CN216328397U

CN216328397U - Automatic correcting device for robot gripper

Info

Publication number: CN216328397U
Application number: CN202122536180.3U
Authority: CN
Inventors: 张迁; 曹石松; 潘超
Original assignee: Nanjing Li Tai Intelligent Technology Co ltd
Current assignee: Nanjing Li Tai Intelligent Technology Co ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2022-04-19
Anticipated expiration: 2031-10-21

Abstract

The utility model discloses an automatic correcting device for a robot gripper, and particularly relates to the technical field of robots. According to the utility model, the driving device, the first correcting rod and the second correcting rod are arranged, so that the device can correct the robot gripper more conveniently and comprehensively, the practicability of the whole device is higher, and the height position of the whole device can be adjusted under the action of the lifting device.

Description

Automatic correcting device for robot gripper

Technical Field

The utility model relates to the technical field of robots, in particular to an automatic correcting device for a robot gripper.

Background

In the existing automatic processing factory, industrial robots replace workers to complete various operation actions, the grippers of the industrial robots are inevitably collided in the using process, the deviation of the gripping positions occurs, so that the grippers of the robots often need to be corrected by using an automatic correction device, the automatic correction device used at present is too simple in structure, the devices are not convenient and comprehensive enough when correcting the grippers of the robots, the practicability of the whole device is reduced, and the devices are also not convenient for adjusting the height positions, so that the whole device is not convenient for correcting the grippers of the robots at different height positions, the flexibility of the whole device in use is reduced, and the automatic correction device for the grippers of the robots is provided for solving the problems.

Disclosure of Invention

The utility model aims to provide an automatic correcting device for a robot gripper, which aims to solve the problems in the prior art.

In order to solve the technical problems, the utility model adopts the following technical scheme: the automatic correcting device for the robot gripper comprises a bottom plate, wherein the top end of the bottom plate is connected with a lifting device, the top end of the lifting device is connected with a T-shaped supporting rod, and one end of the T-shaped supporting rod is connected with a driving device;

the driving device comprises a connecting rod, wherein two ends of the connecting rod are connected with first driving blocks, one ends of the two first driving blocks facing the length direction of the connecting rod are connected with second driving blocks, a transmission rod is inserted and connected between opposite surfaces of the two second driving blocks, one end of one of the second driving blocks, which is far away from the transmission rod, is connected with a mounting plate, the top end of the mounting plate is connected with a driving motor, first rotating gears are arranged in the two second driving blocks, the output end of the driving motor is fixedly connected with one of the first rotating gears, two ends of the transmission rod respectively extend into the two second driving blocks and are respectively fixedly connected with the two first rotating gears, second rotating gears matched with the first rotating gears for use are arranged in the two first driving blocks, and one end of the connecting rod is provided with two moving grooves, first threaded rods are rotatably connected to the inner walls of one sides of the two moving grooves, the back-to-back ends of the two first threaded rods extend into the two first driving blocks respectively and are fixedly connected with the two second rotating gears respectively, moving blocks are sleeved on the outer surfaces of the two first threaded rods, and one ends of the two moving blocks penetrate through the two moving grooves respectively;

two the one end of movable block all is connected with first correction rod, two the opposite face one end of first correction rod all sets up two electronic spouts, and equal sliding connection has electronic slider, four in four electronic spouts the one end of electronic slider all is connected with the extension rod, and all cup joints the second correction rod jointly between the opposite face of two extension rods.

Preferably, the two first driving blocks are respectively communicated with the two second driving blocks, and one ends of the second driving blocks, far away from the first driving blocks, are fixedly connected with the T-shaped supporting rods.

Preferably, elevating gear includes the montant, the lower extreme and the bottom plate fixed connection of montant, install the rotating electrical machines on the lower inner wall of montant, the output of rotating electrical machines is connected with the second threaded rod, the movable block has been cup jointed to the surface of second threaded rod, the top of movable block is connected with the lifter, the top of lifter run through the montant and with T type bracing piece fixed connection, and the lower extreme and the second threaded rod of lifter cup joint, all opened the sliding tray, two on the both sides inner wall of montant equal sliding connection has the sliding block in the sliding tray, and the both ends and two sliding block fixed connection of movable block.

