CN114310988A - Robot gripper for carrying articles with irregular shapes - Google Patents
Robot gripper for carrying articles with irregular shapes Download PDFInfo
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- CN114310988A CN114310988A CN202210014518.5A CN202210014518A CN114310988A CN 114310988 A CN114310988 A CN 114310988A CN 202210014518 A CN202210014518 A CN 202210014518A CN 114310988 A CN114310988 A CN 114310988A
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- 230000001788 irregular Effects 0.000 title abstract description 15
- 230000007246 mechanism Effects 0.000 abstract description 15
- 238000009434 installation Methods 0.000 description 8
- 230000000149 penetrating effect Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The invention discloses a robot gripper for carrying articles with irregular shapes, and belongs to the technical field of robot grippers. The clamping device comprises a central plate, wherein a clamping mechanism is arranged on the central plate, a through groove is formed in the center of the top of the central plate, transverse grooves are formed in the two sides of the top of the central plate, a support frame is fixedly arranged at the center of the top of the central plate, a mounting frame is fixedly arranged at the top of the central plate, bottom grooves are formed in the two sides of the bottom of the mounting frame, and fixing mechanisms are arranged on the two sides of the mounting frame; the clamping mechanism can clamp irregular articles, improves the friction force between the robot gripper and the articles, prevents the articles from falling off, and improves the carrying efficiency.
Description
Technical Field
The invention relates to the technical field of robot grippers, in particular to a robot gripper for carrying articles with irregular shapes.
Background
With the development of mechanical manufacturing technology, more and more industrial robots are emerging. These industrial robots are widely used in the fields of automobile manufacturing, packaging, cutting, grinding and polishing, material handling and pallet stacking. Particularly, aiming at the work of some repetitive actions, the use of the robot greatly reduces the labor intensity of workers and improves the working efficiency and the product quality, when the industrial robot is applied specifically, a mechanical gripper is arranged at the front end of an upper mechanical arm of the industrial robot, the gripper is driven by a cylinder to clamp an object, the grabbing process is completed, and then the clamped object is manufactured and processed on a production line or a processing line.
In the process of carrying, general robot tongs can only snatch the article of appearance rule, if when carrying irregular article, makes article take place to drop very easily, leads to article to take place to damage, is unfavorable for the use.
Disclosure of Invention
The invention aims to provide a robot gripper for carrying an article with an irregular shape, which can clamp the irregular article, improve the friction force between the robot gripper and the article, prevent the article from falling off and improve the carrying efficiency.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a robot tongs for irregularly shaped article transport, includes well core plate, install fixture on the well core plate, well core plate top center department has seted up and has run through the groove, well core plate top both sides have all seted up the cross slot, well core plate top center department fixed mounting has the support frame, well core plate top fixed mounting has the mounting bracket, the kerve has all been seted up to mounting bracket bottom both sides, fixed establishment is all installed to the mounting bracket both sides.
As a further scheme of the invention: the clamping mechanism comprises a driving motor, the driving motor is fixedly mounted at the center of the top of the support frame, a rotating shaft is fixedly connected with the output end of the driving motor, the rotating shaft penetrates through the support frame and is rotatably connected with the support frame, and a gear is fixedly mounted at the bottom of the rotating shaft.
As a further scheme of the invention: the gear is characterized in that rack plates are connected to two sides of the gear in an engaged mode, linkage plates are fixedly mounted at the bottoms of the rack plates, and the linkage plates are connected in the transverse grooves in a sliding mode.
As a further scheme of the invention: the linkage plate is characterized in that one end of the linkage plate is fixedly provided with a connecting frame, the connecting frame penetrates through the central plate through the penetrating groove and is connected in the penetrating groove in a sliding mode, and the bottom of the connecting frame is fixedly provided with a moving plate.
As a further scheme of the invention: a plurality of telescopic plates are fixedly mounted at the bottom of the movable plate, and a plurality of anti-slip strips are fixedly mounted on one sides of the telescopic plates.
As a further scheme of the invention: and a bottom plate is fixedly arranged between the bottoms of the telescopic plates on the coaxial side.
As a further scheme of the invention: the fixing mechanism comprises a sliding plate, the sliding plate is connected in the bottom groove in a sliding mode, and clamping plates are fixedly mounted at one ends of the sliding plate.
As a further scheme of the invention: the sliding plate is connected with a fastening bolt through threads, a handle is fixedly mounted at the bottom of the fastening bolt, and the fastening bolt is connected with the mounting frame through threads through a threaded hole.
