CN215749230U

CN215749230U - High-flexibility gripper clamp for feeding and discharging robot

Info

Publication number: CN215749230U
Application number: CN202122406840.6U
Authority: CN
Inventors: 韩红波
Original assignee: Qingdao Duli Intelligent Technology Co ltd
Current assignee: Qingdao Duli Intelligent Technology Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-02-08
Anticipated expiration: 2031-09-30

Abstract

The utility model discloses a high-flexibility loading and unloading robot gripper clamp which comprises a connecting rod and a shell, wherein a first clamp mounting frame is fixedly connected to the inner wall of the shell, a second clamp mounting frame is slidably connected to the inner wall of the shell, a driving mechanism used for driving the second clamp mounting frame to move is arranged in the shell, the driving mechanism comprises a first motor fixedly connected to the inner wall of the shell, and an output shaft of the first motor is fixedly connected with a threaded rod. The threaded rod is arranged, so that the distance between the first clamp mounting frame and the second clamp mounting frame is adjusted, larger or smaller articles can be grabbed by the device, the second motor is arranged, the device can clamp some articles which are irregular or are obliquely arranged at positions convenient to clamp, the application range of the device is further expanded, and in addition, the electric push rod and the gear are arranged, so that the stability in the article clamping process can be improved.

Description

High-flexibility gripper clamp for feeding and discharging robot

Technical Field

The utility model relates to the technical field of high-flexibility feeding and discharging robots, in particular to a gripper clamp of a high-flexibility feeding and discharging robot.

Background

With the rapid development of robot technology, industrial robots have been widely used in various fields. The high-flexibility feeding and discharging robot is one of advanced equipment, can grab workpieces to automatically feed and discharge materials, and effectively reduces labor intensity and improves working efficiency.

The gripper clamp of the existing high-flexibility feeding and discharging robot is divided into a single gripper clamp and a double gripper clamp, the double gripper clamp is simple in structural design, the positions of the two gripper clamps are fixed, when the length of a workpiece to be fed and discharged is too large or too small, the workpiece can be clamped only by switching different gripper clamps through changing discs, and the switching process is complex in steps, so that the feeding and discharging efficiency of the workpiece is reduced, and therefore, the problem needs to be solved by designing the high-flexibility feeding and discharging robot gripper clamp.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art, and provides a high-flexibility gripper clamp for a loading and unloading robot.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a go up unloading robot tongs anchor clamps on high flexibility, includes connecting rod and casing, the first anchor clamps installing frame of shells inner wall fixedly connected with, shells inner wall sliding connection has the second anchor clamps installing frame, be equipped with the actuating mechanism who is used for driving the removal of second anchor clamps installing frame in the casing, actuating mechanism includes the first motor of fixed connection at shells inner wall, the output shaft fixedly connected with threaded rod of first motor, second anchor clamps installing frame upper end fixedly connected with riser, the one end that first motor was kept away from to the threaded rod runs through the riser lateral wall, be equipped with the stop gear who is used for restricting riser moving direction in the casing.

Preferably, stop gear includes two sliding blocks of fixed connection at second anchor clamps installing frame both sides wall, the sliding tray has all been seted up to two inner walls of casing, sliding block and adjacent sliding tray inner wall sliding connection, the sliding block cross-section is the T shape.

Preferably, first anchor clamps installing frame and second anchor clamps installing frame inner wall all rotate and are connected with the pivot, pivot one end fixedly connected with rotates the frame, rotate two pneumatic fingers of frame inner wall fixedly connected with.

Preferably, the first fixture mounting frame and the side wall of the second fixture mounting frame are fixedly connected with a second motor, and the other end of the rotating shaft is fixedly connected with the output end of the adjacent second motor.

Preferably, the top is equal fixedly connected with electric putter in first anchor clamps installing frame and the second anchor clamps installing frame, electric putter's output fixedly connected with supports tight piece.

Preferably, two the pivot lateral wall all fixedly cup joints the gear, two the tight piece lower extreme all is equipped with gear complex dentate lateral wall.

