CN107471242B

CN107471242B - Self-locking gripper mechanism for robot

Info

Publication number: CN107471242B
Application number: CN201710880135.5A
Authority: CN
Inventors: 吴永忠; 刘威; 任坤
Original assignee: Suzhou University of Science and Technology
Current assignee: Suzhou University of Science and Technology
Priority date: 2017-09-26
Filing date: 2017-09-26
Publication date: 2023-11-14
Anticipated expiration: 2037-09-26
Also published as: CN107471242A

Abstract

The invention relates to the technical field of robot equipment, in particular to a self-locking gripper mechanism for a robot, which comprises a base, jaws arranged on the base, limiting columns, baffle plates and a first elastic element, wherein the two jaws are oppositely arranged and are both rotatably arranged on the base, a chute is formed in the base, the chute is provided with an upper end guide section, a limiting section and a lower end guide section which are sequentially connected in a tail-to-tail mode, and a closed annular structure is formed.

Description

Self-locking gripper mechanism for robot

Technical Field

The invention relates to the technical field of robot equipment, in particular to a self-locking gripper mechanism for a robot.

Background

Robots have been used in a variety of important applications to grasp articles by the robot, transfer the articles, process parts, and the like. The existing robot is capable of clamping or loosening the parts by means of the fact that the two clamping jaws are opened or closed relatively, when the clamping jaws are used for grabbing the parts due to the fact that external acting force acts on the parts, the parts apply a reverse acting force to the clamping jaws, the clamping jaws are opened relatively easily, the parts fall down to be damaged, production cost is increased, and workers are injured when the clamping jaws are severe.

Disclosure of Invention

The invention aims to solve the technical problems that: in order to solve the problem that the existing robot can clamp or loosen the parts by relatively opening or relatively closing two clamping jaws, when the clamping jaws are used for clamping the parts due to the action of external acting force, the parts apply a reverse acting force to the clamping jaws, so that the clamping jaws are relatively opened easily, the parts fall down to be damaged, the production cost is increased, and the staff is injured when serious, the self-locking gripper mechanism for the robot is provided.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a self-locking tongs mechanism for robot, is in including base and setting jack catch on the base, still includes spacing post, baffle and first elastic element, the jack catch has two and sets up relatively, two the jack catch all rotates and sets up on the base, the spout has been seted up on the base, the spout has the upper end guide section, spacing section and the lower extreme guide section of ending in proper order and forms a closed ring structure, the rotation direction has the first inclined plane that gradually upward slope set up when the jack catch opens to the upper end guide section, first inclined plane is located one side that is close to spacing section, spacing section sets up along vertical direction, be provided with a plurality of thorns in the spacing section, the thorn has displacement section and the stop section that connects gradually, the displacement section is the second inclined plane that sets up along the rotation direction gradually downward slope when the jack catch draws in, the lower extreme guide section have with the upper end guide section sets up relatively the third inclined plane, the third inclined plane is located one side that is close to spacing section, the spacing section sets up along the jack catch in the vertical direction the first inclined plane sets up in the same with the first elastic element, the tip is set up in the spacing post is in the same with the setting up in the first elastic element, the tip is in the spacing post is kept away from to the first side. Through the cooperation of the limiting column on the claw and the chute on the base, when the claw is in a clamping state, the limiting column on the claw is positioned in the limiting section of the chute, the claw is prevented from being opened relatively by the limiting section, the limiting column is enabled to be transited to the upper end guiding section through the lower end guiding section, then the baffle is pushed open through the upper end guiding section, the limiting column enters into the thorn on the limiting section under the action of the baffle, and the limiting column circularly acts in the chute so as to realize the opening or loosening of the claw; when the clamping jaw is in a workpiece clamping state, a force acts on the workpiece and forces the clamping jaw to open relatively, the limiting column is propped against the blocking section of the thorn, so that the clamping jaw cannot rotate in a failure mode, and the clamping jaw is guaranteed to clamp the workpiece.