The invention has the beneficial effects that: when the device is used for clamping articles, a driving motor is turned on to drive a rotating shaft to rotate, so that a gear at the bottom of the rotating shaft rotates, the gear is meshed with rack plates at two sides to drive the rack plates to move simultaneously, the rack plates are connected with a transverse groove in a sliding manner through a linkage plate at the bottom, the rack plates slide at the top of a central plate, a connecting frame is arranged at one end of the linkage plate and penetrates through the central plate through a through groove, so that when the linkage plate slides, the connecting frame is driven to slide in the through groove, a movable plate is arranged at the bottom of the connecting frame, a plurality of expansion plates are arranged at the bottom of the movable plate, when the connecting frame slides in the through groove, the expansion plates are driven to move through the movable plate, so that the expansion plates clamp the articles, when the articles are irregular, the articles can be changed along with the shapes of the articles through the scalability of the expansion plates, and then the irregular articles are clamped, the clamping mechanism can clamp irregular objects, improve the friction force between the robot gripper and the objects, prevent the objects from falling off and improve the carrying efficiency;
when the sliding plate is installed, the handle is pulled to enable the sliding plate to slide out of the bottom groove, the clamping plate at one end of the sliding plate is clamped on the device, then the handle is rotated to drive the fastening bolt on the handle to rotate, the fastening bolt can slide in the sliding plate through threaded connection of the fastening bolt and the sliding plate, and the fastening bolt is in threaded connection with the installation frame through the threaded hole, so that when the fastening bolt rotates, the sliding plate can be fixed on the installation frame through the threaded hole, then the sliding plate penetrates through the installation frame and is installed on the device, and installation can be completed.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic illustration of the center plate configuration of the present invention;
FIG. 3 is a schematic view of a clamping mechanism according to the present invention;
FIG. 4 is a schematic view of the structure of the mounting bracket of the present invention;
fig. 5 is a schematic structural diagram of the fixing mechanism of the present invention.
The reference numbers in the figures illustrate: 1. a center plate; 2. a mounting frame; 3. a clamping mechanism; 301. a drive motor; 302. a rotating shaft; 303. a gear; 304. a rack plate; 305. a connecting frame; 306. moving the plate; 307. a retractable plate; 308. anti-slip strips; 309. a base plate; 310. a linkage plate; 4. a support frame; 5. a fixing mechanism; 501. a slide plate; 502. clamping a plate; 503. fastening a bolt; 504. a handle; 6. a through groove; 7. a transverse groove; 8. a bottom groove; 9. a threaded bore.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; rather than all embodiments. Based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
Example 1:
as shown in fig. 1-5, the robot gripper for carrying the irregularly-shaped articles comprises a central plate 1, wherein a clamping mechanism 3 is mounted on the central plate 1, a through groove 6 is formed in the center of the top of the central plate 1, transverse grooves 7 are formed in both sides of the top of the central plate 1, a support frame 4 is fixedly mounted at the center of the top of the central plate 1, a mounting frame 2 is fixedly mounted at the top of the central plate 1, bottom grooves 8 are formed in both sides of the bottom of the mounting frame 2, and fixing mechanisms 5 are mounted on both sides of the mounting frame 2.
Example 2:
as shown in fig. 1-3, the clamping mechanism 3 includes a driving motor 301, the driving motor 301 is fixedly mounted at the center of the top of the support frame 4, an output end of the driving motor 301 is fixedly connected with a rotating shaft 302, the rotating shaft 302 penetrates through the support frame 4 and is rotatably connected with the support frame 4, and a gear 303 is fixedly mounted at the bottom of the rotating shaft 302.
When the driving motor 301 is turned on, the rotating shaft 302 can rotate on the supporting frame 4, and the gear 303 at the bottom of the rotating shaft 302 is driven to rotate.
Example 3:
as shown in fig. 2-3, rack plates 304 are respectively engaged and connected to two sides of the gear 303, linkage plates 310 are respectively fixedly mounted at the bottoms of the rack plates 304, and the linkage plates 310 are respectively slidably connected in the transverse grooves 7.
When the gear 303 rotates, the gear 303 is engaged with the rack plate 304, and the rack plate 304 can be driven to slide on the top of the central plate 1 through the sliding connection of the linkage plate 310 arranged at the bottom of the rack plate 304 and the transverse groove 7.
