CN214561034U

CN214561034U - Robot and terminal clamping jaw thereof

Info

Publication number: CN214561034U
Application number: CN202120035451.4U
Authority: CN
Inventors: 刘静静
Original assignee: Peitian Robot Technology Co Ltd
Current assignee: Peitian Robot Technology Co Ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2021-11-02
Anticipated expiration: 2031-01-07

Abstract

The utility model discloses a robot and terminal clamping jaw thereof, terminal clamping jaw includes: left and right jaws that can be relatively close to or far from, a drive device, and a frame body; at least one of the left and right jaws is connected to a drive device. The utility model provides a terminal clamping jaw adopts a drive device, and the same drive device drives at least one of the left clamping jaw and the right clamping jaw to move, so that the structure of the terminal clamping jaw is simplified, and meanwhile, the arrangement of parts is reduced, which is beneficial to realizing the lightweight of the terminal clamping jaw; under the unchangeable condition of robot load, the self weight of terminal clamping jaw reduces, can make the weight increase of the object that terminal clamping jaw can press from both sides, has enlarged terminal clamping jaw's application scope, has improved terminal clamping jaw's utilization ratio.

Description

Robot and terminal clamping jaw thereof

Technical Field

The utility model relates to a robot equipment technical field, more specifically say, relate to a terminal clamping jaw. Furthermore, the utility model discloses still relate to a robot including above-mentioned terminal clamping jaw.

Background

With the advance of industry 4.0, more and more factories start to carry out automatic reform, and as the robot can normally work under severe conditions, the robot is applied to the working environment with severe environment to replace manual work, so that the environment of manual labor can be improved, and the manual labor intensity can be reduced. The robot mainly depends on a tail end clamping jaw to realize loading and unloading of a workpiece in automatic application, and is most commonly applied to loading and unloading of a lathe.

In the prior art, because the load of the robot is limited, especially when the weight of a workpiece is heavy, if the upper limit of the load of the robot is exceeded, the robot with the heavy load needs to be replaced, and the application of the robot is greatly limited.

In summary, how to improve the utilization rate of the end clamping jaw is a problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a terminal clamping jaw drives at least one clamping jaw wherein and removes through a drive arrangement, makes two clamping jaws be close to relatively or keep away from, realizes snatching to the object, compares in prior art, only sets up a drive arrangement, can simplify the structure of terminal clamping jaw to alleviate the weight of terminal clamping jaw, the weight of the object that makes the robot can press from both sides increases, improves the utilization ratio of terminal clamping jaw.

Another object of the utility model is to provide a robot including above-mentioned end clamping jaw.

In order to achieve the above object, the present invention provides the following technical solutions:

an end jaw, comprising: left and right jaws that can be relatively close to or far from, a drive device, and a frame body;

the left clamping jaw, the right clamping jaw and the driving device are all arranged on the frame body;

at least one of the left clamping jaw and the right clamping jaw is connected with the driving device and moves relative to the frame body under the driving of the driving device.

Preferably, one of the left clamping jaw and the right clamping jaw is fixedly arranged at one end of the frame body in the length direction, and the other of the left clamping jaw and the right clamping jaw is movably arranged at the other end of the frame body in the length direction.

Preferably, the drive device is disposed between the left jaw and the right jaw.

Preferably, the frame body is provided with a slide rail for limiting the moving direction of the left clamping jaw or the right clamping jaw and a slide block matched with the slide rail, and the slide block is connected with the left clamping jaw or the right clamping jaw.

Preferably, the slide rail includes parallel and first slide rail and the second slide rail that the interval set up, the slider include with first slide rail complex first slider with second slide rail complex second slider, just first slider with the second slider all through same connecting plate with left clamping jaw or right clamping jaw is connected.

Preferably, the driving device is a cylinder.

Preferably, the frame main body is constructed by aluminum profiles.

Preferably, the frame body further comprises a sensor for detecting whether a workpiece is clamped between the left clamping jaw and the right clamping jaw.

Preferably, the left clamping jaw and the right clamping jaw are both clamping jaws made of high-temperature-resistant materials.

