CN111673794A - Clamping device for robot - Google Patents
Clamping device for robot Download PDFInfo
- Publication number
- CN111673794A CN111673794A CN202010775933.3A CN202010775933A CN111673794A CN 111673794 A CN111673794 A CN 111673794A CN 202010775933 A CN202010775933 A CN 202010775933A CN 111673794 A CN111673794 A CN 111673794A
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- China
- Prior art keywords
- rotating shaft
- gear
- rotating
- driving
- box body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping device for a robot, which comprises a box body, a mounting frame and a clamping jaw, wherein a driving cavity is formed in the box body, a driving assembly is distributed in the driving cavity, and the driving assembly is connected to a driving gear; the driving assembly comprises a motor, a first rotating shaft, a second rotating shaft, a rotating frame, a turbine and a worm, the first rotating shaft and the second rotating shaft are rotatably installed in the driving cavity, and the rotating axes of the first rotating shaft and the second rotating shaft are located on the same straight line. The device has self-locking performance between the worm wheel and the worm, so that the device can only drive the bidirectional screw rod to rotate through the second rotating shaft; after the clamping jaws clamp the materials, the bidirectional screw rod stops rotating under the blocking action of the materials, and the second rotating shaft stops rotating further; the rotating frame continues to rotate under the driving of the motor, and the bevel gear is driven to rotate along the rotating shaft of the bevel gear until the set number of rotation turns of the motor is finished, so that the abnormality of the motor caused by overload can be effectively avoided; thereby having good application prospect.
Description
Technical Field
The invention relates to the field of robots, in particular to a clamping device for a robot.
Background
In the production line of enterprise, need use the robot to realize the transportation of product, and the centre gripping part as the robot needs highly be applicable to the centre gripping of different thickness products and different angles in the enterprise, improves the availability factor of this robot.
At present, the existing production line mostly adopts electric cylinders or air cylinders for clamping by a private clothes during production, wherein clamping force is difficult to control for clamping by the air cylinders, products are easy to be clamped, the servo clamping electric cylinders have high requirements for clamping precision, and for rigid clamping pieces, private clothes alarm is easy to occur due to overlarge clamping pressure, so that the automatic production of the production line is abnormal, and the productivity is influenced; further provides a clamping device with strong practicability.
Disclosure of Invention
The present invention is directed to a clamping device for a robot, which solves the above problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme:
a clamping device for a robot comprises a box body, a mounting frame and clamping jaws, wherein the mounting frame is fixedly mounted at the tail end of the box body, a placing groove is formed in the box body, two groups of clamping jaws are slidably arranged in the placing groove, a bidirectional screw rod is rotatably mounted in the placing groove, a driving gear is fixedly mounted at the central position of the bidirectional screw rod, the clamping jaws are arranged on the bidirectional screw rod in a matched mode, a driving cavity is formed in the box body, a driving assembly is arranged in the driving cavity, and the driving assembly is connected to the driving; the driving assembly comprises a motor, a first rotating shaft, a second rotating shaft, a rotating frame, a worm wheel and a worm, the first rotating shaft and the second rotating shaft are rotatably arranged in the driving cavity, the rotating axes of the first rotating shaft and the second rotating shaft are positioned on the same straight line, and the opposite ends of the first rotating shaft and the second rotating shaft are respectively fixedly provided with the same driven bevel gear; the rotating frame is a U-shaped support, two side plates of the rotating frame are respectively rotatably arranged on the first rotating shaft and the second rotating shaft, a driving bevel gear is rotatably arranged on the rotating frame, and the driving bevel gear is simultaneously meshed with a driven bevel gear positioned at the opposite end of the first rotating shaft and the second rotating shaft; the motor is fixed in the driving cavity, a first gear is fixedly connected to a rotating shaft of the motor, a third gear is arranged on one side of the rotating frame, the third gear is meshed with the first gear, a worm is fixedly arranged on a rotating shaft II, and worm wheels are meshed; the worm wheel is fixedly connected with a gear four, the gear four is meshed with the driving gear, and the worm wheel and the gear four are rotatably arranged on the box body.
As a further scheme of the invention: the motor adopts a servo motor.
As a still further scheme of the invention: the box standing groove in seted up the spacing groove, the terminal of clamping jaw slide and lay spacing inslot again, the spacing groove adopt the dovetail.