Preferably, the two first threaded rods are of the same length.

Preferably, the lower end of the bottom plate is connected with an anti-skid plate, and the size of the anti-skid plate is the same as that of the bottom plate.

Preferably, the height of the sliding groove is the same as the height of the second threaded rod.

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

1. according to the utility model, by arranging the driving device, under the action of the driving motor, the second rotating gear, the first threaded rod and the moving groove, the two moving blocks can move reversely, so that the two first correcting rods can be driven to move reversely to correct the left and right positions of the robot gripper, and under the action of the electric sliding groove and the electric sliding block, the two second correcting rods can move reversely to correct the front and back positions of the robot gripper, so that the whole device is more convenient and comprehensive when the robot gripper is corrected, and the practicability of the whole device is improved;

2. according to the utility model, through the arrangement of the lifting device, under the action of the rotating motor, the second threaded rod, the movable block, the sliding block and the sliding groove, the lifting rod can move up and down, so that the height position of the whole device can be adjusted, the device is convenient for correcting the robot grippers at different height positions, and the flexibility of the whole device is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the structure of the present invention.

FIG. 2 is a schematic structural diagram of a driving device according to the present invention.

FIG. 3 is a sectional view of a part of the driving device of the present invention.

Fig. 4 is a cross-sectional view of the lifting device of the present invention.

In the figure: 1. a base plate; 2. a drive device; 3. a lifting device; 4. an extension rod; 5. a first leveling rod; 6. an electric slider; 7. an electric chute; 8. a second leveling rod; 9. an anti-skid plate; 10. a T-shaped support rod; 21. a connecting rod; 22. mounting a plate; 23. a drive motor; 24. a transmission rod; 25. a second driving block; 26. a first driving block; 27. a first threaded rod; 28. a moving block; 29. a moving groove; 251. a first rotating gear; 261. a second rotating gear; 31. a vertical rod; 32. a movable block; 33. a rotating electric machine; 34. a second threaded rod; 35. a slider; 36. a sliding groove; 37. a lifting rod.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b): as shown in fig. 1-4, the present invention provides an automatic robot gripper straightening device, which comprises a bottom plate 1, wherein a lifting device 3 is connected to the top end of the bottom plate 1, a T-shaped support rod 10 is connected to the top end of the lifting device 3, a driving device 2 is connected to one end of the T-shaped support rod 10, the driving device 2 comprises a connecting rod 21, first driving blocks 26 are connected to both ends of the connecting rod 21, second driving blocks 25 are connected to both ends of the two first driving blocks 26 facing the length direction of the connecting rod 21, a transmission rod 24 is jointly inserted between the opposite surfaces of the two second driving blocks 25, a mounting plate 22 is connected to one end of one second driving block 25 away from the transmission rod 24, a driving motor 23 is connected to the top end of the mounting plate 22, first rotation gears 251 are arranged inside the two second driving blocks 25, and the output end of the driving motor 23 is fixedly connected to one of the first rotation gears 251, two ends of the transmission rod 24 respectively extend into the two second driving blocks 25 and are respectively fixedly connected with the two first rotating gears 251, the two first driving blocks 26 are respectively internally provided with a second rotating gear 261 used for matching with the first rotating gear 251, one end of the connecting rod 21 is provided with two moving grooves 29, the inner wall of one side of each moving groove 29 is respectively and rotatably connected with a first threaded rod 27, the back opposite sides of the two first threaded rods 27 respectively extend into the two first driving blocks 26 and are respectively and fixedly connected with the two second rotating gears 261, the outer surfaces of the two first threaded rods 27 are respectively sleeved with a moving block 28, one end of each moving block 28 respectively penetrates through the two moving grooves 29, one end of each moving block 28 is connected with a first correcting rod 5, one end of the opposite sides of the two first correcting rods 5 is respectively provided with two electric sliding grooves 7, and the four electric sliding grooves 7 are respectively and slidably connected with electric sliding blocks 6, one end of each of the four electric sliding blocks 6 is connected with an extension rod 4, and a second correction rod 8 is sleeved between the opposite surfaces of the two extension rods 4, when the device is used, the whole device is placed in a designated working area, when the left and right positions of the robot gripper need to be corrected, the driving motor 23 on the mounting plate 22 in the driving device 2 can be started, so that the driving motor 23 drives the first rotating gear 251 in one of the second driving blocks 25 to rotate, at this time, the first rotating gear 251 in the other second driving block 25 also starts to rotate under the action of the driving rod 24, so that the second rotating gears 261 in the two first driving blocks 26 start to rotate, the two second rotating gears 261 drive the two first threaded rods 27 to rotate, and the two moving blocks 28 start to perform reverse motion in the range of the two moving grooves 29 respectively, make two first correction bars 5 carry out reverse motion to can correct the left and right sides position of robot tongs, and when needs are corrected the front and back position of robot tongs, can start electronic spout 7 and electronic slider 6, make two second correction bars 8 carry out reverse motion, thereby can correct the front and back position of robot tongs, extension rod 4 that the second correction bar 8 both ends were established can cooperate the motion of first correction bar 5.

