CN216180593U

CN216180593U - Multifunctional robot paw

Info

Publication number: CN216180593U
Application number: CN202122445032.0U
Authority: CN
Inventors: 丁涛; 蔡宇峰
Original assignee: Hangzhou Cunlan Technology Co ltd
Current assignee: Hangzhou Cunlan Technology Co ltd
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2022-04-05
Anticipated expiration: 2031-10-08

Abstract

The utility model discloses a multifunctional robot paw, which comprises a robot wrist, a robot wrist flange plate, a paw mounting frame, a clamping paw support frame, a clamping paw, a plasma cutting machine and an electromagnet. The tail ends of the fingers of the clamping claws are designed in a V shape, so that cylindrical workpieces with different diameters can be stably clamped in a fitting mode that the V-shaped plane is tangent to the side surface of the cylindrical workpiece, and the purpose that the robot clamping jaw structure is suitable for the cylindrical workpieces with different diameters is achieved.

Description

Multifunctional robot paw

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a multifunctional robot paw.

Background

The development of science and technology is changing day by day, and compared with the hand of people, the manipulator has stronger strength and more lasting endurance, and it can be continuously repeated the same action and can not feel tired, so the manipulator is widely applied to various production and living fields, and this has also put forward higher requirements to the convenience, the flexibility of manipulator.

In recent years, quick-change robot clamping jaws are widely applied to the technical field of manipulators by virtue of convenience in disassembly, but the number of the end effectors which can be assembled by most quick-change robot clamping jaws is limited, and different end effectors need to be frequently disassembled and replaced to adapt to different working requirements, so that the working efficiency of the manipulator is reduced.

In the patent of 'a split type quick-change clamping jaw' (publication number: CN209239096U), a modular design is adopted, and the split type quick-change clamping jaw is formed by movably connecting threads between a soft jaw and a T-shaped block, so that the disassembly and the replacement are convenient.

In the patent 'a manipulator quick-change clamping jaw device' (publication number: CN206925882U), a clamping base controls clamping power in a mode of driving a screw rod by a motor, clamping precision is improved, a clamping jaw is connected with the clamping base by an electromagnetic bolt, disassembly is more convenient, but the design of a clamping jaw finger is a simple plane, so that workpieces which can be clamped are limited.

The mechanical clamping jaw device is reduced in working efficiency due to the structural design problem of the mechanical clamping jaw device in practical application, and the multifunctional robot gripper is designed aiming at the problems that only one end effector and one clamping jaw finger can be assembled, the workpiece is limited to be clamped, and the flexibility of a manipulator is insufficient.

Disclosure of Invention

The utility model discloses a multifunctional robot paw, which mainly has the following three purposes: 1. the assembly of a plurality of end effectors is realized through the branch structure, and the mechanical arm can complete different works by using different end effectors by changing the posture of the wrist without stopping the machine in the working process; 2. the robot clamping jaw structure is suitable for cylindrical workpieces with different sizes and diameters; 3. after the robot arm has a new task, all or part of the three end effectors can be replaced to accommodate the new task.

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

the utility model provides a multifunctional robot hand claw, includes robot wrist, robot wrist ring flange, hand claw mounting bracket, centre gripping hand claw support frame, centre gripping hand claw, plasma cutting machine and electro-magnet, the hand claw mounting bracket passes through the robot wrist ring flange with the robot wrist is connected, centre gripping hand claw support frame the plasma cutting machine with the electro-magnet is connected on the hand claw mounting bracket, the centre gripping hand claw is installed on the centre gripping hand claw support frame, the accessible adjustment the position appearance of robot wrist ring flange uses on the hand claw mounting bracket the centre gripping hand claw the plasma cutting machine with different work tasks are accomplished to the electro-magnet.

