CN211545171U

CN211545171U - Anti-skidding mechanical gripper for industrial manipulator

Info

Publication number: CN211545171U
Application number: CN201922432039.1U
Authority: CN
Inventors: 代洪伟
Original assignee: Xuzhou Europe Ripley Industrial Machinery Ltd
Current assignee: Xuzhou Europe Ripley Industrial Machinery Ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-09-22
Anticipated expiration: 2029-12-30

Abstract

The utility model provides an industrial robot uses anti-skidding gripper, includes support, power structure, lead screw, gripper structure and locking axle sleeve, power structure sets up and passes through drive structure and lead screw connection at the support side, the gripper structure sets up at the lead screw lower extreme and fixes through the locking axle sleeve. The power structure drives the screw rod to rotate, so that the claw structure fixed on the screw rod through the locking shaft sleeve is driven to perform grasping and loosening work, and the product is grabbed and put down. All the structures cooperate with each other to finish the carrying work of the industrial manipulator to large objects.

Description

Anti-skidding mechanical gripper for industrial manipulator

Technical Field

The utility model relates to a manipulator field especially relates to an industrial robot uses anti-skidding gripper.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

In the handling to some large-scale articles, because article quality is heavier itself, under the effect of self gravity, the manipulator snatchs the in-process and skids easily and the pine takes off, often ties rope made of hemp or iron chain etc. in order to play anti-drop protection after the manipulator snatchs the article at present, and this kind of method has very big not enough: 1) the operation is troublesome, and the working efficiency is reduced; 2) the binding and unbinding work is increased, the workload of workers is increased, and the labor cost is increased; 3) the conveying process is lack of continuity, and the working period is prolonged.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing an industrial robot uses anti-skidding gripper has solved the problem that the pine takes off of skidding in the large-scale article handling.

The technical scheme is as follows: the utility model provides an industrial robot uses anti-skidding gripper, including support, power structure, lead screw, claw hand structure and locking axle sleeve, the power structure sets up and passes through transmission structure and lead screw connection at the support side, the setting of claw hand structure is fixed at the lead screw lower extreme and through the locking axle sleeve. The power structure drives the screw rod to rotate, so that the claw structure fixed on the screw rod through the locking shaft sleeve is driven to perform grasping and loosening work, and the product is grabbed and put down. All the structures cooperate with each other to finish the carrying work of the industrial manipulator to large objects.

The claw hand structure comprises a fixed block, a first claw, a second claw, a third claw and a fourth claw, wherein the first claw, the second claw, the third claw and the fourth claw are arranged on the fixed block in a circumferential array mode by taking the axis of the screw rod as the center. The four claws are arranged, so that force is applied to the large-scale object from four directions when the manipulator grabs, the overall balance of the object when the manipulator grabs is guaranteed, and the grabbing capacity is improved.

The first claw, the second claw, the third claw and the fourth claw are identical in structure, the first claw comprises a connecting block, a first rod, a second rod, a fixed claw and a pull rod, the first rod and the second rod are arranged between the connecting block and the fixed claw in parallel, and one end of the pull rod is connected with the second rod. The other end of the pull rod is connected with the fixed block, and forms a connecting rod structure together with the connecting block, the first rod and the second rod to drive the fixed claw to perform tightening and releasing actions.

The fixed claw comprises an upper claw and a lower claw, and the lower claw is arranged at the lower end of the upper claw. When a large object is grabbed, the large object is clamped at multiple points, so that the overall grabbing capacity is improved.

The upper claw is provided with first teeth, and the first teeth are arranged at the upper end of the upper claw. The continuous first teeth are arranged on the upper claw, so that the stress area of the upper claw and a large object is reduced, and the clamping force is improved; the first teeth are arranged in a triangular shape and are contacted with the surface of an object from multiple directions, so that the fastening and anti-skidding effects are achieved.

And the lower jaw is provided with a second tooth which is arranged on the side edge of the lower jaw. The tooth-shaped cross sections of the second teeth and the first teeth are the same, so that the fastening and anti-skid effects on the object during grabbing are achieved.

