CN211193921U - Be used for accurate grabbing device of robot - Google Patents

Abstract

The utility model discloses a precise grasping device for robots, which comprises an electric telescopic rod, a first telescopic rod, a first device casing and a second telescopic rod. A mounting block is installed at the middle position of the top of the first device casing A double-headed motor is installed laterally at the bottom end inside the first device shell, and a gear is installed at the output end of the double-headed motor. A rack block, and the bottom end of the first rack block is engaged with the gear, a first clamping arm is installed vertically on one side of the first rack block, and both ends of the bottom end of the first device casing are horizontally A second rack block penetrating through the casing of the first device is arranged, and the top end of the second rack block is engaged with the gear. The precise grasping device for a robot clamps the goods through the first fixing plate and the second fixing plate, pushes the support block to the bottom of the goods through the electric telescopic rod, and supports the bottom of the goods through the support block.

Description

A device for precise grasping of robots

technical field

The utility model relates to the technical field of industrial robot grasping devices, in particular to a precise grasping device for robots.

Background technique

The rapid development of robots has become an indispensable part of the industry. The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom mechanical device for the industrial field. It can automatically execute the set programs to work. A machine that realizes various functions by its own power and control ability. With the continuous development and progress of modern science and technology, various industrial robots used in industry appear in daily production. Industrial robots have high work efficiency and safety. Good performance, low cost, and high precision in production and processing. In production, the cargo grasping device of industrial robots is often used to grasp and transport goods. The traditional precision grasping device for robots can basically meet people's needs, but there are still certain The specific problem is as follows:

1. At present, most of the cargo grasping devices used for robot precise grasping devices on the market still have certain deficiencies in use. The existing cargo grasping devices for industrial robots have insufficient stability when grasping objects. The goods are often dropped, which is easy to cause damage to the goods;

2. At present, most of the precise grasping devices for robots on the market cannot stably grasp some goods with a round surface or an uneven surface when they are in use, so that the device is not stable enough when grasping. damage to the surface of the picked goods.

Utility model content

The purpose of the present invention is to provide a precise grasping device for a robot to solve the above-mentioned problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a precise grasping device for robots, comprising an electric telescopic rod, a first telescopic rod, a first device casing and a second telescopic rod, the top of the first device casing is A mounting block is installed at the middle position of the first device shell, a double-head motor is installed laterally at the bottom end of the first device shell, and a gear is installed at the output end of the double-head motor, and both ends of the top end of the first device shell are laterally installed There is a first rack block penetrating through the casing of the first device, and the bottom end of the first rack block is engaged with the gear, one side of the first rack block is vertically installed with a first clamping arm, the first device Both ends of the inner bottom end of the casing are laterally provided with a second rack block penetrating the casing of the first device, and the top end of the second rack block is engaged with the gear, and both ends of the top end of the first clamping arm are laterally installed with a second rack block passing through the casing. A device housing and extending to a first auxiliary rod inside the second rack block.

Preferably, a second clamping arm is installed on the side of the second rack block away from the first clamping arm, and both ends of the top end of the second clamping arm on the side close to the first device casing are laterally installed with a side extending through the first device casing and extending through the first device casing. A second auxiliary rod extending to the inside of the first rack block.

Preferably, grooves are formed on the sides of the first clamping arm and the second clamping arm close to the casing of the first device, and a first telescopic rod is installed at one end of the groove, and the outer side of the first telescopic rod is installed with a groove. All are provided with a first spring.

Preferably, a first fixing plate is hinged on the side of the first telescopic rod close to the casing of the first device, and a second telescopic rod is laterally installed on the side of the groove away from the casing of the first device. The outer sides of the two telescopic rods are both provided with second springs.

Preferably, a side of the second telescopic rod close to the second telescopic rod is vertically hinged with a second fixing plate, and the second fixing plate is hinged with the first fixing plate, and the first clamp arm and the second clamp The bottom ends of the arms are all mounted with second device casings, and the top ends inside the second device casings are evenly mounted with electric telescopic rods.

Preferably, a support block penetrating the second device shell is laterally installed at the bottom end of the electric telescopic rod close to the first device shell, and a second roller is evenly arranged on the side of the top end of the support block close to the first device shell, so The inner bottom end of the first clamping arm is evenly provided with first rollers.

