CN210307863U

CN210307863U - Robot claw for feeding and discharging

Info

Publication number: CN210307863U
Application number: CN201921245168.3U
Authority: CN
Inventors: 段盼盼
Original assignee: Wuxi Haofulong Electric Co Ltd
Current assignee: Wuxi Haofulong Electric Co Ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-04-14
Anticipated expiration: 2029-08-02

Abstract

The utility model provides a robot claw for feeding and discharging, which comprises an electric rotating platform connected with a robot manipulator, wherein the bottom of the electric rotating platform is provided with an installation shell, an adjusting mechanism is arranged in the installation shell, the bottom of the adjusting mechanism is detachably provided with a claw, the outer bottom of the installation shell is provided with an auxiliary clamping mechanism adaptive to the claw, and the adjusting mechanism and the auxiliary clamping mechanism are respectively connected with a control unit arranged on the robot; the auxiliary clamping mechanism consists of an air cylinder arranged in the middle of the bottom in the mounting shell, an arc-shaped clamping plate arranged at the power output end of the air cylinder and a pressure sensor arranged at the bottom of the arc-shaped clamping plate; the air cylinder and the pressure sensor are respectively connected with a control unit arranged on the robot; the utility model discloses compact structure, convenient to use, easy operation has stronger practicality.

Description

Robot claw for feeding and discharging

Technical Field

The utility model relates to a go up unloading and use the robot, specifically be a go up unloading and use robot jack catch.

Background

Bar centre gripping is one of the important applications of robot arm, and the jack catch of present robot arm is if the clamp force is adjusted the tension and easily damages the bar surface when using, and if the clamp force is not enough and cause the bar pine to take off easily, and the critical value of clamp force is difficult to adjust usually, even carry out the accurate back of adjusting, after repetitious usage, its clamp force still can change, and it is comparatively inconvenient to use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a go up unloading and use robot jack catch to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a robot claw for feeding and discharging comprises an electric rotating table connected with a robot manipulator; the bottom of the electric rotating table is provided with an installation shell, an adjusting mechanism is arranged in the installation shell, the bottom of the adjusting mechanism is detachably provided with a clamping jaw, the outer bottom of the installation shell is provided with an auxiliary clamping mechanism matched with the clamping jaw, and the adjusting mechanism and the auxiliary clamping mechanism are respectively connected with a control unit arranged on the robot;

the auxiliary clamping mechanism consists of an air cylinder arranged in the middle of the bottom in the mounting shell, an arc-shaped clamping plate arranged at the power output end of the air cylinder and a pressure sensor arranged at the bottom of the arc-shaped clamping plate; the air cylinder and the pressure sensor are respectively connected with a control unit arranged on the robot.

As a further aspect of the present invention: the adjusting mechanism consists of two bidirectional screw rods which are movably connected in the mounting shell in the horizontal direction through a bearing and a shaft seat in a matching manner, wherein the two bidirectional screw rods are arranged at intervals in the front and at the back; the driving assembly is connected with a control unit arranged on the robot, guide grooves matched with the connecting rods are formed in the bottom of the mounting shell, and the clamping jaws are detachably arranged at the lower ends of the corresponding connecting rods.

As a further aspect of the present invention: the driving assembly consists of an installation cover arranged at one end of the installation shell, a servo motor arranged in the installation cover, a first belt wheel arranged at the power output end of the servo motor and a second belt wheel which is arranged at one end of each bidirectional screw rod and is linked with the first belt wheel through a belt; the servo motor is connected with a control unit arranged on the robot.

As a further aspect of the present invention: the inner top of the mounting shell is provided with auxiliary guide assemblies corresponding to the bidirectional screw rods, and each auxiliary guide assembly consists of a U-shaped guide frame which is arranged at the inner top of the mounting shell and corresponds to the bidirectional screw rods and a fixed rod which is arranged at the top of each adjusting block; the horizontal part of each U-shaped guide frame movably penetrates through the corresponding fixing rod.

As a further aspect of the present invention: the bottom of the arc-shaped clamping plate is provided with a mounting groove, the pressure sensor is arranged in the mounting groove, the depth of the mounting groove is smaller than the thickness of the pressure sensor by 3-5mm, and the lower surface of the pressure sensor is provided with protective glue with the thickness of 1-2 mm.

Compared with the prior art, the beneficial effects of the utility model are that:

after the structure is adopted by the utility model, the auxiliary clamping mechanism matched with the clamping jaw is arranged, the clamping jaw is detachably arranged, the suitable clamping jaw can be selected before the upper and lower bars, the bars are only required to be prevented from falling off, the clamping is not required, then the arc-shaped clamping plate is driven by the auxiliary clamping mechanism to move downwards, the arc-shaped clamping plate is matched with the clamping jaw to clamp the bars, the clamping force can be judged by the pressure sensor, the bar surface is prevented from being damaged due to over-tightening, or the bars are loosened due to insufficient clamping force, the structure is simple, and the use is convenient; through being equipped with the one deck protection glue at pressure sensor lower surface, can avoid causing the damage with the bar contact between the pressure sensor. The utility model discloses compact structure, convenient to use, easy operation has stronger practicality.

