CN206351453U - A kind of robot quick change finger structure - Google Patents

Abstract

The utility model discloses a quick-change finger structure of a robot. The quick-change finger structure includes a connecting block and a sliding block. The connecting block is slidingly connected to the side wall of the groove of the sliding block. A spring is installed, and the bottom ends of the left side plate and the right side plate are respectively provided with a bar-shaped first limiting groove, and the lower part of the connecting block is provided with a first pin hole penetrating from left to right, and the left and right ends of the first pin shaft protrude respectively. The left and right sides of the first pin hole of the connecting block are respectively inserted into the two first limiting grooves. The section of the top of the left side plate and the right side plate that is higher than the front end plate is a protruding plate, and the lower front ends of the two protruding plates There are second limit slots respectively, and the fingers are detachably connected to the upper end of the connecting block. The fingers are provided with second pin holes extending left and right, and a second pin shaft is arranged in the second pin hole, and the left and right ends of the second pin shaft are respectively Stretch out the left and right sides of your fingers and insert them into the second limiting slots respectively. The utility model has the advantages that the fingers of the gripper can be quickly replaced without replacing the entire gripper.

Description

A robot quick-change finger structure

technical field

The utility model relates to the technical field of robot equipment, in particular to a robot quick-change finger structure.

Background technique

At present, my country's robot industry is developing rapidly, and the related peripheral industries are also booming. Robots have a wide range of applications and a wide variety of workpieces. However, robot grippers have a limited stroke and are usually only suitable for a small number of products. Claws are expensive, which greatly increases the cost of robotic applications.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a robot quick-change finger structure, in order to achieve the purpose of quickly changing the fingers of the gripper without changing the entire gripper.

The utility model is achieved through the following technical solutions:

A robot quick-change finger structure, the robot includes a gripper, the gripper includes a gripper base and fingers, the fingers are connected to the gripper base through a quick-change finger structure, and the quick-change finger structure includes A connecting block and a sliding block, the connecting block is detachably connected to the base of the gripper, and the sliding block is surrounded by a left side plate, a right side plate and a front end plate to form an overall U-shaped frame, and the U-shaped A groove is formed in the middle of the frame, the connecting block is located in the groove of the frame, and the connecting block is slidably connected with the side wall of the groove, the inner wall of the front plate of the frame and the connecting block The front ends are respectively provided with first blind holes, a spring is installed between the front end plate and the first blind holes of the connecting block, and a strip-shaped first A limiting groove, the first limiting groove extends along the front-rear direction, the lower part of the connecting block is provided with a first pin hole penetrating left and right, the first pin hole of the connecting block is provided with a first pin shaft, the The left and right ends of the first pin shaft respectively protrude from the left and right sides of the connecting block and are respectively inserted into the two first limiting grooves, the top surfaces of the left side plate and the right side plate are higher than the top surface of the front end plate, The section of the top of the left side plate and the right side plate that is higher than the front end plate is an extension plate, and the lower parts of the front ends of the two extension plates are respectively provided with second limiting slots, and the fingers are detachably connected to the On the upper end of the connecting block, the finger is provided with a second pin hole extending left and right, and a second pin shaft is arranged in the second pin hole, and the left and right ends of the second pin shaft respectively protrude from the left and right sides of the finger and respectively inserted into the second limiting slots.

The upper end of the connecting block is provided with a vertical third pin hole, the third pin hole is provided with a third pin shaft, the lower end of the finger is provided with a socket, and the upper end of the third pin shaft is inserted into the finger The detachable connection between the finger and the connection block is realized in the jack.

The left and right sides of the connecting block are respectively provided with sliding grooves extending in the front and rear directions, and the side walls of the groove of the frame are respectively provided with sliding guide rails matched with the sliding grooves, and the connecting block can move along the The slide rail slides back and forth.

The cross section of the sliding groove is rectangular.

The front end plate of the frame is an outwardly convex arc plate, and the front end surface of the connecting block is an arc surface corresponding to the inner side of the arc plate.

The connecting block is provided with a counterbore that penetrates up and down, and the bolt passes through the counterbore so as to connect the connecting block to the grip base.

The fingers are provided with threaded holes.

