CN214293182U

CN214293182U - Clamping and positioning device for robot clamping jaw

Info

Publication number: CN214293182U
Application number: CN202023278926.7U
Authority: CN
Inventors: 郭子敬; 朱建勋
Original assignee: Shanghai Shuoguo Precision Electromechanical Equipment Co ltd
Current assignee: Shanghai Shuoguo Precision Electromechanical Equipment Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-09-28
Anticipated expiration: 2030-12-30

Abstract

The utility model belongs to the field of robots, in particular to a clamping and positioning device for robot clamping jaws, which comprises a bottom plate, wherein one side of the upper surface of the bottom plate is connected with a workbench, the other side of the upper surface of the bottom plate is connected with a mechanical jaw, the upper surface of the bottom plate is close to two sides of the workbench and is connected with an adjusting telescopic rod, and one end of the adjusting telescopic rod close to the workbench is connected with a guide slideway; through adjusting the telescopic link, the setting of direction slide and spacing telescopic link, the intermediate position that makes gripper pinpoint the article carries out the centre gripping, the centre gripping that makes the article can not take place the condition that drops because of the weight distributes inequality, through the spring, the setting of pressure sensors and baffle, make the article when not hard up lapse, pressure sensors can't detect the effort of article to gripper because of the gliding of article, the transmission signal sends the police dispatch newspaper for the controller, the staff of being convenient for in time takes remedial measure and dodges, prevent to take place dangerous accident.

Description

Clamping and positioning device for robot clamping jaw

Technical Field

The utility model relates to a robot field, concretely relates to clamping of clamping jaw of robot gets positioner.

Background

A robot gripper is a robot component that can perform a function similar to a human hand. A robot gripper is a part used for holding a workpiece or a tool, and is one of important actuators. According to different shapes of workpieces held by the robot, the claws can be mainly classified into three types: mechanical gripper, special gripper and universal gripper.

The prior art has the following problems:

1. the gripper of the robot is in the process of clamping the object, the difference exists in the position of the object on the workbench due to the sliding of the conveying belt, so that the gripping positions of the gripper on the object are different, and the situation that the unstable object is clamped by the gripper due to uneven weight distribution in the transportation process of the object, falls and is damaged is easily caused.

2. In the process of clamping the object by the mechanical claw of the robot, the falling robot of the object cannot perform early warning, so that the falling staff of the object is difficult to perceive and block, and the object falls and is easy to cause damage to surrounding staff.

In order to solve the problem, the application provides a clamping and positioning device of a robot clamping jaw.

SUMMERY OF THE UTILITY MODEL

Objects of the invention

For solving the technical problem who exists among the background art, the utility model provides a positioner is got to clamp of robot clamping jaw has the gripper location and drops the characteristics of police dispatch newspaper.

(II) technical scheme

For solving the technical problem, the utility model provides a clamping and positioning device of robot clamping jaw, comprising a base plate, bottom plate upper surface one side is connected with the workstation, bottom plate upper surface opposite side is connected with the gripper, the bottom plate upper surface is close to the both sides of workstation are connected with the regulation telescopic link, it is close to adjust the telescopic link the one end of workstation is connected with the direction slide, direction slide lateral wall both sides are connected with spacing telescopic link, spacing telescopic link is kept away from the one end of direction slide is connected with the gag lever post, direction slide lateral wall is close to spacing telescopic link below is connected with the support telescopic link.

Preferably, the distance between the adjusting telescopic rod and the two sides of the workbench is equal.

Preferably, the distance between the guide slide way and the diameter of the bottom plate is equal to the height of the workbench.

Preferably, the diameter of the limiting rod is equal to the height of the workbench.

Preferably, a groove is formed in one side of the inner side wall of the mechanical claw, a connecting rod is connected to the inner side wall of the groove, a baffle is connected to one end of the connecting rod, a cavity is formed in the other end, close to the connecting rod, of the mechanical claw, a spring is connected to the inner side of the groove, and a pressure sensor is connected to the middle position of the inner side wall of the groove.

Preferably, one end of the connecting rod, which is close to the cavity, is connected with a limiting plate.

Preferably, the number of the pressure sensors is six, and the six pressure sensors are respectively and uniformly distributed on two sides of the inner side wall of the mechanical claw.