As a still further scheme of the invention: and the clamping surfaces of the clamping jaws are provided with anti-skid pads.
As a still further scheme of the invention: the non-slip mat is made of rubber.
As a still further scheme of the invention: and a manual device is arranged on the box body and drives the second rotating shaft to rotate.
As a still further scheme of the invention: the manual device include knob, connecting rod, gear pair and thrust spring, the connecting rod rotates and lays on the box, the outside and the knob fixed connection of connecting rod, the inboard of connecting rod is passed through gear pair and is connected with pivot two, thrust spring lay between connecting rod and box, under thrust spring's effect the gear pair is in the separation mode.
Compared with the prior art, the invention has the beneficial effects that: the device has good practical use effect, and the worm wheel and the worm have self-locking performance, so that the device can only drive the bidirectional screw rod to rotate through the second rotating shaft; after the clamping jaws clamp the materials, the bidirectional screw rod stops rotating under the blocking action of the materials, and the second rotating shaft stops rotating further; the rotating frame continues to rotate under the driving of the motor, and at the moment, the driving bevel gear rotates along the self rotating shaft of the driving bevel gear until the set number of rotating turns of the motor is finished, so that the abnormality of the motor caused by overload can be effectively avoided; and the clamping jaw can be opened rapidly under abnormal conditions such as power failure, and the like, so that the clamping jaw has a good application prospect.
Drawings
Fig. 1 is a schematic configuration diagram of a robot gripping device.
Fig. 2 is a schematic view showing a clamped state of the robot clamping device.
Fig. 3 is an enlarged schematic structural view of a view a of the robot gripping device.
In the figure: 1-mounting rack, 2-box body, 3-knob, 4-motor, 5-rotating shaft I, 6-gear I, 7-clamping jaw, 8-protective pad, 9-limiting groove, 10-driving gear, 11-bidirectional screw rod, 12-rotating rack, 13-worm, 14-driving bevel gear, 15-turbine, 16-gear pair, 17-thrust spring, 18-placing groove, 19-connecting rod, 20-gear III, 21-driving cavity, 22-driven bevel gear, 23-gear IV and 24-rotating shaft II.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Example one
Referring to fig. 1-3, a clamping device for a robot comprises a box body 2, a mounting frame 1 and a clamping jaw 7, wherein the mounting frame 1 is fixedly mounted at the tail end of the box body 2, and the mounting frame 1 is used for physically connecting the device with the robot; a placing groove 18 is formed in the box body 2, the clamping jaws 7 are arranged in the placing groove 18 in a mirror image and sliding mode, a bidirectional screw rod 11 is rotatably mounted in the placing groove 18, a driving gear 10 is fixedly mounted at the central position of the screw rod, the clamping jaws 7 are arranged on a double-wire screw rod in a matched mode, the clamping jaws 7 in the placing groove 18 are further driven to move through rotation of the bidirectional screw rod 11, and clamping of materials is further achieved; specifically, a driving cavity 21 is formed in the box body 2, a driving assembly is arranged in the driving cavity 21, the driving assembly is connected to the driving gear 10, and bidirectional movement of the clamping jaw 7 is further realized through a driving device; specifically, the driving assembly comprises a motor 4, a first rotating shaft 5, a second rotating shaft 24, a rotating frame 12, a turbine 15 and a worm 13, wherein the first rotating shaft 5 and the second rotating shaft 24 are rotatably installed in the driving cavity 21, the rotating axes of the first rotating shaft 5 and the second rotating shaft 24 are located on the same straight line, and the opposite ends of the first rotating shaft 5 and the second rotating shaft 24 are respectively and fixedly provided with the same driven bevel gear 22; the rotating frame 12 is a U-shaped bracket, two side plates of the rotating frame 12 are respectively rotatably mounted on a first rotating shaft 5 and a second rotating shaft 24, a driving bevel gear 14 is rotatably mounted on the rotating frame 12, and the driving bevel gear 14 is simultaneously meshed with a driven bevel gear 22 positioned at the opposite end of the first rotating shaft 5 and the second rotating shaft 24; specifically, the motor 4 is fixed in the driving cavity 21, a first gear 6 is fixedly connected to a rotating shaft of the motor 4, a third gear 20 is arranged on one side of the rotating frame 12, the third gear 20 and the first gear 6 are meshed with each other, further, the rotating frame 12 is further driven to rotate through the rotation of the motor 4, and further, when the rotating frame 12 rotates, the driving bevel gear 14 pushes the driven bevel gear 22 and the rotating shafts one 5 and two 24 to rotate; the worm 13 is fixedly arranged on the second rotating shaft 24, and the worm 13 and the worm wheel 15 are meshed; a gear four 23 is fixedly connected to the turbine 15, the gear four 23 is meshed with the driving gear 10 to further drive the bidirectional screw rod 11 to rotate, and the turbine 15 and the gear four 23 are rotatably arranged on the box body 2; furthermore, as the worm wheel 15 and the worm 13 have self-locking performance, the device can only drive the bidirectional screw rod 11 to rotate through the second rotating shaft 24; after the clamping jaw 7 finishes clamping the material, the bidirectional screw rod 11 stops rotating under the action of the material, and further the second rotating shaft 24 stops rotating; the rotating frame 12 continues to rotate under the driving of the motor 4, and at this time, the driving bevel gear 14 rotates along the self rotating shaft thereof until the set number of rotation turns of the motor 4 is finished, so that the abnormality of the motor 4 caused by overload can be effectively avoided.