In order to ensure that the limit post slides in the chute stably and reliably, further, the chute is of a T-shaped structure, one end of the limit post, which is far away from the clamping jaw, is provided with a sliding block, the sliding block is matched with the chute, and the sliding block is arranged in the chute in a sliding way. Through setting the cross section shape of spout to "T" structure, set up rather than assorted slider in the spout simultaneously for spacing post is restricted in the spout, has guaranteed spacing post operation reliable and stable, has avoided spacing post to break away from the phenomenon of spout.

In order to facilitate the processing of the sliding groove on the base, and simultaneously facilitate the installation of the sliding block in the sliding groove, further, the base comprises a fixed plate and a side plate, the clamping jaw is rotationally arranged on the fixed plate, a stepped hole is formed in the fixed plate, the limiting section is arranged on the side plate, the side plate is fixedly connected with one end, far away from the clamping jaw, of the fixed plate, and the limiting section is arranged in the stepped hole and forms the sliding groove. Through the stepped hole on the base and the limit section on the side plate are matched and form a chute, the processing of the chute is facilitated, and meanwhile, the installation of the sliding block is facilitated.

In order to ensure that the limiting column slides stably and reliably, further, a guide shaft is arranged on the clamping jaw, the guide shaft and the limiting groove are arranged in parallel, and the limiting column is arranged on the guide shaft in a sliding mode. The limiting column is arranged on the guide shaft in a sliding manner, so that the limiting column slides more stably and reliably, and meanwhile, the elastic element is convenient to install.

In order to make the limit post operate stably and reliably, further, the first elastic element is a spring. The limiting column is tensioned through the spring, so that the limiting column can be stably clamped at the blocking section of the thorn when the claw is subjected to reverse acting force or the driving device fails.

In order to realize that the baffle can automatically restore the original state, further, the second elastic element is a coil spring. Because the second elastic element is the coil spring for after the baffle is opened, when the power on the baffle disappears, the baffle can resume original state fast under the effort of coil spring, simple structure, simple to operate, also be convenient for maintain simultaneously.

The beneficial effects of the invention are as follows: when the self-locking gripper mechanism for the robot is used, the limit posts on the jaws are matched with the sliding grooves on the base, when the jaws are in a clamping state, the jaws are forced to open under the action of external force, the limit posts are abutted against the blocking sections of the thorns, so that the jaws cannot open to keep the jaws in the clamping state, and when the driving device fails, the same jaws clamp parts, the clamping of the jaws can be ensured to be stable and reliable, the clamping or loosening of the parts by relatively opening or relatively closing the two jaws of the existing robot is avoided, when the jaws are used for grabbing, the parts exert a reverse acting force on the jaws due to the action of external acting force on the parts, the jaws are easily opened relatively, the parts are damaged due to falling of the parts, the production cost is increased, and the workers are injured seriously.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a front view of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1A;

FIG. 3 is a front view of the base of the present invention;

FIG. 4 is an enlarged view of a portion of B in FIG. 3;

FIG. 5 is a cross-sectional view of C-C of FIG. 3;

FIG. 6 is a schematic view of the installation structure of the sliding block and the sliding groove in the invention;

FIG. 7 is a schematic view of the structure of the present invention with the jaws in a relatively open condition;

fig. 8 is a schematic view of the structure of the pawl of the present invention in the lower guide section.

In the figure: 1. base, 101, fixed plate, 102, curb plate, 2, jack catch, 201, spacing groove, 3, spacing post, 4, baffle, 5, first elastic element, 6, spout, 601, upper end guide section, 602, spacing section, 603, lower extreme guide section, 7, thorn, 701, displacement section, 702, stop section, 8, second elastic element, 9, guiding axle, 10, slider.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