The above technical scheme of the utility model has following profitable technological effect:

1. through adjusting the telescopic link, the setting of direction slide and spacing telescopic link, the gripper that makes the robot is pressing from both sides the in-process of getting the article, it can transversely promote intermediate position department to place the article on the workstation under the control of controller to adjust the telescopic link, spacing telescopic link can lift under the effect that supports the telescopic link and vertically promote the article to intermediate position department after keeping the level, make the gripper press from both sides and carry out correcting of position through the direction slide when getting, the intermediate position of article is pinpointed and is carried out the centre gripping, the condition that drops can not take place because of the weight distributes unevenly to the centre gripping of messenger's article.

2. Through the setting of spring, pressure sensors and baffle, make the gripper of robot press from both sides the in-process of getting the article, the pressure data that three pressure sensors of the inboard vertical distribution of gripper detected are the same, when the article is not hard up the lapse, the pressure sensors who is located the top can't detect the effort of article to the gripper because of the gliding of article, the controller that the transmission signal gives the robot sends out the police dispatch newspaper, the staff of being convenient for in time takes remedial measure and dodges, prevent to take place dangerous accident.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of a guide slideway of the present invention;

FIG. 3 is a schematic view of the structure of the stop lever of the present invention;

fig. 4 is a schematic view of the groove structure of the present invention.

Reference numerals:

1. a base plate; 2. a work table; 3. a gripper; 41. adjusting the telescopic rod; 42. a guide slide way; 43. limiting the telescopic rod; 44. a limiting rod; 45. supporting the telescopic rod; 51. a cavity; 52. a connecting rod; 53. a spring; 54. a pressure sensor; 55. a groove; 56. and a baffle plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1-4, the utility model provides a clamping positioner of clamping jaw of robot, including bottom plate 1, 1 upper surface one side of bottom plate is connected with workstation 2, 1 upper surface opposite side of bottom plate is connected with gripper 3, 1 upper surface of bottom plate is connected with regulation telescopic link 41 near the both sides of workstation 2, the one end that regulation telescopic link 41 is close to workstation 2 is connected with direction slide 42, direction slide 42 lateral wall both sides are connected with spacing telescopic link 43, the one end that direction slide 42 was kept away from to spacing telescopic link 43 is connected with gag lever post 44, direction slide 42 lateral wall is close to spacing telescopic link 43 below and is connected with support telescopic link 45.

In this embodiment, in order to solve the problem that the gripper 3 of the robot is likely to cause the difference in the gripping positions of the gripper 3 on the object due to the difference in the positions of the gripper 3 sliding from the conveying belt to the worktable 2 during the gripping process of the object, the gripper 3 is likely to cause unstable gripping of the gripper 3 due to uneven weight distribution during the transportation process of the object and the object is likely to fall and be damaged.

As shown in fig. 1-3, in the process of clamping the object by the gripper 3 of the robot, the adjusting telescopic rod 41 can transversely push the object placed on the worktable 2 to the middle position under the control of the controller, the limiting telescopic rod 43 can lift up under the action of the supporting telescopic rod 45 to keep horizontal and then longitudinally push the object to the middle position, so that the gripper 3 can correct the position through the guide slideway 42 when clamping the object, accurately position the middle position of the object for clamping, and the clamping of the object cannot be dropped due to uneven weight distribution.

It should be noted that the shape of the guide chute 42 is a bucket shape, so that the gripper 3 can be accurately positioned to the middle position of the object along the guide chute 42, the maximum length of the extension rod 45 can support the limit extension rod 43 to keep horizontal, and the limit extension rod 43 is in an inclined state when in idle, so that the limit rod 44 on the limit extension rod 43 does not obstruct the object from sliding onto the workbench 2 from the conveyor belt.

In this embodiment, in order to solve the problem that the robot that drops of an object cannot perform early warning when the gripper 3 of the robot clamps the object, the dropping staff of the object is difficult to perceive and block, and the object drops and is easy to injure surrounding staff.

As shown in fig. 4, in the process of clamping an object by the gripper 3 of the robot, the pressure data detected by the three pressure sensors 54 vertically distributed on the inner side of the gripper 3 are the same, when the object is loosened and slides downwards, the pressure sensor 54 located above cannot detect the acting force of the object on the gripper 3 due to the sliding of the object, and transmits a signal to the controller of the robot to send an alarm, so that a worker can take remedial measures and avoid in time, and dangerous accidents are prevented.

In the embodiment, in order to enable the limiting telescopic rod 43 to move the object to the middle position of the workbench 2, the distance between the telescopic rod 41 and the two sides of the workbench 2 is further adjusted to be equal.