Preferably, the clamping paw comprises a finger support, a stepping motor, a screw rod, a nut, a sliding block, a rocker, a connecting rod, fingers of the clamping paw, a finger limiting block and finger ends of the clamping paw, the finger support is connected with the clamping paw support frame, the stepping motor is mounted inside the clamping paw support frame, the lower end of the screw rod is mounted on the stepping motor and extends out of the upper end of the clamping paw support frame, the nut is in threaded movable connection with the screw rod, the nut can make vertical movement on the screw rod through rotation of the stepping motor, the sliding block is mounted at two ends of the nut in a sliding connection manner, protruding cylindrical rods are arranged outside the lower end of the finger support, outside the sliding block and outside the lower end of the fingers of the clamping paw, and the cylindrical rods outside the lower end of the finger support are embedded into the lower end of the rocker, the rocker can do clockwise and anticlockwise motion by taking the center of the cylindrical rod as a circle center, the cylindrical rod outside the sliding block is embedded into the upper end of the rocker, the sliding block can be matched with the fixed position of the lower end of the rocker and the vertical motion of the nut on the screw rod to make the sliding block do horizontal motion along the nut, the cylindrical rod outside the sliding block is embedded into the lower end of the connecting rod, the cylindrical rod outside the lower end of the finger of the clamping paw is embedded into the upper end of the connecting rod, the lower end of the finger of the clamping paw is arranged at the upper end of the finger bracket in a sliding connection manner and can be matched with the connection of the lower end of the connecting rod and the cylindrical rod outside the sliding block to make the lower end of the finger of the clamping paw do horizontal motion along the upper end of the finger bracket, the finger limiting block can limit the outward motion distance of the lower end of the finger of the clamping paw, and make horizontal motion along the upper end of the finger bracket through the lower end of the clamping paw, the finger tail ends of the clamping claws can be driven to move inwards or outwards, so that the clamping of the finger tail ends of the clamping claws on the workpiece can be realized.

Preferably, the plasma cutting machine with the hand claw mounting bracket is connected, can realize the function of cutting the steel sheet, the electro-magnet with the hand claw mounting bracket is connected, can realize adsorbing the function of iron work piece.

Compared with the prior art, the utility model has the following beneficial effects:

1) the gripper mounting bracket adopts a triangular branch structure, three end effectors can be assembled, a workpiece can be clamped by a clamping gripper, a steel plate can be cut by the plasma cutting machine, an iron workpiece can be adsorbed by the electromagnet, different end effectors can adapt to different working requirements, the wrist posture is changed, when a certain end effector works, the branch structure can also avoid the interference of the other two end effectors on the end effector in a working state, the end effectors can be replaced at one time in a preparation working stage, the end effectors do not need to be detached and replaced in the working process, and the working efficiency is improved.

2) The finger tail ends of the clamping claws are designed in a V shape, and when cylindrical workpieces with different diameters are clamped, the V-shaped planes at the tail ends of the two fingers are tangent to the side surfaces of the cylindrical workpieces, so that the cylindrical workpieces can be firmly fixed, and the purpose of adapting to the cylindrical workpieces with different diameters is realized by the clamping claw structure of the robot.

3) The paw mounting rack is connected with the robot wrist through the robot wrist flange plate, so that when different types of workpieces need to be grabbed or cutting, welding and other processes need to be carried out, corresponding tasks can be completed through adjusting the pose of the robot wrist flange plate and different types of end effectors on the paw mounting rack, and the flexibility of the manipulator is improved.

Drawings

FIG. 1 is an overall structural view of the present invention.

FIG. 2 is a schematic view of a gripper jaw of the present invention.

In the figure: 1. a clamping paw; 2. a clamping paw support frame; 3. a plasma cutter; 4. a paw mounting rack; 5. a robot wrist flange plate; 6. a robot wrist; 7. an electromagnet.

In the figure: 101. clamping the finger ends of the paws; 102. fingers of the gripper fingers; 103. a finger rest; 104. a connecting rod; 105. a rocker; 106. a stepping motor; 107. a finger stopper; 108. a screw rod; 109. a nut; 110. a slide block.

Detailed Description

In order to make the technical scheme, the creation characteristics and the beneficial effects of the utility model clearer and more complete, the utility model will be further explained by combining the attached drawings of the utility model.