Drawings

Fig. 1 is a schematic structural view of a claw of a robot for loading and unloading.

Fig. 2 is a partially enlarged schematic view of a portion a in fig. 1.

Fig. 3 is a schematic structural view of the inside of an installation shell in a claw of a robot for feeding and discharging.

In the figure: 1. an electric rotating table; 2. mounting a shell; 3. an adjustment mechanism; 301. a bidirectional screw rod; 302. an adjusting block; 303. a connecting rod; 304. a drive assembly; 3041. mounting a cover; 3042. a servo motor; 3043. a first pulley; 3044. a second pulley; 305. a guide groove; 4. a claw; 5. an auxiliary clamping mechanism; 501. a cylinder; 502. an arc-shaped clamping plate; 503. a pressure sensor; 504. protective glue; 6. an auxiliary guide assembly; 601. a U-shaped guide frame; 602. and (5) fixing the rod.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-3, a robot claw for feeding and discharging includes an electric rotary table 1 connected with a robot manipulator, which can rotate and adjust an angle, a mounting shell 2 is disposed at the bottom of the electric rotary table 1, an adjusting mechanism 3 is disposed in the mounting shell 2, a claw 4 is detachably disposed at the bottom of the adjusting mechanism 3, an auxiliary clamping mechanism 5 adapted to the claw 4 is disposed at the outer bottom of the mounting shell 2, and the adjusting mechanism 3 and the auxiliary clamping mechanism 5 are respectively connected with a control unit disposed on the robot; the auxiliary clamping mechanism 5 consists of an air cylinder 501 arranged in the middle of the bottom in the mounting shell 2, an arc-shaped clamping plate 502 arranged at the power output end of the air cylinder 501 and a pressure sensor 503 arranged at the bottom of the arc-shaped clamping plate 502; the air cylinder 501 and the pressure sensor 503 are respectively connected with a control unit arranged on the robot. Through setting up and 4 matched with supplementary clamping mechanism 5 of jack catch, and jack catch 4 is for dismantling the setting, before upper and lower bar, can select the jack catch that is fit for, only need prevent that the bar from droing, need not to press from both sides tightly, then drive arc pinch-off blades 502 downstream through supplementary clamping mechanism 5, cooperate with jack catch 4 and press from both sides tightly the bar, accessible pressure sensor 503 judges the tight dynamics of clamp, avoid the tension and damage bar surface or clamp force and not enough and cause the bar pine to take off, moreover, the steam generator is simple in structure, high durability and convenient use.

Specifically, the adjusting mechanism 3 is composed of two bidirectional screw rods 301 which are movably connected in the mounting shell 2 along the horizontal direction through a bearing and a shaft seat in a matching manner, wherein the two bidirectional screw rods 301 are arranged at intervals in the front and back direction, adjusting blocks 302 arranged on two threaded sections of each bidirectional screw rod 301 with different screwing directions, connecting rods 303 arranged at the bottoms of the adjusting blocks 302, and driving assemblies 304 connected with the bidirectional screw rods 301; the driving assembly 304 is connected with a control unit arranged on the robot, a guide groove 305 matched with each connecting rod 303 is arranged at the bottom of the mounting shell 2, and each clamping jaw 4 is detachably arranged at the lower end of the corresponding connecting rod 303. The corresponding clamping jaws 4 can be driven to mutually approach or mutually depart from each other, so that the precision and the speed of taking and placing materials are ensured.

Specifically, the driving assembly 304 is composed of an installation cover 3041 disposed at one end of the installation housing 2, a servo motor 3042 disposed in the installation cover 3041, a first belt pulley 3043 disposed at a power output end of the servo motor 3042, and a second belt pulley 3044 disposed at one end of each bidirectional screw 301 and linked with the first belt pulley 3043 through a belt; the servo motor 3042 is connected to a control unit disposed on the robot, and can drive the two-way screws 301 to rotate simultaneously.

Preferably, the inner top of the mounting shell 2 is provided with an auxiliary guide assembly 6 corresponding to each bidirectional screw rod 301, and the auxiliary guide assembly 6 is composed of a U-shaped guide frame 601 arranged at the inner top of the mounting shell 2 and corresponding to each bidirectional screw rod 301 and a fixing rod 602 arranged at the top of each adjusting block 302; the horizontal part of each U-shaped guide frame 601 movably passes through the corresponding fixed rod 602, so that each segment block 302 can only move along the axis of the bidirectional screw rod 301, and the stability of the device is improved.

