CN212683965U - Robot gripper capable of grabbing goods at multiple angles - Google Patents
Robot gripper capable of grabbing goods at multiple angles Download PDFInfo
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- CN212683965U CN212683965U CN202021659148.3U CN202021659148U CN212683965U CN 212683965 U CN212683965 U CN 212683965U CN 202021659148 U CN202021659148 U CN 202021659148U CN 212683965 U CN212683965 U CN 212683965U
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Abstract
The utility model relates to the technical field of robots, in particular to a robot gripper capable of grabbing goods at multiple angles, which comprises a shell, wherein the inside of the shell is a hollow cavity, a third driving motor is arranged in the shell, the front side wall of the shell is provided with a connecting rod, the output shaft end part of the third driving motor is coaxially connected with the connecting rod, the tail end of the connecting rod is provided with a gripper mechanism, the gripper mechanism comprises a fixed block, the front side of the fixed block is provided with two symmetrically distributed clamps, each clamp comprises a fixed seat, one side part of each fixed seat, which is close to each other, is provided with a clamping plate, the inside of each fixed seat is the hollow cavity, a pressing plate is arranged in each fixed seat, the outer wall of one side, which is close to the clamping plate, of each pressing plate is welded with a plurality of guide rods, the tail ends of the guide, facilitating the grabbing of goods at different positions.
Description
Technical Field
The utility model relates to the technical field of robots, specifically speaking relates to a but multi-angle snatchs robot tongs of goods.
Background
In industrial production, a robot is used to perform work instead of manual work, which can save labor and improve work efficiency. At present, when the robot that uses snatchs the goods, there is the angle modulation restriction, can only adjust the angle of a certain direction to only can snatch the goods on the specific position, have very big limitation. In view of this, we propose a robot gripper that can grasp goods at multiple angles.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a but robot tongs that multi-angle snatched goods 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 gripper capable of grabbing goods at multiple angles comprises a shell, wherein a hollow cavity is arranged inside the shell, a third driving motor is installed in the shell, a connecting rod is arranged on the front side wall of the shell, the end part of an output shaft of the third driving motor is coaxially connected with the connecting rod, a gripper mechanism is arranged at the tail end of the connecting rod and comprises a fixed block, two symmetrically-distributed clamps are arranged on the front side of the fixed block, each clamp comprises a fixed seat, clamping plates are arranged on one sides, close to each other, of the two fixed seats, the hollow cavity is arranged inside the fixed seats, a pressing plate is arranged in the fixed seats, a plurality of guide rods are welded on the outer wall of one side, close to the clamping plates, of the pressing plate, the tail ends of the guide rods extend to the outside of the fixed seats and are fixed on the clamping plates, and a plurality of springs are, the tail end of the spring is welded on the fixed seat; the support rod is arranged at one side of the shell, the support rod is far away from the outer wall of one side of the shell, the second driving motor is installed on the outer wall of the one side of the shell, and the end portion of an output shaft of the second driving motor is fixed to the shell.
Preferably, a turntable is arranged below the supporting rod, a hydraulic cylinder is mounted on the turntable, and the end part of a piston rod of the hydraulic cylinder is fixed on the bottom wall of the supporting rod.
Preferably, a base is arranged below the rotary table, a containing groove is formed in the base, a first driving motor is installed in the containing groove, and the end portion of an output shaft of the first driving motor is fixed to the bottom wall of the rotary table.
Preferably, the outer wall of one side of the clamping plate, which is far away from the fixing seat, is provided with a plurality of anti-skid stripes.
Preferably, an adjusting groove is formed in the front side wall of the fixing block, a screw rod is arranged in the adjusting groove, two T-shaped blocks are connected to the screw rod in a threaded mode, the size of each T-shaped block is matched with that of the adjusting groove, and the T-shaped blocks and the adjusting groove are connected in a sliding mode.