Examples

As shown in fig. 1-8, a self-locking gripper mechanism for a robot comprises a base 1, a claw 2 arranged on the base 1, a limit post 3, a baffle 4 and a first elastic element 5, wherein the claw 2 is provided with two claws and is oppositely arranged, the two claws 2 are both rotatably arranged on the base 1, a chute 6 is arranged on the base 1, the chute 6 is provided with an upper end guide section 601, a limit section 602 and a lower end guide section 603 which are sequentially connected in a tail-to-tail manner and form a closed annular structure, the upper end guide section 601 is provided with a first inclined plane which is gradually and upwards inclined in the rotation direction when the claw 2 is opened, the first inclined plane is positioned at one side close to the limit section 602, the limit section 602 is arranged in the vertical direction, a plurality of thorns 7 are arranged in the limit section 602, the thorns 7 are provided with a displacement section 701 and a blocking section 702 which are sequentially connected, the displacement section 701 is a second inclined plane which is gradually inclined downwards along the rotation direction of the clamping jaw 2 when being closed, the blocking section 702 is a plane which is horizontally arranged, the lower end guide section 603 is provided with a third inclined plane which is inclined relative to the upper end guide section 601, the third inclined plane is positioned at one side close to the limit section 602, one end of the limit post 3 is slidingly arranged in the chute 6, a limit groove 201 matched with the limit post 3 is arranged on the clamping jaw 2, one end of the limit post 3 far away from the chute 6 is slidingly arranged in the limit groove 201, one end of the first elastic element 5 is arranged on the limit post 3, the other end of the first elastic element 5 is arranged on the clamping jaw 2, the baffle 4 is rotationally arranged between the upper end guide section 601 and the limit section 602, the inclination direction of the baffle 4 is consistent with the inclination direction of the displacement section 701 on the thorn 7, the baffle 4 is provided with a second elastic element 8 for recovering the baffle 4 to the original state. The base 1 is provided with an air cylinder for driving the two clamping claws 2 to open or close relatively, the air cylinder is connected with an external air source and is controlled to open and close by an external controller, and the clamping claws 2 can be driven by a motor or the like. And the two clamping claws 2 are provided with limiting posts 3.

The sliding chute 6 is of a T-shaped structure, one end of the limiting column 3, which is far away from the clamping jaw 2, is provided with a sliding block 10, the sliding block 10 is matched with the sliding chute 6, and the sliding block (0) is arranged in the sliding chute 6 in a sliding manner.

The base 1 comprises a fixed plate 101 and a side plate 102, the clamping jaw 2 is rotatably arranged on the fixed plate 101, a stepped hole is formed in the fixed plate 101, the limiting section 602 is arranged on the side plate 102, the side plate 102 is fixedly connected with one end, far away from the clamping jaw 2, of the fixed plate 101 through a screw, and the limiting section 602 is arranged in the stepped hole and forms a sliding groove 6. To facilitate the manufacture of the chute 6 on the base 1 and the installation of the slider 10 into the chute 6. That is, the side plate 102 is provided with a protrusion, and the limit section 602 is provided on the protrusion, and the chute 6 is formed by matching the protrusion with the stepped hole.

The clamping jaw 2 is provided with a guide shaft 9, the guide shaft 9 and the limiting groove 201 are arranged in parallel, and the limiting column 3 is arranged on the guide shaft 9 in a sliding mode.

The first elastic element 5 is a spring. One end of the spring is arranged at the end of the claw 2 remote from its centre of rotation.

The second elastic element 8 is a coil spring.

When the self-locking gripper mechanism for the robot is used, the specific process is as follows: firstly, starting an air cylinder, wherein the air cylinder drives the clamping jaws 2 to rotate on the base 1, the two clamping jaws 2 are opened relatively, the limiting column 3 is enabled to displace in the sliding groove 6 under the action force of a spring, the sliding block 10 on the limiting column 3 slides in the sliding groove 6, meanwhile, the limiting column 3 slides in the limiting groove 201 on the clamping jaws 2, the limiting column 3 is gradually displaced towards the upper end guiding section 601 by the lower end guiding section 603, the lower end guiding section 603 is provided with a third inclined plane which is arranged obliquely relative to the upper end guiding section 601, the upper end guiding section 601 is provided with a first inclined plane which is arranged obliquely upwards gradually along the rotation direction of the clamping jaws 2, the limiting column 3 is forced to displace towards the limiting section 602 at the upper end guiding section 601, when the limiting column 3 displaces to the baffle 4 at the upper end guiding section 601, the limiting column 3 pushes away the baffle 4 and enters between the upper end guiding section 601 and the limiting section 602, when the action force of the limiting column 3 on the baffle 4 disappears, the baffle 4 is gradually restored to the original state under the action force of a coil spring, the clamping jaws 2 gradually interact, the limiting column 3 is enabled to contact with the baffle 4, the clamping jaws 3 are forced to enter the ratchet 7, the ratchet 3 is clamped to the ratchet 3 and the ratchet 3 is in the state of zero-clamped or the ratchet 2 is in the state of being displaced when the ratchet 3 is clamped on the upper end guiding section and the ratchet 3 is in the state of the cycle, and the ratchet 2 is in the state of the cycle, and the displacement is in the state of the state; when the clamping jaw 2 is in a clamping state, namely the limiting column 3 is positioned at the thorn 7 of the limiting section 602, the workpiece on the clamping jaw 2 is subjected to the action of external force, and the workpiece acts on the clamping jaw 2, when the clamping jaw 2 is forced to open relatively, the clamping jaw 2 drives the limiting column 3, so that the limiting column 3 is abutted against the blocking section 702 of the thorn 7, the clamping jaw 2 is prevented from rotating reversely, the clamping jaw 2 is kept in the clamping state, and the clamping jaw 2 can be ensured to be in the clamping state when the air cylinder fails.