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

1. By installing the first clamping arm, the electric telescopic rod and the support block, the first clamping arm and the second clamping arm are driven by the double-headed motor control gear, and at the same time, the first fixing plate and the second clamping arm are squeezed by the device to make the The two fixing plates clamp the goods so that the goods can be clamped. When the goods are clamped, the support block is pushed out to the bottom of the goods through the electric telescopic rod, and the bottom of the goods is supported by the support blocks, so that the goods can be grasped in the grasping position. It is not easy to fall during the process, and it is not easy to cause economic losses;

2. At the same time, the device is equipped with a double-headed motor, a first spring and a second fixing plate, and the first clamping arm and the second clamping arm are driven by the double-headed motor to clamp the goods firmly, and pass through the process of clamping the goods. The angle of the first fixing plate and the second fixing plate changes after being stressed, and at the same time, the first fixing plate exerts pressure on the first spring and the second fixing plate exerts pressure on the second spring, and then releases the pressure, so that the device can grasp the goods when the pressure is released. When picking up, the goods will not fall off due to the uneven surface of the goods.

Description of drawings

Fig. 1 is the front view sectional structure schematic diagram of the present utility model;

Fig. 2 is the bottom view sectional structure schematic diagram of the utility model;

Fig. 3 is the top view sectional structure schematic diagram of the utility model;

FIG. 4 is a schematic diagram of a cross-sectional structure in a right side view of the present utility model;

FIG. 5 is an enlarged structural schematic diagram of part A in FIG. 1 of the present utility model.

In the figure: 1. Electric telescopic rod; 2. The first clamping arm; 3. The first telescopic rod; 4. The groove; 5. The first spring; 6. The first fixing plate; 7. The first auxiliary rod; 8. The first rack block; 9, the installation block; 10, the gear; 11, the second auxiliary rod; 12, the first device housing; 13, the second clamp arm; 14, the second rack block; 15, the support block; 16 17, the first roller; 18, the second fixed plate; 19, the second spring; 20, the second telescopic rod; 21, the double motor; 22, the second roller.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Please refer to FIGS. 1-5 , an embodiment provided by the present invention: a precise grasping device for robots, comprising an electric telescopic rod 1 , a first telescopic rod 3 , a first device casing 12 and a second telescopic rod 20 , a mounting block 9 is installed at the middle position of the top of the first device shell 12, and a double-head motor 21 is laterally installed at the bottom end of the first device shell 12. The model of the double-head motor 21 can be 63zyt, and the double-head motor 21 A gear 10 is installed at the output end of the first device housing 12 , a first rack block 8 extending through the first device housing 12 is laterally arranged at both ends of the inner top end of the first device housing 12 , and the bottom end of the first rack block 8 meshes with the gear 10 , A first clamping arm 2 is vertically installed on one side of the first rack block 8;

A groove 4 is formed on one side of the first clamping arm 2 and the second clamping arm 13 close to the first device casing 12 , and a first telescopic rod 3 is installed at one end of the groove 4 , and the outer side of the first telescopic rod 3 is installed. All are provided with a first spring 5, which can buffer the goods to a certain extent when the device is in use, so that the goods are not easily damaged by the device;

The side of the first telescopic rod 3 close to the first device casing 12 is hinged with the first fixing plate 6, and the inner end of the groove 4 away from the first device casing 12 is laterally installed with a second telescopic rod 20, and the second telescopic rod 20 is installed laterally. The outer side of the telescopic rod 20 is provided with a second spring 19, which protects the goods clamped by the device and reduces losses;

One side of the second telescopic rod 20 close to the second telescopic rod 20 is vertically hinged with the second fixing plate 18 , and the second fixing plate 18 is hinged with the first fixing plate 6 , the first clamping arm 2 and the second clamping arm The bottom end of 13 is installed with a second device casing 16, and the top inside the second device casing 16 is evenly installed with an electric telescopic rod 1, the model of the electric telescopic rod 1 can be LA10-021D, so that the device can be used in the process of use. The angle can be adjusted according to the surface of the goods, so that the device can hold the goods more tightly;

The bottom end of the electric telescopic rod 1 near the first device casing 12 is laterally installed with a support block 15 penetrating the second device casing 16 , and the top end of the support block 15 is evenly provided with a second roller 22 on the side close to the first device casing 12 . , the inner bottom end of the first clamping arm 2 is evenly provided with a first roller 17, which is convenient for the device to be less prone to failure during use;

Both ends of the inner bottom end of the first device casing 12 are laterally provided with a second rack block 14 penetrating the first device casing 12 ;

A second clamping arm 13 is installed on the side of the second rack block 14 away from the first clamping arm 2 , and both ends of the top end of the second clamping arm 13 on the side close to the first device housing 12 are laterally installed through the first device housing 12 And extends to the second auxiliary rod 11 inside the first rack block 8, which can hold the device more stably when clamping;

The top end of the second rack block 14 is engaged with the gear 10 , and both ends of the top end of the first clamping arm 2 are laterally mounted with a first auxiliary rod 7 penetrating the first device housing 12 and extending into the second rack block 14 .