The utility model has the following beneficial effects:

1. the device is provided with the driving mechanism, the first motor is started to rotate, the output shaft of the first motor drives the threaded rod to rotate, otherwise, the output shaft of the first motor rotates reversely, and the second clamp mounting frame moves leftwards, so that the distance between the first clamp mounting frame and the second clamp mounting frame is adjusted, clamping can be carried out on two sides of a large article, the device can grab more articles, and the application range of the device is further expanded;

2. the device is provided with the second motor, the second motor is started, the output shaft of the second motor drives the rotating shaft to rotate, so that the rotating frame rotates, two ends of an article can be clamped at different angles, and when some irregular articles or articles are inclined at convenient clamping positions, the device can clamp the articles, and the application range of the device is further expanded;

3. this device has set up electric putter and gear, starts electric putter, and electric putter's output extends to drive and supports tight piece downstream and make and support tight piece dentiform lateral wall and gear engagement to the countershaft is fixed, avoids the pivot to rotate, and then has improved the stability that the in-process was got to the article clamp.

Drawings

FIG. 1 is a schematic structural diagram of a high-flexibility loading and unloading robot gripper clamp provided by the utility model;

FIG. 2 is an enlarged view of the structure at A in FIG. 1;

fig. 3 is an assembly drawing of a second motor and a first clamp mounting frame of the high-flexibility loading and unloading robot gripper clamp provided by the utility model.

In the figure: the automatic clamping device comprises a connecting rod 1, a shell 2, a first clamp mounting frame 3, a rotating frame 4, a pneumatic finger 5, a first motor 6, a threaded rod 7, a vertical plate 8, a sliding block 9, a sliding groove 10, a second clamp mounting frame 11, a gear 12, a butting block 13, an electric push rod 14, a rotating shaft 15 and a second motor 16.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-3, a unloading robot tongs anchor clamps on high flexibility, including connecting rod 1 and

casing

2, 2 inner wall fixedly connected with first anchor clamps installing frame 3 of casing, 2 inner wall sliding connection of casing have second anchor clamps installing frame 11, be equipped with the actuating mechanism who is used for driving second anchor clamps installing frame 11 and removes in the casing 2, actuating mechanism includes fixed connection at 2 inner walls of casing first motor 6, the output shaft fixedly connected with threaded rod 7 of first motor 6, 11 upper ends fixedly connected with risers 8 of second anchor clamps installing frame, the one end that first motor 6 was kept away from to threaded rod 7 runs through riser 8 lateral walls, threaded rod 7 and riser 8 threaded connection.

Be equipped with the stop gear who is used for restricting 8 moving direction of riser in casing 2, stop gear includes two sliding blocks 9 of fixed connection at 11 both sides walls of second anchor clamps installing frame, sliding tray 10 has all been seted up to two inner walls of casing 2, sliding block 9 and adjacent sliding tray 10 inner wall sliding connection, the sliding block 9 cross-section is the T shape, sliding block 9 carries on spacingly to sliding tray 10 inner wall, make sliding block 9 unable emergence when threaded rod 7 rotates rotate, thereby make sliding block 9 can only horizontal migration.

First anchor clamps installing frame 3 all rotates with 11 inner walls of second anchor clamps installing frame to be connected with pivot 15, pivot 15 one end fixedly connected with rotates frame 4, the one end of rotating frame 4 and keeping away from second motor 16 passes through dwang and first anchor clamps installing frame 3, second anchor clamps installing frame 11 rotates to be connected, it is unsettled to avoid rotating frame 4, rotate two pneumatic fingers 5 of 4 inner wall fixedly connected with of frame, pneumatic finger 5 utilizes compressed air as power, an actuating device for pressing from both sides get or snatch the work piece, common part on one of them industrial production line, the event is not done too much and is repeated.

In the utility model, the side walls of the first clamp mounting frame 3 and the second clamp mounting frame 11 are both fixedly connected with a second motor 16, and the other end of the rotating shaft 15 is fixedly connected with the output end of the adjacent second motor 16.

