jaw 22 is installed in the below of mount pad 21, and the interval between the seat 16 can be adjusted in parallel cylinder 14 work, removes the seat 16 and removes and drive clamping jaw 22 through fixing base 17 to the realization is got the clamp of product.

Screw groove two has all vertically been seted up to the left and right sides in splint 7, the spiro union has double-screw bolt 23 in the screw groove two, double-screw bolt 23 top is equipped with air inlet 24, double-screw bolt 23 bottom is connected with guide post 25, vertically be equipped with guide bar 26 in the guide post 25, activity groove two has vertically been seted up to the below in the guide post 25, be equipped with bracing piece 27, limiting plate 28 and spring two 29 in the activity groove two, vertically seted up the slot in the bracing piece 27, guide bar 26 is inserted and is established in the slot.

The slot inner wall is equipped with the sealing ring, the inner wall, the outer wall of sealing ring laminate with 26 outer walls of guide bar, slot inner wall respectively, 27 outer wall middle parts of bracing piece are connected with limiting plate 28, two 29 springs are located the top and the below of limiting plate 28, just two 29 covers of spring are established at the outer wall of bracing piece 27, two 29 both ends of spring respectively with two inner wall connections of limiting plate 28, movable groove.

Suction cup 30 is installed to bracing piece 27 bottom, guide bar 26 top vertically runs through double-screw bolt 23 and communicates with air inlet 24, vertically seted up the air inlet duct in the guide bar 26, air inlet duct and slot intercommunication, limiting plate 28 and two 29 cooperation of spring can realize the buffering guard action to suction cup 30 when anchor clamps receive the foreign object and strike.

The working principle is as follows: the first motor 2 works to drive the turntable 3 to rotate, the second motor 4 works to adjust the angle of the clamping plate 7 through the first support arm 5 and the second support arm 6, so that the clamping jaw 22 and the sucker 30 can be adjusted in multiple directions, the third motor 8 works to drive the screw rod 9 to rotate to adjust the space between the sliding seats 10, so that the insertion block 12 is clamped, the electromagnetic sucker 11 is electrified to suck the insertion block 12, the insertion block 12 is prevented from being displaced, a bolt is screwed out of the first screw groove, so that the position of the parallel cylinder 14 can be transversely adjusted, the parallel cylinder 14 works to adjust the space between the movable seats 16, the movable seats 16 move to drive the clamping jaw 22 through the fixed seat 17, so that the clamping of a product is realized, the mounting seat 21 is pulled downwards, the mounting seat 21 drives the limiting plate 18 to descend through the support column, the limiting block 19 is separated from the limiting groove, the mounting seat 21 is loosened after the mounting seat 21 is rotated by 180 degrees, spring one 20 drives spacing dish 18 and resets, and stopper 19 inserts the spacing groove in, realizes the rotation to unilateral clamping jaw 22, can press from both sides the inner wall of product and get, and limiting plate 28 cooperates with spring two 29 and receives the foreign object when assaulting at anchor clamps, can realize the buffering guard action to sucking disc 30.

While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.