Working principle: When using the precise grasping device for robots, the double-headed motor 21 controls the rotation of the gear 10 to drive the first rack block 8 and the second rack block 14 to move, and at the same time makes the first clamping arm 2 and the second rack block 14 move. The second clamping arm 13 is opened to approach the goods, and at the same time, the double-headed motor 21 drives the gear 10 to move in the opposite direction to retract the first rack block 8 and the second rack block 14 to the inside of the first device housing 12 so that the A clamping arm 2 and a second clamping arm 13 clamp the goods firmly, and at the same time contact the goods through the first fixing plate 6 and the second fixing plate 18. The squeezing of the spring 5 and the second spring 19 enables the device to have a buffering effect on the goods when the goods are clamped, so that the goods will not cause damage in the process of clamping, and the goods with irregular surfaces will be affected. The angle of the first fixing plate 6 and the second fixing plate 18 changes during clamping, so that the adapting device can clamp goods with irregular surfaces when clamping. The electric telescopic rod 1 pushes out the support block 15. During the push-out process, the support block 15 can be pushed out more conveniently through the first roller 17. At the same time, the second roller 22 on the support block 15 enables the device to support the bottom of the cargo. When the goods reach the predetermined position, the electric telescopic rod 1 retracts the support block 15, and the double-head motor 21 drives the first rack block 8 and the second rack block 14 to loosen the goods. Put it down, the above is the entire working principle of the present invention.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention may be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments are to be considered in all respects as exemplary and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that the All changes within the meaning and range of the required equivalents are embraced within the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

Claims (6)

1. A precise grasping device for a robot, comprising an electric telescopic rod (1), a first telescopic rod (3), a first device housing (12) and a second telescopic rod (20), characterized in that: the A mounting block (9) is installed at the middle position of the top end of the first device casing (12), and a double-headed motor (21) is laterally installed at the bottom end inside the first device casing (12), and the double-headed motor (21) A gear (10) is installed at the output end of the first device casing (12), and both ends of the inner top of the first device casing (12) are laterally provided with a first rack block (8) penetrating the first device casing (12), and the first rack The bottom end of the block (8) is engaged with the gear (10), a first clamping arm (2) is vertically installed on one side of the first rack block (8), and the inner bottom of the first device housing (12) Both ends of the end are laterally provided with a second rack block (14) penetrating the first device casing (12), and the top end of the second rack block (14) is engaged with the gear (10), and the first clamping arm (2) Both ends of the top end are laterally installed with a first auxiliary rod (7) that penetrates through the first device casing (12) and extends to the inside of the second rack block (14). 2 . The precise grasping device for a robot according to claim 1 , wherein a second clamping arm is installed on the side of the second rack block ( 14 ) away from the first clamping arm ( 2 ). 3 . (13), and both ends of the top end of the second clamping arm (13) close to the first device housing (12) are laterally installed with a transversely extending through the first device housing (12) and extending to the inside of the first rack block (8). The second auxiliary lever (11). 3 . The precise grasping device for a robot according to claim 1 , wherein the first clamping arm ( 2 ) and the second clamping arm ( 13 ) are close to one side of the first device casing ( 12 ). 4 . The sides are provided with grooves (4), and one end inside the grooves (4) is equipped with a first telescopic rod (3), and the outer side of the first telescopic rod (3) is provided with a first spring (5) . 4 . The precise grasping device for robots according to claim 3 , wherein a first fixing plate is hinged on one side of the first telescopic rod ( 3 ) close to the first device casing ( 12 ). 5 . (6), a second telescopic rod (20) is laterally installed at one end of the groove (4) away from the side of the first device casing (12), and the outer side of the second telescopic rod (20) is provided with a second telescopic rod (20). Two springs (19). 5 . The precise grasping device for robots according to claim 4 , wherein a second telescopic rod ( 20 ) is vertically hinged on one side of the second telescopic rod ( 20 ) close to the second telescopic rod ( 20 ). 6 . A fixing plate (18), and the second fixing plate (18) is hinged with the first fixing plate (6), the bottom ends of the first clamping arm (2) and the second clamping arm (13) are both mounted with a second clamping arm (13). A device casing (16) is provided, and an electric telescopic rod (1) is evenly installed on the top inside the second device casing (16). 6 . The precise grasping device for robots according to claim 5 , wherein the bottom end of the electric telescopic rod ( 1 ) near the first device casing ( 12 ) is laterally installed with a second through-hole. 7 . The support block (15) of the device casing (16) is provided with a second roller (22) evenly on the side of the top end of the support block (15) close to the first device casing (12). The bottom end is evenly provided with first rollers (17).

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