According to the utility model, the inner tops of the first clamp mounting frame 3 and the second clamp mounting frame 11 are fixedly connected with an electric push rod 14, the output end of the electric push rod 14 is fixedly connected with a propping block 13, the side walls of the two rotating shafts 15 are fixedly sleeved with gears 12, and the lower ends of the two propping blocks 13 are respectively provided with a tooth-shaped side wall matched with the gears 12.

When the clamping device is used, when the clamping object is too large, the first motor 6 is started to rotate, the output shaft of the first motor 6 drives the threaded rod 7 to rotate, the vertical plate 8 moves rightwards under the limit of the sliding groove 10 and the sliding block 9, otherwise, the output shaft of the first motor 6 rotates reversely, and the second clamp mounting frame 11 moves leftwards, so that the distance between the first clamp mounting frame 3 and the second clamp mounting frame 11 is adjusted, the clamping can be carried out on two sides of a large object, the clamping device can grab more objects, and the application range of the clamping device is expanded;

the electric push rod 14 is started, the output shaft of the electric push rod 14 contracts to enable the abutting block 13 to be separated from the gear 12, the second motor 16 is started, the output shaft of the second motor 16 drives the rotating shaft 15 to rotate, the rotating frame 4 rotates, and therefore the two ends of an article can be clamped at different angles, both irregular articles can be clamped, and the application range of the device is further expanded;

close second motor 16, start electric putter 14, electric putter's 14 output extends and drives and supports tight piece 13 and move down and make and support tight piece 13 cusp lateral wall and gear 12 meshing to fixed 15 the countershaft, avoid the pivot 15 to rotate, and then improved the stability of article clamp in-process.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention, the technical solutions and the practical concepts of the present invention equivalent or changed within the technical scope of the present invention.

Claims

1. A high-flexibility gripper clamp for a feeding and discharging robot comprises a connecting rod (1) and a shell (2), it is characterized in that the inner wall of the shell (2) is fixedly connected with a first clamp mounting frame (3), the inner wall of the shell (2) is connected with a second clamp mounting frame (11) in a sliding way, a driving mechanism for driving the second clamp mounting frame (11) to move is arranged in the shell (2), the driving mechanism comprises a first motor (6) fixedly connected with the inner wall of the shell (2), the output shaft of the first motor (6) is fixedly connected with a threaded rod (7), the upper end of the second clamp mounting frame (11) is fixedly connected with a vertical plate (8), one end of the threaded rod (7) far away from the first motor (6) penetrates through the side wall of the vertical plate (8), and a limiting mechanism for limiting the moving direction of the vertical plate (8) is arranged in the shell (2).

2. The high-flexibility loading and unloading robot gripper clamp according to claim 1, wherein the limiting mechanism comprises two sliding blocks (9) fixedly connected to two side walls of a second clamp mounting frame (11), sliding grooves (10) are formed in two inner walls of the shell (2), the sliding blocks (9) are slidably connected with inner walls of adjacent sliding grooves (10), and the cross section of each sliding block (9) is T-shaped.

3. The high-flexibility gripper clamp for the loading and unloading robot as claimed in claim 1, wherein the inner walls of the first clamp mounting frame (3) and the second clamp mounting frame (11) are rotatably connected with a rotating shaft (15), one end of the rotating shaft (15) is fixedly connected with a rotating frame (4), and the inner wall of the rotating frame (4) is fixedly connected with two pneumatic fingers (5).

4. The high-flexibility gripper clamp for the loading and unloading robot as claimed in claim 3, wherein the side walls of the first clamp mounting frame (3) and the second clamp mounting frame (11) are fixedly connected with second motors (16), and the other end of the rotating shaft (15) is fixedly connected with the output end of the adjacent second motor (16).

5. The high-flexibility gripper clamp for the loading and unloading robot as claimed in claim 4, wherein electric push rods (14) are fixedly connected to the inner tops of the first clamp mounting frame (3) and the second clamp mounting frame (11), and abutting blocks (13) are fixedly connected to the output ends of the electric push rods (14).

6. The gripper clamp for the highly flexible loading and unloading robot as claimed in claim 5, wherein the side walls of the two rotating shafts (15) are fixedly sleeved with gears (12), and the lower ends of the two abutting blocks (13) are provided with tooth-shaped side walls matched with the gears (12).