A robot comprising the end jaw of any preceding claim.

Use the utility model provides an in-process of terminal clamping jaw, at first need install terminal clamping jaw in the end of robot, then drive by the robot and remove to treating the position of pressing from both sides, drive at least one of left clamping jaw and right clamping jaw through drive arrangement and remove, make both be close to relatively, and will treat under drive arrangement's effect and press from both sides the work piece of pressing from both sides and press from both sides tightly, then drive by the robot and remove to putting the position, drive at least one of left clamping jaw and the right clamping jaw through drive arrangement and remove, make left clamping jaw and right clamping jaw keep away from relatively, loosen the work piece, accomplish the transport of work piece.

Compared with the prior art, the end clamping jaw provided by the utility model adopts a driving device, and the same driving device drives at least one of the left clamping jaw and the right clamping jaw to move, so that the structure of the end clamping jaw is simplified, and meanwhile, the arrangement of parts is reduced, thereby being beneficial to realizing the light weight of the end clamping jaw; in addition, the frame main body is of a frame structure, and compared with a solid structure, the weight of the tail end clamping jaw is further reduced; under the unchangeable condition of robot load, the reduction of the self weight of terminal clamping jaw can make the weight increase of the object that terminal clamping jaw can press from both sides, has enlarged the application scope of terminal clamping jaw, has improved the utilization ratio of terminal clamping jaw.

Furthermore, the utility model also provides a robot including above-mentioned terminal clamping jaw, makes the utilization ratio of robot improve.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of a terminal jaw provided in the present invention;

FIG. 2 is a front view of the end jaw of FIG. 1;

FIG. 3 is a side view of the end jaw of FIG. 1;

FIG. 4 is a top view of the end jaw of FIG. 1;

fig. 5 is a schematic structural view of the end jaw of the present invention, wherein the right jaw is located at another position.

In FIGS. 1-5:

the device comprises a tail end mounting plate 1, a cylinder 2, a cylinder connecting block 3, a sliding block 4, a side plate 5, a right clamping jaw 6, a reinforcing rib 7, a connecting plate 8, a left clamping jaw 9, a frame body 10, an angle code 11, a metal plate 12, a sensor 13 and a sliding rail 14.

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.

The core of the utility model is to provide a terminal clamping jaw, drive at least one of left clamping jaw and the right clamping jaw by same drive arrangement and remove, make the structure of terminal clamping jaw simplify, reduced the setting of spare part simultaneously, be favorable to realizing the lightweight of terminal clamping jaw, under the condition of installing in same robot, make the weight scope that terminal clamping jaw can the centre gripping work piece enlarge, improve the utilization ratio of terminal clamping jaw. The other core of the utility model is to provide a robot comprising the terminal clamping jaw.

Referring to fig. 1-5, fig. 1 is a schematic structural view of an embodiment of a terminal clamping jaw provided in the present invention; FIG. 2 is a front view of the end jaw of FIG. 1; FIG. 3 is a side view of the end jaw of FIG. 1; FIG. 4 is a top view of the end jaw of FIG. 1; fig. 5 is a schematic structural view of the end jaw of the present invention, wherein the right jaw is located at another position.

The terminal clamping jaw that this particular embodiment provided includes: left and

right jaws

9, 6 that can be relatively close or far apart, a drive device that provides a clamping force, and a frame body 10; the left clamping jaw 9, the right clamping jaw 6 and the driving device are all arranged on the frame body 10; the left clamping jaw 9 and the right clamping jaw 6 are driven by the same driving device to move, or one of the left clamping jaw 9 and the right clamping jaw 6 is fixed, and the other one of the left clamping jaw 9 and the right clamping jaw 6 is driven by the driving device to move.

It should be noted that the driving arrangement in this embodiment may be the air cylinder 2, or may be a structure that can meet the requirements, such as a motor, an electric cylinder, etc., and is specifically determined according to the actual situation. However, the number of the driving devices is only one, when one of the left clamping jaw 9 and the right clamping jaw 6 can be movably arranged, the driving device drives the movable one of the left clamping jaw 9 and the right clamping jaw 6 to move, and when both the left clamping jaw 9 and the right clamping jaw 6 can be movably arranged, the driving device drives the left clamping jaw 9 and the right clamping jaw 6 to move simultaneously.