Furthermore, the two first driving blocks 26 are respectively communicated with the two second driving blocks 25, and one end of each second driving block 25 far away from the first driving block 26 is fixedly connected with the T-shaped supporting rod 10, so that the structure of the whole device is more stable.

Further, the lifting device 3 comprises a vertical rod 31, the lower end of the vertical rod 31 is fixedly connected with the bottom plate 1, a rotating motor 33 is installed on the lower inner wall of the vertical rod 31, the output end of the rotating motor 33 is connected with a second threaded rod 34, a movable block 32 is sleeved on the outer surface of the second threaded rod 34, a lifting rod 37 is connected with the top end of the movable block 32, the top end of the lifting rod 37 penetrates through the vertical rod 31 and is fixedly connected with the T-shaped support rod 10, the lower end of the lifting rod 37 is sleeved with the second threaded rod 34, sliding grooves 36 are formed in the inner walls of the two sides of the vertical rod 31, sliding blocks 35 are connected in the two sliding grooves 36 in a sliding mode, the two ends of the movable block 32 are fixedly connected with the two sliding blocks 35, when the height position of the whole device needs to be adjusted, the rotating motor 33 in the vertical rod 31 in the lifting device 3 can be started, the rotating motor 33 drives the second threaded rod 34 to rotate, after the second threaded rod 34 rotates, the movable block 32 moves up and down along the second threaded rod 34, so that the lifting rod 37 starts moving up and down, thereby adjusting the height position of the whole device, and when the movable block 32 moves up and down, the movable block drives the sliding block 35 to slide up and down in the sliding groove 36, so that the lifting rod 37 is more stable when moving up and down.

Further, the two first threaded rods 27 are the same in length, so that the structure of the whole device is more reasonable.

Further, the lower end of the bottom plate 1 is connected with an anti-skid plate 9, and the size of the anti-skid plate 9 is the same as that of the bottom plate 1, so that the whole device is more stable when placed.

Further, the height of the sliding groove 36 is the same as that of the second threaded rod 34, facilitating stable up and down movement of the lifting rod 37.