Preferably, a fourth driving motor is installed on the top wall of the fixing block, the end portion of an output shaft of the fourth driving motor is coaxially connected with one end of the screw rod, and the fixing seat is fixedly installed on the T-shaped block.
Compared with the prior art, the beneficial effects of the utility model are that:
1. this but robot tongs of goods is snatched to multi-angle through first driving motor, second driving motor and third driving motor's setting, can carry out multi-angle to tongs mechanism and adjust, is convenient for snatch the goods on the different positions, has solved and has had the angle modulation restriction, can only adjust the angle of a certain direction to can only snatch the goods on the specific position, have the problem of very big limitation.
2. This but robot tongs of goods is snatched to multi-angle through the setting of fixing base, clamp plate, guide arm and spring, when splint were cliied the goods, can play fine buffering effect, avoids splint centre gripping dynamics to press from both sides the damage with the goods excessively.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the explosion structure of fig. 1 in the present invention;
fig. 3 is an exploded schematic view of the gripper mechanism of the present invention;
fig. 4 is a schematic sectional view of the fixing base of the present invention.
The meaning of the reference symbols in the figures is: 1. a base; 10. a first drive motor; 11. a turntable; 12. a hydraulic cylinder; 13. a support bar; 14. a second drive motor; 15. a housing; 16. a third drive motor; 17. a connecting rod; 2. a gripper mechanism; 20. a fixed block; 200. an adjustment groove; 21. a fourth drive motor; 22. a screw rod; 23. a T-shaped block; 24. a clamp; 240. a fixed seat; 241. pressing a plate; 242. a guide bar; 243. a spring; 244. a splint; 245. and (4) anti-skid stripes.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of 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", "outer", "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", "third", "fourth" 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, features defined as "first", "second", "third", "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1-4, the present invention provides a technical solution:
a robot gripper capable of grabbing goods at multiple angles comprises a shell 15, wherein a hollow cavity is arranged inside the shell 15, a third driving motor 16 is installed inside the shell 15, a connecting rod 17 is arranged on the front side wall of the shell 15, the end part of an output shaft of the third driving motor 16 is coaxially connected with the connecting rod 17, a gripper mechanism 2 is arranged at the tail end of the connecting rod 17, the gripper mechanism 2 comprises a fixed block 20, two clamps 24 which are symmetrically distributed are arranged on the front side of the fixed block 20, each clamp 24 comprises a fixed seat 240, clamping plates 244 are arranged on the sides, close to each other, of the two fixed seats 240, a hollow cavity is arranged inside the fixed seat 240, a pressing plate 241 is arranged inside the fixed seat 240, a plurality of guide rods 242 are welded on the outer wall of one side, close to the clamping plate 244, of the pressing plate 241 extends to the outside of the fixed seat 240 and is fixed on the clamping, the end of the spring 243 is welded on the fixed seat 240; a support rod 13 is arranged at one side of the shell 15, a second driving motor 14 is installed on the outer wall of one side of the support rod 13 far away from the shell 15, and the end part of an output shaft of the second driving motor 14 is fixed on the shell 15.
In this embodiment, a turntable 11 is arranged below the supporting rod 13, a hydraulic cylinder 12 is mounted on the turntable 11, a piston rod end of the hydraulic cylinder 12 is fixed on a bottom wall of the supporting rod 13, the supporting rod 13 can be pushed to ascend or descend by the hydraulic cylinder 12, and the gripper mechanism 2 can be driven to ascend or descend, so that the height of the gripper mechanism 2 can be adjusted.
It should be noted that the first driving motor 10, the second driving motor 14, the third driving motor 16, the fourth driving motor 21 and the hydraulic cylinder 12 are conventional technologies, and are not described herein.
In this embodiment, the below of carousel 11 is equipped with base 1, and the groove of accomodating has been seted up to base 1's inside, and accomodate the inslot and install first driving motor 10, and first driving motor 10's output shaft tip is fixed on the diapire of carousel 11, can drive carousel 11 through first driving motor 10 and rotate, and then can rotate the direction of tongs mechanism 2, is convenient for snatch the goods of different positions.