Compared with the prior art, the utility model has the following advantages:

1. The utility model provides a robot quick-change finger structure. When the finger needs to be replaced, push the connecting block so that the connecting block slides forward along the slider until the second pin on the original finger exits the first pin of the slider. The original finger can be removed outside the second limit slot, and after replacing it with a new finger, the second pin on the new finger will be automatically brought into the second limit of the slider by cleverly using the elastic force of the spring The limit is fixed in the groove to realize the quick connection between the finger and the connecting block, so that the finger can be replaced quickly. The whole disassembly and installation process is simple and convenient, the replacement speed is fast, time-saving and labor-saving, and the production efficiency is greatly improved. And because there is no need to change the entire The claws greatly reduce the input cost.

2. The utility model provides a robot quick-change finger structure, which mainly includes two main parts of a sliding connection block and a slider, and is assembled with a plurality of pin shafts at the same time. The structure is simple, the layout is compact, and the space occupied is small. Easy to use and flexible.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model.

Fig. 2 is a schematic diagram of the three-dimensional structure of the connecting block of the present invention.

Fig. 3 is a schematic diagram of the three-dimensional structure of the slider of the present invention.

Fig. 4 is a schematic diagram of the three-dimensional structure of the finger of the present invention.

Symbols in the figure: 1 finger, 11 jack, 12 second pin hole, 13 threaded hole, 2 connecting block, 21 counterbore, 22 sliding groove, 23 first blind hole, 24 first pin hole, 25 third pin hole , 3 slider, 31 left side plate, 32 right side plate, 33 front end plate, 34 sliding guide rail, 35 first limiting groove, 36 second limiting groove, 4 spring, 5 first pin shaft, 6 second pin Axle, 7 third bearing pins.

detailed description

The following is a detailed description of the embodiments of the present utility model. This embodiment is implemented on the premise of the technical solution of the present utility model, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present utility model is not limited to the following the described embodiment.

Referring to Figures 1 to 4, this embodiment discloses a robot quick-change finger structure. The robot includes a gripper, and the gripper includes a gripper base and a finger 1. The finger 1 is connected to the gripper base through the quick-change finger structure. The finger-changing structure includes a connecting block 2 and a slider 3. The connecting block 2 is detachably connected to the base of the gripper. The connecting block 2 is provided with a counterbore 21 that penetrates up and down, and the connecting block 2 is connected by a bolt passing through the counterbore 21. on the grip base.

The slider 3 is surrounded by a left side plate 31, a right side plate 32 and a front end plate 33 to form a U-shaped frame as a whole, a groove is formed in the middle of the U-shaped frame, and the connecting block 2 is positioned in the groove of the frame. The plate 33 is an outwardly convex arc plate, and the front end surface of the connection block 2 is an arc surface corresponding to the inner side of the arc plate. And the connecting block 2 is slidably connected to the side wall of the groove. The specific sliding connection method can be set as follows: the left and right sides of the connecting block 2 are respectively provided with sliding grooves 22 extending in the front and rear directions. The cross section of the sliding groove 22 is rectangular, and the groove of the frame The side walls are respectively provided with sliding guide rails 34 matched with the sliding grooves 22, and the connecting block 2 can slide forward and backward along the sliding guide rails 34 of the frame.

The front end plate 33 inner wall of the frame and the front end of the connecting block 2 are respectively provided with a first blind hole 23, a spring 4 is installed between the front end plate 33 and the first blind hole 23 of the connecting block 2, the left side plate 31 and the right side plate 32 bottoms are respectively provided with a bar-shaped first limiting groove 35 at the relative position. The first limiting groove 35 extends along the front and rear directions. The first pin shaft 5 is arranged in the first pin hole 24, and the left and right ends of the first pin shaft 5 protrude from the left and right sides of the connecting block 2 respectively and are respectively inserted into the two first limiting grooves 35, so that the connecting block 2 is carried forward and backward. The limit of the direction, the top surface of the left side plate 31 and the right side plate 32 is higher than the top surface of the front end plate 33. The lower part of the front end of the output plate is respectively provided with a second limiting groove 36, and the finger 1 is detachably connected to the upper end of the connecting block 2. The upper end of the connecting block 2 is provided with a vertical third pin hole 25, and the third pin hole 25 is provided with a third pin hole 25. The lower end of the three-pin shaft 7 and the finger 1 is provided with a jack 11 , and the upper end of the third pin shaft 7 is inserted into the jack 11 of the finger 1 to realize the detachable connection between the finger 1 and the connection block 2 . The finger 1 is provided with a second pin hole 12 extending left and right, the second pin hole 12 is provided with a second pin shaft 6, and the left and right ends of the second pin shaft 6 extend out from the left and right sides of the finger 1 and are respectively inserted into the second pin hole. The limit connection is realized in the bit groove 36. The finger 1 is also provided with a threaded hole 13 through which the finger 1 can be docked with other components such as the contact plate of the finger 1 .