In the description of the present invention, it is to be noted that terms indicating orientations such as "end", "inner", "lower", "both ends", "outer", "upper", and the like are used based on the orientations shown in the drawings to facilitate the description of the present invention, and do not indicate that the elements must have a specific orientation when constructed or take a specific orientation when operated, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that terms such as "install", "assemble", "connect", etc. should be interpreted broadly, for example, "connect", which may be a fixed connection, a detachable connection, or an integrated connection; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate or communicating between two elements, and the specific meaning of the terms in the present invention can be understood by those skilled in the art in combination with the specific situation.

Referring to fig. 1, a multifunctional robot paw comprises a gripper paw 1, a gripper paw support frame 2, a plasma cutting machine 3, a paw mounting frame 4, a robot wrist flange 5, a robot wrist 6 and an electromagnet 7, wherein the paw mounting frame 4 is connected with the robot wrist 6 through the robot wrist flange 5, the gripper paw support frame 2, the plasma cutting machine 3 and the electromagnet 7 are mounted on the paw mounting frame 4, the gripper paw 1 is mounted on the gripper paw support frame 2, and the positions of the gripper paw 1, the plasma cutting machine 3 and the electromagnet 7 on the paw mounting frame 4 can be changed by adjusting the pose of the robot wrist flange 5, so that different working requirements can be met, and the flexibility of the manipulator is improved.

Referring to fig. 2, the gripper jaw 1 includes a finger end 101 of the gripper jaw, a finger 102 of the gripper jaw, a finger holder 103, a connecting rod 104, a rocker 105, a stepping motor 106, a finger stopper 107, a lead screw 108, a nut 109 and a slider 110, the gripper jaw holder 2 is in a zigzag shape when viewed from the front, the finger holder 103 is installed on both sides of the zigzag upper end of the gripper jaw holder 2, the stepping motor 106 is installed inside the zigzag of the gripper jaw holder 2, the lower end of the lead screw 108 passes through the middle of the zigzag upper end of the gripper jaw holder 2 and is connected to the stepping motor 106, the stepping motor 106 can drive the lead screw 108 to rotate when rotating, the nut 109 is in threaded connection with the lead screw 108, the nut 109 can be vertically moved on the lead screw 108 by the rotation of the stepping motor 106, the slider 110 is installed on both ends of the nut 109 in a sliding connection manner, the outer portion of the lower end of the finger holder 103, the outer portion of the slider 110 and the outer portion of the lower end of the finger 102 of the gripper jaw are provided with protruding cylindrical rods, the external cylindrical rod at the lower end of the finger support 103 is embedded into the lower end of the rocker 105, so that the rocker 105 can move clockwise and anticlockwise by taking the center of the cylindrical rod as the center of a circle, the external cylindrical rod of the slider 110 is embedded into the upper end of the rocker 105, the slider 110 can move horizontally along the nut 109 by matching with the fixed position at the lower end of the rocker 105 and the vertical movement of the nut 109 on the screw rod 108, the external cylindrical rod of the slider 110 is embedded into the lower end of the connecting rod 104, the external cylindrical rod at the lower end of the finger 102 of the clamping paw is embedded into the upper end of the connecting rod 104, the lower end of the finger 102 of the clamping paw is arranged at the upper end of the finger support 103 in a sliding connection mode, when the slider 110 moves horizontally along the nut 109, the lower end of the connecting rod 104 can be driven to move inwards or outwards, and then an upward or downward acting force is generated along the connecting rod 104, because the lower end of the finger 102 of the clamping paw is fixed at the upper end of the finger support 103 in the vertical direction, therefore, the acting force can only enable the lower ends of the fingers 102 of the clamping claws to move inwards or outwards along the upper ends of the finger supports 103, the finger limiting blocks 107 can limit the distance of the outward movement of the lower ends of the fingers 102 of the clamping claws, and the lower ends of the fingers 102 of the clamping claws can move inwards or outwards along the upper ends of the finger supports 103 to drive the finger tail ends 101 of the clamping claws to move inwards or outwards, so that the clamping of workpieces by the finger tail ends 101 of the clamping claws can be realized.