The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims

1. The utility model provides a self-locking tongs mechanism for robot, includes base (1) and sets up jack catch (2) on base (1), its characterized in that: still include spacing post (3), baffle (4) and first elastic element (5), jack catch (2) have two and set up relatively, two jack catch (2) all rotate and set up on base (1), spout (6) have been seted up on base (1), spout (6) have upper end guide section (601), spacing section (602) and lower extreme guide section (603) of connection of ending in proper order and form a closed ring structure, the rotation direction has the first inclined plane that gradually slopes upward when jack catch (2) open in upper end guide section (601), first inclined plane is located one side near spacing section (602), spacing section (602) set up along vertical direction, be provided with a plurality of thorns (7) in spacing section (602), thorns (7) have displacement section (701) and the stop section (702) that connect gradually, displacement section (701) are the second inclined plane that rotates the direction and gradually slope that sets up downwards when closing up along jack catch (2), stop section (601) are the horizontal plane that sets up, the inclined plane is located one side near three inclined plane (602) is located in the first inclined plane (602) that is located one side near spacing section (3), offer on jack catch (2) with spacing post (3) assorted spacing groove (201), the one end slip setting that spout (6) was kept away from to spacing post (3) is in spacing groove (201), the one end setting of first elastic element (5) is on spacing post (3), the other end setting of first elastic element (5) is in on jack catch (2), baffle (4) rotate and set up between upper end direction section (601) and spacing section (602), the incline direction of baffle (4) with the incline direction of displacement section (701) is unanimous on thorn (7), be provided with on baffle (4) and be used for baffle (4) to resume second elastic element (8) of original state.

2. The self-locking gripper mechanism for a robot of claim 1, wherein: the sliding chute (6) is of a T-shaped structure, one end, far away from the clamping jaw (2), of the limiting column (3) is provided with a sliding block (10), the sliding block (10) is matched with the sliding chute (6), and the sliding block (10) is arranged in the sliding chute (6) in a sliding mode.

3. The self-locking gripper mechanism for a robot of claim 2, wherein: the base (1) comprises a fixed plate (101) and a side plate (102), the clamping jaw (2) is rotationally arranged on the fixed plate (101), a stepped hole is formed in the fixed plate (101), the limiting section (602) is arranged on the side plate (102), the side plate (102) is fixedly connected to the fixed plate (101) at one end far away from the clamping jaw (2), a protruding block is arranged on the side plate (102), the limiting section (602) is arranged on the protruding block, and a sliding groove (6) is formed by matching the protruding block with the stepped hole.

4. The self-locking gripper mechanism for a robot of claim 1, wherein: be provided with guiding axle (9) on jack catch (2), guiding axle (9) with spacing groove (201) parallel arrangement each other, spacing post (3) slip setting is in on guiding axle (9).

5. The self-locking gripper mechanism for a robot of claim 1, wherein: the first elastic element (5) is a spring.

6. The self-locking gripper mechanism for a robot of claim 1, wherein: the second elastic element (8) is a coil spring.