Further, in order to accurately control the position of the clamping jaw 7 and the actual clamping effect, in this embodiment, the motor 4 is a servo motor; because servo motor can be fast and accurate private clothes response, and then the number of rotations of control motor that can be accurate.
Furthermore, a limit groove 9 is formed in the placing groove 18 of the box body 2, and the tail end of the clamping jaw 7 is arranged in the limit groove 9 in a sliding mode, so that the stability in the clamping sliding process is further improved; the specific shape of the limiting groove 9 is not limited, and in this embodiment, the limiting groove 9 is a dovetail groove.
Further, in order to improve the actual clamping effect of the device, the clamping face of the clamping jaw 7 is provided with the non-slip mat 8, so that the clamping face of the material can be effectively prevented from being damaged, and the practicability is improved.
Furthermore, the specific material of the non-slip mat 8 is not limited, and in this embodiment, the non-slip mat is made of rubber, and the rubber has good physical properties, so that the actual use effect can be improved.
The working principle of the invention is as follows: the rotation of the rotating frame 12 is further driven by the rotation of the motor 4, and when the rotating frame 12 rotates, the driving bevel gear 14 pushes the driven bevel gear 22 and the rotating shafts one 5 and two 24 to rotate; the worm wheel 15 and the worm 13 have self-locking performance, so that the device can only drive the bidirectional screw rod 11 to rotate through the second rotating shaft 24; after the clamping jaw 7 finishes clamping the material, the bidirectional screw rod 11 stops rotating under the action of the material, and further the second rotating shaft 24 stops rotating; the rotating frame 12 continues to rotate under the driving of the motor 4, and at this time, the driving bevel gear 14 rotates along the self rotating shaft thereof until the set number of rotation turns of the motor 4 is finished, so that the abnormality of the motor 4 caused by overload can be effectively avoided.
Example two
In order to further improve the practical use effect of the device and avoid the situation that the clamping jaw 7 is difficult to open under abnormal conditions such as power failure, the present embodiment is improved on the basis of the first embodiment in that a manual device is arranged on the box body 2, and the manual device is used for further driving the second rotating shaft 24 to rotate.
Further, the concrete structure of manual device does not restrict, in this embodiment, manual device include knob 3, connecting rod 19, gear pair 16 and thrust spring 17, connecting rod 19 rotates and lays on box 2, the outside and the knob 3 fixed connection of connecting rod 19, the inboard of connecting rod 19 is connected with second 24 of pivot through gear pair 16, thrust spring 17 lay between connecting rod 19 and box 2, under thrust spring 17's effect gear pair 16 is in the separation state, when needing manual second 24 of pivot, through knob 3 pulling connecting rod 19 make gear pair 16 mesh, and then rotate connecting rod 19 drive second 24 of pivot and rotate, and then realize the manual drive of clamping jaw 7.