Preferably, an installation groove is formed in the bottom of the arc-shaped clamping plate 502, the pressure sensor 503 is arranged in the installation groove, the depth of the installation groove is 3-5mm smaller than the thickness of the pressure sensor 503, the lower surface of the pressure sensor 503 is provided with a protective adhesive 504, the thickness of the protective adhesive 504 is 1-2mm, and damage caused by direct contact of the pressure sensor 503 and a bar material can be avoided.

In this embodiment, at least two bidirectional screw rods 301 are provided, for convenience of description, the bidirectional screw rods 301 are described as two in this embodiment, and it should be noted that the control unit, the electric rotating table 1 connected to the control unit, the servo motor 3042, the air cylinder 501 and the pressure sensor 503 are all in the prior art, and connections between the components are also in the prior art, so that the connection and working principle thereof are not described herein again.

The utility model discloses a theory of operation is: during the use, the suitable jack catch 4 is selected to the bar of unloading as required earlier and is installed, then drive each jack catch 4 through adjustment mechanism 3 and be close to each other getting the in-process of material, only need prevent that the bar from droing, need not to press from both sides tightly the bar, then arc clamping plate 502 among the supplementary clamping mechanism 5 moves down and presss from both sides tightly fixedly with each jack catch 4 mutually supporting to the bar, confirm through pressure sensor 503 and press from both sides tight dynamics, avoid the tension and damage bar surface or clamp force and not enough and cause the bar pine to take off.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A robot claw for feeding and discharging comprises an electric rotating table (1) connected with a robot manipulator; the electric rotary table is characterized in that an installation shell (2) is arranged at the bottom of the electric rotary table (1), an adjusting mechanism (3) is arranged in the installation shell (2), a clamping jaw (4) is detachably arranged at the bottom of the adjusting mechanism (3), an auxiliary clamping mechanism (5) matched with the clamping jaw (4) is arranged at the outer bottom of the installation shell (2), and the adjusting mechanism (3) and the auxiliary clamping mechanism (5) are respectively connected with a control unit arranged on a robot;

the auxiliary clamping mechanism (5) consists of an air cylinder (501) arranged in the middle of the inner bottom of the mounting shell (2), an arc-shaped clamping plate (502) arranged at the power output end of the air cylinder (501) and a pressure sensor (503) arranged at the bottom of the arc-shaped clamping plate (502); the air cylinder (501) and the pressure sensor (503) are respectively connected with a control unit arranged on the robot.

2. The robot jaw for feeding and discharging according to claim 1, wherein the adjusting mechanism (3) is composed of two bidirectional screw rods (301) which are movably connected in the mounting shell (2) along the horizontal direction through a bearing and a shaft seat in a matching manner, and the two bidirectional screw rods are arranged at intervals from front to back, adjusting blocks (302) arranged on two threaded sections with different turning directions of each bidirectional screw rod (301), connecting rods (303) arranged at the bottoms of the adjusting blocks (302), and driving assemblies (304) connected with each bidirectional screw rod (301); the driving assembly (304) is connected with a control unit arranged on the robot, guide grooves (305) matched with the connecting rods (303) are formed in the bottom of the mounting shell (2), and the clamping jaws (4) are detachably arranged at the lower ends of the corresponding connecting rods (303).

3. The robot jaw for feeding and discharging of claim 2, wherein the driving assembly (304) comprises a mounting cover (3041) arranged at one end of the mounting shell (2), a servo motor (3042) arranged in the mounting cover (3041), a first belt wheel (3043) arranged at a power output end of the servo motor (3042), and a second belt wheel (3044) arranged at one end of each two-way screw rod (301) and linked with the first belt wheel (3043) through a belt; the servo motor (3042) is connected with a control unit arranged on the robot.

4. The robot jaw for loading and unloading of claim 2, wherein an auxiliary guide assembly (6) corresponding to each bidirectional screw rod (301) is arranged at the inner top of the mounting shell (2), and the auxiliary guide assembly (6) comprises a U-shaped guide frame (601) which is arranged at the inner top of the mounting shell (2) and corresponds to each bidirectional screw rod (301) and a fixing rod (602) which is arranged at the top of each adjusting block (302); the horizontal part of each U-shaped guide frame (601) movably penetrates through the corresponding fixing rod (602).

5. The robot jaw for loading and unloading of claim 1, wherein a mounting groove is formed in the bottom of the arc-shaped clamping plate (502), the pressure sensor (503) is arranged in the mounting groove, the depth of the mounting groove is 3-5mm smaller than the thickness of the pressure sensor (503), a protective adhesive (504) is arranged on the lower surface of the pressure sensor (503), and the thickness of the protective adhesive (504) is 1-2 mm.