Example 4:
as shown in fig. 2-3, one end of each linkage plate 310 is fixedly provided with a connecting frame 305, each connecting frame 305 penetrates through the central plate 1 through a through groove 6 and is slidably connected in the through groove 6, and the bottom of each connecting frame 305 is fixedly provided with a moving plate 306.
When the linkage plate 310 slides on the top of the central plate 1, the link frame 305 is driven to slide in the through slot 6, so that the moving plate 306 at the bottom of the link frame 305 moves.
Example 5:
as shown in fig. 3, a plurality of retractable plates 307 are fixedly installed at the bottom of the moving plate 306, and a plurality of anti-slip strips 308 are fixedly installed at one side of each retractable plate 307.
When the moving plate 306 moves, the retractable plate 307 is driven to clamp and fix the object, the retractable plate 307 can clamp the irregular object through the retractility of the retractable plate 307, and the friction force between the retractable plate 307 and the object can be increased through the anti-slip strip 308 on the retractable plate 307.
Example 6:
as shown in fig. 3, a bottom plate 309 is fixedly installed between the bottoms of the expansion plates 307 on the same axis side.
The bottom plate 309 is arranged to effectively prevent the articles from falling to the ground and being damaged when the articles fall from between the telescopic plates 307.
Example 7:
as shown in fig. 4-5, the fixing mechanism 5 includes a sliding plate 501, the sliding plate 501 is slidably connected in the bottom groove 8, and one end of the sliding plate 501 is fixedly mounted with a clamping plate 502.
The catch plate 502 can be slid out of the mounting frame 2 or into the mounting frame 2 by sliding the slide plate 501 into sliding engagement with the bottom slot 8.
Example 8:
as shown in fig. 4-5, a fastening bolt 503 is screwed on the sliding plate 501, a handle 504 is fixedly mounted at the bottom of the fastening bolt 503, and the fastening bolt 503 is screwed with the mounting frame 2 through the threaded hole 9.
When the handle 504 is turned to rotate the fastening bolt 503, the fastening bolt 503 can slide out from the slide plate 501, and then penetrate through the mounting frame 2 through the threaded hole 9 to be finally mounted on the device body.
The working principle of the invention is as follows: when the device is used for clamping an article, a driving motor 301 is turned on to drive a rotating shaft 302 to rotate, so that a gear 303 at the bottom of the rotating shaft 302 rotates, the gear 303 is meshed with rack plates 304 at two sides to be connected and drive the rack plates 304 to move simultaneously, the rack plates 304 are connected with a transverse groove 7 in a sliding manner through a linkage plate 310 at the bottom, and slide at the top of a central plate 1, because a connecting frame 305 is installed at one end of the linkage plate 310, the connecting frame 305 penetrates through the central plate 1 through a penetrating groove 6, when the linkage plate 310 slides, the connecting frame 305 is driven to slide in the penetrating groove 6, because a moving plate 306 is installed at the bottom of the connecting frame 305, and a plurality of expansion plates 307 are installed at the bottom of the moving plate 306, when the connecting frame 305 slides in the penetrating groove 6, the expansion plates 307 are driven to move through the moving plate 306, so that the expansion plates 307 clamp the article, when the article is in an irregular shape, the expansion and contraction of the expansion plates 307 are realized, the clamping mechanism 3 can clamp irregular articles, improves the friction force between a robot gripper and the articles, and prevents the articles from falling off the ground, so that the irregular articles can be clamped, the friction force between the robot gripper and the articles is improved, and the articles are prevented from falling off the ground;
when the sliding plate is installed, the handle 504 is pulled to slide the sliding plate 501 out of the bottom groove 8, the clamping plate 502 at one end of the sliding plate 501 is clamped on the device, then the handle 504 is rotated to drive the fastening bolt 503 on the handle 504 to rotate, the fastening bolt 503 can slide in the sliding plate 501 through the threaded connection of the fastening bolt 503 and the sliding plate 501, and as the fastening bolt 503 is in threaded connection with the installation frame 2 through the threaded hole 9, when the fastening bolt 503 rotates, the sliding plate 501 can be fixed on the installation frame 2 through the arranged threaded hole 9, then penetrates through the installation frame 2, and is installed on the device, and the installation can be completed.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several elements of the plurality recited in the product claims may be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (8)
1. The utility model provides a robot tongs that is used for irregularly shaped article transport which characterized in that: including well core plate (1), install fixture (3) on well core plate (1), well core plate (1) top center department has seted up and has run through groove (6), cross slot (7) have all been seted up to well core plate (1) top both sides, well core plate (1) top center department fixed mounting has support frame (4), well core plate (1) top fixed mounting has mounting bracket (2), kerve (8) have all been seted up to mounting bracket (2) bottom both sides, fixed establishment (5) are all installed to mounting bracket (2) both sides.
2. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 1, wherein: fixture (3) include driving motor (301), driving motor (301) fixed mounting is in support frame (4) top center department, driving motor (301) output end fixedly connected with pivot (302), pivot (302) run through support frame (4) and rotate with support frame (4) and be connected, pivot (302) bottom fixed mounting has gear (303).
3. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 2, wherein: all meshing of gear (303) both sides is connected with rack plate (304), the equal fixed mounting in rack plate (304) bottom has linkage board (310), the equal sliding connection of linkage board (310) is in horizontal slot (7).
4. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 3, wherein: linkage board (310) one end all fixed mounting have link span (305), link span (305) all run through well core plate (1) and sliding connection in running through groove (6) through running through groove (6), link span (305) bottom all fixed mounting has movable plate (306).
5. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 4, wherein: the bottom of the moving plate (306) is fixedly provided with a plurality of expansion plates (307), and one sides of the expansion plates (307) are fixedly provided with a plurality of anti-slip strips (308).
6. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 5, wherein: and a bottom plate (309) is fixedly arranged between the bottoms of the telescopic plates (307) on the coaxial side.
7. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 1, wherein: fixed establishment (5) include slide (501), slide (501) sliding connection is in kerve (8), the equal fixed mounting of slide (501) one end has cardboard (502).
8. A robotic gripper for the handling of irregularly shaped articles as claimed in claim 7, wherein: the sliding plate (501) is connected with a fastening bolt (503) through threads, the bottom of the fastening bolt (503) is fixedly provided with a handle (504), and the fastening bolt (503) is connected with the mounting frame (2) through threads through a threaded hole (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014518.5A CN114310988A (en) | 2022-01-07 | 2022-01-07 | Robot gripper for carrying articles with irregular shapes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014518.5A CN114310988A (en) | 2022-01-07 | 2022-01-07 | Robot gripper for carrying articles with irregular shapes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114310988A true CN114310988A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210014518.5A Pending CN114310988A (en) | 2022-01-07 | 2022-01-07 | Robot gripper for carrying articles with irregular shapes |
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| CN (1) | CN114310988A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120235010A1 (en) * | 2011-03-14 | 2012-09-20 | Meredith Jr Thomas Max | Combination hold-down clamp and expansion guide apparatus for cable trays |
| CN211306333U (en) * | 2019-10-30 | 2020-08-21 | 天津市思维达工控科工贸有限公司 | Adjustable clamping jaw for manipulator |
| CN212350994U (en) * | 2020-05-25 | 2021-01-15 | 潍坊同心管业有限公司 | Clamp assembly quality with spacing effect |
| CN113059587A (en) * | 2021-03-29 | 2021-07-02 | 深圳市博洋精密科技有限公司 | Four-axis industrial robot for transferring irregular articles |
| CN214421702U (en) * | 2020-12-15 | 2021-10-19 | 沈阳睿瑟微机器人科技有限公司 | Flexible tongs is used in production transportation |
| CN214981116U (en) * | 2021-06-08 | 2021-12-03 | 杭州宏隽科技有限公司 | Robot clamp tongs |
-
2022
- 2022-01-07 CN CN202210014518.5A patent/CN114310988A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120235010A1 (en) * | 2011-03-14 | 2012-09-20 | Meredith Jr Thomas Max | Combination hold-down clamp and expansion guide apparatus for cable trays |
| CN211306333U (en) * | 2019-10-30 | 2020-08-21 | 天津市思维达工控科工贸有限公司 | Adjustable clamping jaw for manipulator |
| CN212350994U (en) * | 2020-05-25 | 2021-01-15 | 潍坊同心管业有限公司 | Clamp assembly quality with spacing effect |
| CN214421702U (en) * | 2020-12-15 | 2021-10-19 | 沈阳睿瑟微机器人科技有限公司 | Flexible tongs is used in production transportation |
| CN113059587A (en) * | 2021-03-29 | 2021-07-02 | 深圳市博洋精密科技有限公司 | Four-axis industrial robot for transferring irregular articles |
| CN214981116U (en) * | 2021-06-08 | 2021-12-03 | 杭州宏隽科技有限公司 | Robot clamp tongs |
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