Having thus described the principles of the utility model, its operating characteristics and advantages, it will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. The utility model provides a multi-functional robot hand claw which characterized in that: including centre gripping hand claw (1), centre gripping hand claw support frame (2), plasma cutting machine (3), hand claw mounting bracket (4), robot wrist ring flange (5), robot wrist (6) and electro-magnet (7), hand claw mounting bracket (4) are connected with robot wrist (6) through robot wrist ring flange (5), centre gripping hand claw support frame (2), install on hand claw mounting bracket (4) plasma cutting machine (3) and electro-magnet (7), centre gripping hand claw (1) is installed on centre gripping hand claw support frame (2), through the position appearance of adjustment robot wrist ring flange (5), can make centre gripping hand claw (1) on hand claw mounting bracket (4), plasma cutting machine (3) and electro-magnet (7) transform the position, adapt to different work demands.

2. Multifunctional robot paw according to claim 1, characterized by the gripping paw (1): comprises finger tail ends (101) of clamping claws, fingers (102) of the clamping claws, a finger support (103), a connecting rod (104), a rocker (105), a stepping motor (106), a finger limiting block (107), a screw rod (108), a nut (109) and a sliding block (110), wherein when the clamping claws (1) work, the stepping motor (106) drives the screw rod (108) to rotate, the rotation of the screw rod (108) is converted into the movement of the nut (109), when the nut (109) moves upwards, the distance between the two sliding blocks (110) is reduced, a left connecting rod (104), a right connecting rod (104) and a rocker (105) are driven to transmit power to the fingers (102) of the clamping claws, so that the fingers (102) of the left clamping claws and the right clamping claws are close to each other, and the finger tail ends (101) of the clamping claws of the fingers (102) of the clamping claws are ensured to be kept parallel to corresponding planes due to the limitation of the finger support (103), the clamping device is close to each other, so that clamping actions on cylindrical workpieces with different diameters and cuboid workpieces with different sizes are realized; when the nut (109) moves downwards, the distance between the two sliding blocks (110) is increased, the left and right sets of connecting rods (104) and the rocker (105) mechanisms are driven to transmit power to the fingers (102) of the clamping claws, so that the fingers (102) of the left and right clamping claws are mutually far away, and due to the limitation of the finger supports (103), the finger tail ends (101) of the clamping claws of the fingers (102) of the clamping claws are mutually far away under the condition that the corresponding planes are parallel, and workpieces are loosened.

3. A multi-function robot gripper according to claim 1, characterised by a gripping gripper support (2): seen from the front, the claw clamping device is in a shape like a Chinese character 'ji', the finger supports (103) are arranged on two sides of the upper end of the shape like a Chinese character 'ji' of the clamping paw supporting frame (2), the stepping motors (106) are arranged inside the shape like a Chinese character 'ji' of the clamping paw supporting frame (2), and the lower ends of the screw rods (108) penetrate through the middle of the upper end of the shape like a Chinese character 'ji' of the clamping paw supporting frame (2) and are connected with the stepping motors (106).

4. Multifunctional robot paw according to claim 1, characterised by the paw mounting frame (4): the mounting bracket is triangle branch structure, three end effector of assembly, and work piece can be got to centre gripping hand claw (1) clamp, and plasma cutting machine (3) can cut the steel sheet, and iron work piece can be adsorbed in electro-magnet (7), and different end effector can adapt to different work demands, can once only change end effector preparing the working phase, need not tear open again in the course of the work and trade, has improved work efficiency.

5. Multifunctional robot paw according to claim 1, characterised in that the finger tip (101) of the gripping paw (1): the tail ends of the fingers adopt a V-shaped design, and when cylindrical workpieces with different diameters are clamped, the V-shaped planes of the tail ends of the two fingers are tangent to the side surfaces of the cylindrical workpieces, so that the cylindrical workpieces can be firmly fixed.