The lower jaw has a width twice that of the upper jaw. The lower claw plays a main clamping role, the mass pressure of the received object is large, the transverse contact surface with a large object is increased, the stability of the whole object in the grabbing process is guaranteed, and the clamping and anti-falling capacity is improved.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: 1) the four clamping jaws are arranged, so that a large object can be grabbed from four directions, and the grabbing stability is improved; 2) when in grabbing, large objects are clamped in multiple points, so that the clamping capacity is improved; 3) through set up continuous triangle tooth on the clamping jaw, played whole anticreep ability.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of the claw configuration;

FIG. 3 is a perspective view of the first jaw;

fig. 4 is a perspective view of the fixing claw.

In the figure: the locking mechanism comprises a support 1, a power structure 2, a screw rod 3, a claw hand structure 4, a fixed block 41, a first claw 42, a connecting block 421, a first rod 422, a second rod 423, a fixed claw 424, an upper claw 4241, a first tooth 42411, a lower claw 4242, a second tooth 42421, a pull rod 425, a second claw 43, a third claw 44, a fourth claw 45 and a locking shaft sleeve 5.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example one

As shown in fig. 1, the utility model discloses a perspective view, including support 1, power structure 2, lead screw 3, claw structure 4 and locking axle sleeve 5, power structure 2 sets up and passes through drive structure and lead screw 3 connection at support 1 side, claw structure 4 sets up at lead screw 3 lower extreme and fixed through locking axle sleeve 5.

As shown in fig. 2, the claw structure 4 is a perspective view, and includes a fixed block 41, a first claw 42, a second claw 43, a third claw 44, and a fourth claw 45, where the first claw 42, the second claw 43, the third claw 44, and the fourth claw 45 are arranged on the fixed block 41 in a circumferential array around the axis of the screw rod 3.

The first jaw 42, the second jaw 43, the third jaw 44 and the fourth jaw 45 have the same structure, and as shown in fig. 3, the first jaw 42 is a perspective view of the first jaw 42, and includes a connecting block 421, a first rod 422, a second rod 423, a fixed jaw 424 and a pull rod 425, the first rod 422 and the second rod 423 are arranged between the connecting block 421 and the fixed jaw 424 in parallel, and one end of the pull rod 425 is connected with the second rod 423.

Fig. 4 is a perspective view of the fixing jaw 424, which includes an upper jaw 4241 and a lower jaw 4242, and the lower jaw 4242 is disposed at a lower end of the upper jaw 4241.

The upper jaw 4241 is provided with a first tooth 42411, and the first tooth 42411 is arranged at the upper end of the upper jaw 4241.

The lower jaw 4242 is provided with a second tooth 42421, and the second tooth 42421 is arranged on the side of the lower jaw 4242.

The lower jaw 4242 is twice as wide as the upper jaw 4241.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides an industrial robot uses anti-skidding gripper which characterized in that: including support (1), power structure (2), lead screw (3), cleft hand structure (4) and locking axle sleeve (5), power structure (2) set up and pass through transmission structure and lead screw (3) connection at support (1) side, cleft hand structure (4) set up at lead screw (3) lower extreme and fixed through locking axle sleeve (5).

2. The industrial robot as claimed in claim 1, wherein: the claw structure (4) comprises; the screw rod (3) fixing device comprises a fixing block (41), a first claw (42), a second claw (43), a third claw (44) and a fourth claw (45), wherein the first claw (42), the second claw (43), the third claw (44) and the fourth claw (45) are arranged on the fixing block (41) in a circumferential array mode by taking the axis of the screw rod (3) as the center.

3. The industrial robot as claimed in claim 2, wherein: the structure of the first claw (42), the second claw (43), the third claw (44) and the fourth claw (45) is the same, the first claw (42) comprises a connecting block (421), a first rod (422), a second rod (423), a fixed claw (424) and a pull rod (425), the first rod (422) and the second rod (423) are arranged between the connecting block (421) and the fixed claw (424) in parallel, and one end of the pull rod (425) is connected with the second rod (423).

4. The industrial robot of claim 3, wherein: the fixing claw (424) comprises an upper claw (4241) and a lower claw (4242), and the lower claw (4242) is arranged at the lower end of the upper claw (4241).

5. The industrial robot as claimed in claim 4, wherein: the upper claw (4241) is provided with a first tooth (42411), and the first tooth (42411) is arranged at the upper end of the upper claw (4241).

6. The industrial robot as claimed in claim 4, wherein: the lower claw (4242) is provided with a second tooth (42421), and the second tooth (42421) is arranged on the side of the lower claw (4242).

7. The industrial robot as claimed in claim 4, wherein: the lower jaw (4242) is twice as wide as the upper jaw (4241).