The shapes of the left clamping jaw 9 and the right clamping jaw 6 need to be determined according to actual conditions so as to be matched with the appearance of a workpiece to be clamped.

In the process of practical use, when clamping a workpiece, the workpiece is subjected to hard limiting through the relative approach of the left clamping jaw 9 and the right clamping jaw 6, so that the workpiece can be clamped as long as the size of the workpiece is within the clamping size range of the tail end clamping jaw, the tail end clamping jaw can clamp workpieces of different sizes, and the application range of the tail end clamping jaw is further expanded.

In the process of using the end clamping jaw provided in this embodiment, first, the end clamping jaw needs to be installed at the end of the robot, so that the end installation plate 1 is connected to the end of the robot, then the robot drives the end installation plate to move to the position to be clamped, the driving device drives at least one of the left clamping jaw 9 and the right clamping jaw 6 to move so that the end installation plate and the end installation plate are relatively close to each other, the workpiece to be clamped is clamped under the action of the driving device, then the robot drives the end installation plate to move to the placing position, the driving device drives at least one of the left clamping jaw 9 and the right clamping jaw 6 to move, so that the left clamping jaw 9 and the right clamping jaw 6 are relatively far away from each other, the workpiece is loosened, and the workpiece is transported.

Compared with the prior art, the tail-end clamping jaw provided by the embodiment adopts one driving device, and the same driving device drives at least one of the left clamping jaw 9 and the right clamping jaw 6 to move, so that the structure of the tail-end clamping jaw is simplified, the arrangement of parts is reduced, and the light weight of the tail-end clamping jaw is favorably realized; in addition, the frame body 10 has a frame structure, and the weight of the end gripper is further reduced as compared with a solid structure; under the unchangeable condition of robot load, the reduction of the self weight of terminal clamping jaw can make the weight increase of the object that terminal clamping jaw can press from both sides, has enlarged the application scope of terminal clamping jaw, has improved the utilization ratio of terminal clamping jaw.

In addition, only one driving device is adopted, the size of the tail end clamping jaw can be reduced, and the device can be suitable for scenes with narrow space.

Preferably, the driving device can be set as the cylinder 2, and the operation of the cylinder 2 is controlled by controlling the ventilation switch, so as to control the relative movement of the left clamping jaw 9 and the right clamping jaw 6, and compared with the use of a motor, the control of the cylinder 2 is simpler, and the structure is further simplified.

In addition to the above embodiment, one of the left and

right jaws

9 and 6 may be fixedly disposed at one end of the frame body 10 in the longitudinal direction, and the other of the left and

right jaws

9 and 6 may be movably disposed at the other end of the frame body 10 in the longitudinal direction. This arrangement can increase the distance between the left and

right jaws

9 and 6 as much as possible, and is suitable for conveying large-sized workpieces.

The drive device can be arranged between the left jaw 9 and the right jaw 6, reducing the length of the frame body 10, resulting in a reduced weight of the frame body 10 and at the same time a smaller volume of the end jaws.

In order to further reduce the weight of the end jaws, the frame body 10 may be built up from aluminium profiles, the joints of which are provided with corner keys 11 for connecting adjacent profiles, as shown in fig. 1-5. The aluminum profile is light in weight, has certain rigidity and strength, and can meet the installation requirement.

The left clamping jaw 9 and the right clamping jaw 6 can be both made of high-temperature-resistant materials, such as Polyformaldehyde (POM) and the like, the hardness is low, damage to the surface of a workpiece can be avoided, and of course, other materials meeting requirements can be adopted, and the material is determined according to actual conditions.

The frame body 10 further includes a sensor 13 for detecting whether a workpiece is clamped between the left clamping jaw 9 and the right clamping jaw 6, and the sensor 13 may be a photoelectric sensor 13, or an infrared sensor 13, or other types meeting the requirements, which are not described herein again. Preferably, a metal plate 12 for mounting the sensor 13 may be provided on the frame body 10 to facilitate mounting of the sensor 13, as shown in fig. 1.