When the finger 1 needs to be replaced, push the connecting block 2 so that the connecting block 2 slides forward along the slider 3, and the spring 4 is compressed by hand until the second pin shaft 6 on the original finger 1 exits the second limit of the slider 3 Existing finger 1 can be taken off outside groove 36. Then put the jack 11 at the lower end of the new finger 1 that needs to be changed into the third pin shaft 7 on the connecting block 2, loosen the connecting block 2, and under the elastic force of the spring 4, the new finger 1 The second pin shaft 6 will be automatically brought into the second limit groove 36 of the slider 3 for limit and fixation, so as to realize the quick connection between the finger 1 and the connecting block 2, so as to realize the quick replacement of the finger 1, and the whole disassembly and installation The process is simple and convenient, the replacement speed is fast, time and effort are saved, the production efficiency is greatly improved, and the input cost is greatly reduced because there is no need to change the entire gripper.

The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model should be included in the utility model. within the scope of protection.

Claims (7)

1. A kind of robot fast-changing finger structure, described robot comprises gripper, and described gripper comprises gripper substrate and finger, it is characterized in that: described finger is connected with described gripper substrate by quick-change finger structure, so The quick-change finger structure includes a connecting block and a sliding block, the connecting block is detachably connected to the grip base, and the sliding block is surrounded by a left side plate, a right side plate and a front end plate to form an overall U-shaped frame, a groove is formed in the middle of the U-shaped frame, the connecting block is located in the groove of the frame, and the connecting block is slidably connected with the side wall of the groove, and the inner wall of the front end plate of the frame The front end of the connection block is respectively provided with a first blind hole, a spring is installed between the front end plate and the first blind hole of the connection block, and the bottom ends of the left side plate and the right side plate are respectively separated. There is a strip-shaped first limiting groove, the first limiting groove extends along the front and rear directions, the lower part of the connecting block is provided with a first pin hole penetrating left and right, and the first pin hole of the connecting block is provided with The first pin shaft, the left and right ends of the first pin shaft respectively protrude from the left and right sides of the connecting block and are respectively inserted into the two first limiting grooves, the top surfaces of the left side plate and the right side plate are higher than the The top surface of the front end plate, the section of the top of the left side plate and the right side plate that is higher than the front end plate is an extension plate, and the lower parts of the front ends of the two extension plates are respectively provided with second limiting grooves, and the fingers It is detachably connected to the upper end of the connecting block, and the finger is provided with a second pin hole extending left and right, and a second pin shaft is provided in the second pin hole, and the left and right ends of the second pin shaft protrude respectively The left and right sides of the finger are respectively inserted into the second limiting slot. 2. A robot quick-change finger structure as claimed in claim 1, characterized in that: the upper end of the connecting block is provided with a vertical third pin hole, and the third pin hole is provided with a third pin shaft, The lower end of the finger is provided with an insertion hole, and the upper end of the third pin shaft is inserted into the insertion hole of the finger to realize the detachable connection between the finger and the connecting block. 3. A kind of robot quick-change finger structure as claimed in claim 1, it is characterized in that: the left and right sides of described connection block are respectively provided with the sliding groove that extends in front and back direction, and the groove side wall of described framework is respectively provided with The sliding groove matches the sliding guide rail, and the connecting block can slide forward and backward along the sliding guide rail of the frame. 4. A robot quick-change finger structure according to claim 3, characterized in that: the cross section of the sliding groove is rectangular. 5. A robot quick-change finger structure as claimed in claim 1, characterized in that: the front end plate of the frame is a convex arc plate, and the front end surface of the connecting block is the inner side of the arc plate. Corresponding curved surface. 6. A robot quick-change finger structure as claimed in claim 1, characterized in that: the connecting block is provided with a counterbore that penetrates up and down, and the bolt passes through the counterbore so as to connect the connecting block to the on the base of the gripper. 7. A robot quick-change finger structure according to claim 1, characterized in that: said fingers are provided with threaded holes.