In order to make the guide chute 42 move on the upper surface of the working table 2, it is further preferable that the distance between the guide chute 42 and the diameter of the base plate 1 is equal to the height of the working table 2.

In order that the limiting rod 44 does not obstruct the object from sliding on the worktable 2, it is further preferable that the diameter of the limiting rod 44 is equal to the height of the worktable 2.

In order to make pressure sensor 54 detect the pressure data between the object and the gripper 3, further, a groove 55 is formed in one side of the inner side wall of the gripper 3, a connecting rod 52 is connected to the inner side wall of groove 55, one end of the connecting rod 52 is connected with a baffle 56, a cavity 51 is formed in the other end, close to the connecting rod 52, of the gripper 3, a spring 53 is connected to the inner side of the outer side wall of the connecting rod 52, and a pressure sensor 54 is connected to the middle position of the inner side wall of the groove 55.

In order to prevent the connecting rod 52 and the cavity 51 from being separated from each other, a limiting plate is further connected to one end of the connecting rod 52 close to the cavity 51.

In order to enable the pressure sensors 54 to detect the pressure data between the object and the gripper 3, it is further preferable that the number of the pressure sensors 54 is six, and the six pressure sensors 54 are respectively and uniformly distributed on two sides of the inner side wall of the gripper 3.

The utility model discloses a theory of operation and use flow: in the process of clamping an object by a mechanical claw 3 of the robot, the telescopic rod 41 is adjusted to transversely push the object placed on a workbench 2 to the middle position under the control of a controller, the limiting telescopic rod 43 can be lifted up and kept horizontal under the action of the supporting telescopic rod 45 and then longitudinally push the object to the middle position, so that the mechanical claw 3 can correct the position through the guide slideway 42 when being clamped and accurately position the object to the middle position for clamping, the object cannot fall off due to uneven weight distribution during clamping, the pressure data detected by three pressure sensors 54 vertically distributed on the inner side of the mechanical claw 3 are the same, when the object slides downwards due to loosening, the pressure sensor 54 positioned above cannot detect the acting force of the object on the mechanical claw 3 due to the sliding of the object, a signal is transmitted to send an alarm to the controller of the robot, and the worker can conveniently take remedial measures and avoid in time, and dangerous accidents are prevented.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. The utility model provides a positioner is got to clamp of robot clamping jaw, includes bottom plate (1), bottom plate (1) upper surface one side is connected with workstation (2), bottom plate (1) upper surface opposite side is connected with gripper (3), its characterized in that, bottom plate (1) upper surface is close to the both sides of workstation (2) are connected with adjust telescopic link (41), it is close to adjust telescopic link (41) the one end of workstation (2) is connected with direction slide (42), direction slide (42) lateral wall both sides are connected with spacing telescopic link (43), spacing telescopic link (43) are kept away from the one end of direction slide (42) is connected with gag lever post (44), direction slide (42) lateral wall is close to spacing telescopic link (43) below is connected with support telescopic link (45).

2. The gripping and positioning device for robot gripping jaws, as in claim 1, characterized in that said adjustment telescopic rod (41) has the same distance from both sides of said table (2).

3. Gripping and positioning device for robot gripping jaws, according to claim 1, characterized in that the distance between the guide runners (42) and the diameter of the base plate (1) is equal to the height of the table (2).

4. Gripping and positioning device for robot gripping jaws, according to claim 1, characterized in that the diameter of said limit rod (44) is equal to the height of said table (2).

5. The clamping and positioning device for the robot clamping jaw according to claim 1, wherein a groove (55) is formed in one side of the inner side wall of the mechanical jaw (3), a connecting rod (52) is connected to the inner side wall of the groove (55), a baffle (56) is connected to one end of the connecting rod (52), a cavity (51) is formed in the other end, close to the connecting rod (52), of the inner side wall of the mechanical jaw (3), a spring (53) is connected to the outer side wall of the connecting rod (52), close to the inner side of the groove (55), and a pressure sensor (54) is connected to the middle position of the inner side wall of the groove (55).

6. The gripping and positioning device for robot jaws, according to claim 5, characterized in that a limiting plate is connected to the end of said connecting rod (52) close to said cavity (51).

7. The gripping and positioning device for robot gripping jaws, according to claim 5, characterized in that the number of said pressure sensors (54) is six, and six pressure sensors (54) are respectively and uniformly distributed on both sides of the inner side wall of said gripper (3).