On the basis of the above embodiment, the frame body 10 is provided with the slide rail 14 for limiting the moving direction of the left or

right jaw

9 or 6 and the slider 4 engaged with the slide rail 14, and the slider 4 is connected to the left or

right jaw

9 or 6.

In this embodiment, one of the left jaw 9 and the right jaw 6 is fixed, as shown in fig. 1, the left jaw 9 is fixedly disposed, the lower side of the frame body 10 is provided with a slide rail 14 and a slide block 4 engaged with the slide rail 14, and the slide block 4 is connected with the right jaw 6.

In order to avoid the deviation of the moving direction of the clamping jaws, the sliding rail 14 may include a first sliding rail and a second sliding rail which are arranged in parallel and at an interval, the sliding block 4 includes a first sliding block matched with the first sliding rail and a second sliding block matched with the second sliding rail, and the first sliding block and the second sliding block are both connected with the left clamping jaw 9 or the right clamping jaw 6 through the same connecting plate 8.

As shown in figure 1, the cylinder 2 is connected with the connecting plate 8 through the cylinder connecting block 3, the connecting plate 8 is connected with the side plate 5, the right clamping jaw 6 is installed on the side plate 5, the reinforcing rib 7 is arranged between the side plate 5 and the connecting plate 8, and in the using process, the cylinder 2 retracts or extends to drive the sliding block 4 to slide along the sliding rail 14, and the right clamping jaw 6 is close to or far away from the left clamping jaw 9.

In addition to the above terminal clamping jaw, the present invention further provides a robot including the terminal clamping jaw disclosed in the above embodiments, and the structure of other parts of the robot refers to the prior art, which is not described herein again.

An end mounting plate 1 may be provided at the end jaw, the end mounting plate 1 being connected to the end of the robot during mounting.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The utility model provides an arbitrary compound mode of all embodiments all is in this utility model's a protection scope, does not do here and gives unnecessary details.

The robot and the terminal clamping jaw thereof provided by the utility model are introduced in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. An end jaw, comprising: a left jaw (9) and a right jaw (6) which can be relatively close to or far from each other, a driving device, and a frame body (10);

the left clamping jaw (9), the right clamping jaw (6) and the driving device are all arranged on the frame body (10);

at least one of the left clamping jaw (9) and the right clamping jaw (6) is connected with the driving device and moves relative to the frame body (10) under the driving of the driving device.

2. The end jaw according to claim 1, characterized in that one of said left jaw (9) and said right jaw (6) is fixedly arranged at one longitudinal end of said frame body (10), and the other of said left jaw (9) and said right jaw (6) is movably arranged at the other longitudinal end of said frame body (10).

3. A terminal jaw according to claim 2, characterized in that the drive device is arranged between the left jaw (9) and the right jaw (6).

4. End jaw according to claim 2, characterized in that said frame body (10) is provided with a slide (14) limiting the direction of movement of said left jaw (9) or said right jaw (6) and a slider (4) cooperating with said slide (14), said slider (4) being connected to said left jaw (9) or said right jaw (6).

5. The end jaw according to claim 4, characterized in that said slide (14) comprises a first slide and a second slide arranged parallel and spaced apart, said slider (4) comprises a first slider cooperating with said first slide and a second slider cooperating with said second slide, and both said first slider and said second slider are connected to said left jaw (9) or said right jaw (6) through the same connecting plate (8).

6. An end jaw according to any one of claims 1-5, characterized in that the driving device is a cylinder (2).

7. End jaw according to any of claims 1-5, characterized in that the frame body (10) is built up from aluminium profiles.

8. The end jaw according to any of claims 1-5, characterized in that the frame body (10) further comprises a sensor (13) detecting whether a workpiece is clamped between the left jaw (9) and the right jaw (6).

9. An end jaw according to any one of claims 1-5, characterized in that the left jaw (9) and the right jaw (6) are both jaws of a high temperature resistant material.

10. A robot, characterized by comprising an end jaw according to any of claims 1-9.