Furthermore, the outer wall of one side of the clamping plate 244, which is far away from the fixing seat 240, is provided with a plurality of anti-slip stripes 245, so that the friction force on the surface of the clamping plate 244 is increased, the anti-slip performance of the clamping plate is enhanced, and the goods can be clamped better.
In this embodiment, the front side wall of the fixing block 20 is provided with an adjusting groove 200, a screw rod 22 is arranged in the adjusting groove 200, the screw rod 22 is connected with two T-shaped blocks 23 in a threaded manner, the size of the T-shaped block 23 is matched with that of the adjusting groove 200, and the T-shaped block and the adjusting groove are connected in a sliding manner.
It should be added that the thread directions of the threaded holes formed in the two T-shaped blocks 23 are opposite.
In this embodiment, the fourth driving motor 21 is installed to the roof of fixed block 20, the output shaft end of fourth driving motor 21 and the one end coaxial coupling of lead screw 22, fixing base 240 fixed mounting is on T type piece 23, can drive lead screw 22 through fourth driving motor 21 and rotate to can drive two T type pieces 23 and be close to each other or keep away from the removal each other, and then can drive two splint 244 and be close to each other or keep away from the removal each other, be convenient for clip the goods or loosen.
When the robot gripper capable of grabbing goods at multiple angles in the embodiment is used, the first driving motor 10, the second driving motor 14, the third driving motor 16 and the fourth driving motor 21 are sequentially connected with an external power supply, the first driving motor 10 is started to drive the turntable 11 to rotate, so that the gripper mechanism 2 can be driven to rotate to the direction in which the goods need to be grabbed, then the second driving motor 14 and the third driving motor 16 are started, the second driving motor 14 drives the shell 15 and the connecting rod 17 to rotate, so that the inclination angle of the gripper mechanism 2 can be adjusted, the third driving motor 16 can drive the connecting rod 17 and the gripper mechanism 2 to rotate, the gripping angles of the two clamps 24 can be adjusted, the height of the gripper mechanism 2 can be adjusted through the hydraulic cylinder 12, and finally the fourth driving motor 21 is started to drive the screw rod 22 to rotate, so that the two T-shaped blocks 23 can be driven to approach to each other or move away from each other, the clamping plates 244 can be moved toward or away from each other to facilitate clamping or unclamping of the cargo.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a but robot tongs of goods is snatched to multi-angle, includes casing (15), its characterized in that: the inside of casing (15) is the cavity, install third driving motor (16) in casing (15), the preceding lateral wall of casing (15) is equipped with connecting rod (17), the output shaft tip of third driving motor (16) with connecting rod (17) coaxial coupling, the end of connecting rod (17) is equipped with tongs mechanism (2), tongs mechanism (2) are including fixed block (20), the front side of fixed block (20) is equipped with two anchor clamps (24) that are the symmetric distribution, anchor clamps (24) are including fixing base (240), two one side department that fixing base (240) are close to each other all is equipped with splint (244), the inside of fixing base (240) is the cavity, be equipped with clamp plate (241) in fixing base (240), clamp plate (241) be close to one side outer wall welding of splint (244) has a plurality of guide arms (242), the tail end of the guide rod (242) extends to the outside of the fixed seat (240) and is fixed on the clamping plate (244), a plurality of springs (243) are welded on the outer wall of one side, away from the guide rod (242), of the pressing plate (241), and the tail ends of the springs (243) are welded on the fixed seat (240); one side department of casing (15) is equipped with bracing piece (13), bracing piece (13) are kept away from install second driving motor (14) on the one side outer wall of casing (15), the output shaft tip of second driving motor (14) is fixed on casing (15).