The working principle of the embodiment is as follows: under the action of the thrust spring 17, the gear pair 16 is in a separated state, when the second rotating shaft 24 needs to be manually rotated, the connecting rod 19 is pulled through the knob 3 to enable the gear pair 16 to be meshed, and then the connecting rod 19 is rotated to drive the second rotating shaft 24 to rotate, so that the clamping jaw 7 is manually driven.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. But all changes which come within the scope of the invention are intended to be embraced therein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Claims (7)
1. The clamping device for the robot comprises a box body (2), an installation frame (1) and clamping jaws (7), wherein the installation frame (1) is fixedly installed at the tail end of the box body (2), and is characterized in that a placing groove (18) is formed in the box body (2), the two clamping jaws (7) are arranged in the placing groove (18) in a sliding mode, a bidirectional screw rod (11) is installed in the placing groove (18) in a rotating mode, a driving gear (10) is fixedly installed at the central position of the bidirectional screw rod (11), the clamping jaws (7) are arranged on the bidirectional screw rod (11) in a matching mode, a driving cavity (21) is formed in the box body (2), a driving assembly is arranged in the driving cavity (21), and the driving assembly is connected to the; the driving assembly comprises a motor (4), a first rotating shaft (5), a second rotating shaft (24), a rotating frame (12), a turbine (15) and a worm (13), the first rotating shaft (5) and the second rotating shaft (24) are rotatably installed in the driving cavity (21), the rotating axes of the first rotating shaft (5) and the second rotating shaft (24) are located on the same straight line, and the opposite ends of the first rotating shaft (5) and the second rotating shaft (24) are respectively and fixedly provided with the same driven bevel gear (22); the rotating frame (12) is a U-shaped support, two side plates of the rotating frame (12) are respectively rotatably mounted on the first rotating shaft (5) and the second rotating shaft (24), the rotating frame (12) is rotatably mounted with a driving bevel gear (14), and the driving bevel gear (14) is simultaneously meshed with a driven bevel gear (22) positioned at the opposite end of the first rotating shaft (5) and the second rotating shaft (24); the motor (4) is fixed in the driving cavity (21), a first gear (6) is fixedly connected to a rotating shaft of the motor (4), a third gear (20) is arranged on one side of the rotating frame (12), the third gear (20) is meshed with the first gear (6), the worm (13) is fixedly arranged on a second rotating shaft (24), and the worm (13) is meshed with the worm wheel (15); the turbine (15) is fixedly connected with a gear four (23), the gear four (23) is meshed with the driving gear (10), and the turbine (15) and the gear four (23) are rotatably arranged on the box body (2).
2. Clamping device for a robot according to claim 1, characterized in that the motor (4) is a servomotor.
3. The clamping device for the robot is characterized in that a limiting groove (9) is formed in a placing groove (18) of the box body (2), the tail end of the clamping jaw (7) is arranged in the limiting groove (9) in a sliding mode, and the limiting groove (9) is in a dovetail groove shape.
4. Clamping device for robots, according to claim 1, characterized in that the clamping surface of the clamping jaw (7) is laid with non-slip mat (8).
5. Clamping device for robots, according to claim 4, characterized in that said non-slip mat (8) is made of rubber.
6. The clamping device for the robot as claimed in claim 1, characterized in that a manual device is arranged on the box body (2), and the manual device drives the second rotating shaft (24) to rotate.
7. The clamping device for the robot is characterized in that the manual device comprises a knob (3), a connecting rod (19), a gear pair (16) and a thrust spring (17), the connecting rod (19) is rotatably arranged on the box body (2), the outer side of the connecting rod (19) is fixedly connected with the knob (3), the inner side of the connecting rod (19) is connected with a second rotating shaft (24) through the gear pair (16), the thrust spring (17) is arranged between the connecting rod (19) and the box body (2), and the gear pair (16) is in a separated state under the action of the thrust spring (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010775933.3A CN111673794A (en) | 2020-08-05 | 2020-08-05 | Clamping device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010775933.3A CN111673794A (en) | 2020-08-05 | 2020-08-05 | Clamping device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111673794A true CN111673794A (en) | 2020-09-18 |
Family
ID=72458165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010775933.3A Withdrawn CN111673794A (en) | 2020-08-05 | 2020-08-05 | Clamping device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111673794A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112872218A (en) * | 2020-12-23 | 2021-06-01 | 浩科机器人（苏州）有限公司 | Feeding manipulator for stamping and processing sheet parts and working method thereof |
-
2020
- 2020-08-05 CN CN202010775933.3A patent/CN111673794A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112872218A (en) * | 2020-12-23 | 2021-06-01 | 浩科机器人（苏州）有限公司 | Feeding manipulator for stamping and processing sheet parts and working method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200918 |