2. The robotic gripper for gripping goods at multiple angles according to claim 1, wherein: the below of bracing piece (13) is equipped with carousel (11), install pneumatic cylinder (12) on carousel (11), the piston rod end fixing of pneumatic cylinder (12) on the diapire of bracing piece (13).
3. The robotic gripper for gripping goods at multiple angles according to claim 2, wherein: the lower of carousel (11) is equipped with base (1), the groove of accomodating has been seted up to the inside of base (1), and accomodates the inslot and install first driving motor (10), the output shaft tip of first driving motor (10) is fixed on the diapire of carousel (11).
4. The robotic gripper for gripping goods at multiple angles according to claim 1, wherein: the outer wall of one side of the clamping plate (244) far away from the fixed seat (240) is provided with a plurality of anti-slip stripes (245).
5. The robotic gripper for gripping goods at multiple angles according to claim 1, wherein: adjustment tank (200) have been seted up to the preceding lateral wall of fixed block (20), be equipped with lead screw (22) in adjustment tank (200), threaded connection has two T type pieces (23) on lead screw (22), the size of T type piece (23) with the size looks adaptation of adjustment tank (200), and sliding connection between the two.
6. The robotic gripper for gripping goods according to claim 5, wherein: a fourth driving motor (21) is installed on the top wall of the fixing block (20), the end part of an output shaft of the fourth driving motor (21) is coaxially connected with one end of the screw rod (22), and the fixing seat (240) is fixedly installed on the T-shaped block (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021659148.3U CN212683965U (en) | 2020-08-11 | 2020-08-11 | Robot gripper capable of grabbing goods at multiple angles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021659148.3U CN212683965U (en) | 2020-08-11 | 2020-08-11 | Robot gripper capable of grabbing goods at multiple angles |
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| CN212683965U true CN212683965U (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021659148.3U Active CN212683965U (en) | 2020-08-11 | 2020-08-11 | Robot gripper capable of grabbing goods at multiple angles |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681278A (en) * | 2021-08-24 | 2021-11-23 | 衡阳宝坤机械制造有限公司 | Positioning device and positioning method for assembling forklift accessories |
| CN116352687A (en) * | 2023-06-02 | 2023-06-30 | 深圳市长荣科机电设备有限公司 | Free sliding structure of six-axis robot |
| CN116810759A (en) * | 2023-08-29 | 2023-09-29 | 深圳市协和传动器材有限公司 | Manipulator snatchs structure and auxiliary assembly thereof |
| CN117394210A (en) * | 2023-11-03 | 2024-01-12 | 国网山东省电力公司泰安供电公司 | Insulating partition plate mounting arm and control method |
-
2020
- 2020-08-11 CN CN202021659148.3U patent/CN212683965U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681278A (en) * | 2021-08-24 | 2021-11-23 | 衡阳宝坤机械制造有限公司 | Positioning device and positioning method for assembling forklift accessories |
| CN116352687A (en) * | 2023-06-02 | 2023-06-30 | 深圳市长荣科机电设备有限公司 | Free sliding structure of six-axis robot |
| CN116352687B (en) * | 2023-06-02 | 2023-07-25 | 深圳市长荣科机电设备有限公司 | Free sliding structure of six-axis robot |
| CN116810759A (en) * | 2023-08-29 | 2023-09-29 | 深圳市协和传动器材有限公司 | Manipulator snatchs structure and auxiliary assembly thereof |
| CN117394210A (en) * | 2023-11-03 | 2024-01-12 | 国网山东省电力公司泰安供电公司 | Insulating partition plate mounting arm and control method |
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Effective date of registration: 20240312 Address after: 433000, Building 5, Mianjie Avenue, Duliu Community, Xiantao City, Hubei Province Patentee after: Xiantao Zhiyun Information Technology Co.,Ltd. Country or region after: China Address before: No. 699, plain road, Xinxiang, Henan, Henan Patentee before: HENAN INSTITUTE OF TECHNOLOGY Country or region before: China |