The working principle is as follows: when the whole device is placed in a designated working area, when the left and right positions of the robot gripper need to be corrected, the driving motor 23 on the mounting plate 22 in the driving device 2 can be started, so that the driving motor 23 drives the first rotating gear 251 in one of the second driving blocks 25 to rotate, at this time, the first rotating gear 251 in the other second driving block 25 also starts to rotate under the action of the transmission rod 24, the second rotating gears 261 in the two first driving blocks 26 start to rotate, the two second rotating gears 261 drive the two first threaded rods 27 to rotate after rotating, so that the two moving blocks 28 start to respectively perform reverse motion in the range of the two moving grooves 29, so that the two first rods 5 perform reverse motion, the left and right positions of the robot gripper can be corrected, and when the front and rear positions of the robot gripper need to be corrected, the electric sliding chute 7 and the electric sliding block 6 can be started to enable the two second straightening rods 8 to move reversely, therefore, the front and back positions of the gripper of the robot can be corrected, the extension rods 4 sleeved at the two ends of the second correcting rod 8 can be matched with the movement of the first correcting rod 5, when the height position of the whole device needs to be adjusted, the rotating motor 33 in the vertical rod 31 of the lifting device 3 can be started, so that the rotating motor 33 drives the second threaded rod 34 to rotate, after the second threaded rod 34 rotates, the movable block 32 moves up and down along the second threaded rod 34, so that the elevation rod 37 starts moving up and down, so that the height position of the entire apparatus can be adjusted, and when the movable block 32 is moved up and down, the slide block 35 is also moved up and down in the slide groove 36, so that the lift lever 37 is more stable when moving up and down.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. Automatic orthotic devices of robot tongs, including bottom plate (1), its characterized in that: the top end of the bottom plate (1) is connected with a lifting device (3), the top end of the lifting device (3) is connected with a T-shaped supporting rod (10), and one end of the T-shaped supporting rod (10) is connected with a driving device (2);

the driving device (2) comprises a connecting rod (21), wherein first driving blocks (26) are connected to two ends of the connecting rod (21), two first driving blocks (26) are connected to one end, facing the length direction of the connecting rod (21), of each second driving block (25), a transmission rod (24) is connected between opposite faces of the two second driving blocks (25) in a penetrating mode, one end, far away from the transmission rod (24), of each second driving block (25) is connected with a mounting plate (22), the top end of each mounting plate (22) is connected with a driving motor (23), a first rotating gear (251) is arranged inside each second driving block (25), the output end of each driving motor (23) is fixedly connected with one first rotating gear (251), two ends of each transmission rod (24) extend into the interiors of the two second driving blocks (25) respectively and are fixedly connected with the two first rotating gears (251) respectively, second rotating gears (261) matched with the first rotating gears (251) for use are arranged inside the two first driving blocks (26), two moving grooves (29) are formed in one end of the connecting rod (21), first threaded rods (27) are rotatably connected to the inner walls of one sides of the two moving grooves (29), the ends, opposite to each other, of the two first threaded rods (27) respectively extend into the two first driving blocks (26) and are fixedly connected with the two second rotating gears (261), moving blocks (28) are sleeved on the outer surfaces of the two first threaded rods (27), and one ends of the two moving blocks (28) respectively penetrate through the two moving grooves (29);

two the one end of movable block (28) all is connected with first correction rod (5), two the opposite face one end of first correction rod (5) all sets up two electronic spout (7), and equal sliding connection has electronic slider (6), four in four electronic spout (7) the one end of electronic slider (6) all is connected with extension rod (4), and all cup joints second correction rod (8) jointly between the opposite face of two extension rod (4).

2. The automatic straightening device for the robot gripper as claimed in claim 1, characterized in that the two first driving blocks (26) are respectively communicated with the two second driving blocks (25), and one ends of the second driving blocks (25) far away from the first driving blocks (26) are fixedly connected with the T-shaped supporting rod (10).

3. The automatic robot gripper straightening device according to claim 1, characterized in that the lifting device (3) comprises a vertical rod (31), the lower end of the vertical rod (31) is fixedly connected with the bottom plate (1), a rotating motor (33) is installed on the lower inner wall of the vertical rod (31), the output end of the rotating motor (33) is connected with a second threaded rod (34), the outer surface of the second threaded rod (34) is sleeved with a movable block (32), the top end of the movable block (32) is connected with a lifting rod (37), the top end of the lifting rod (37) penetrates through the vertical rod (31) and is fixedly connected with the T-shaped support rod (10), the lower end of the lifting rod (37) is sleeved with the second threaded rod (34), sliding grooves (36) are formed in the inner walls of the two sides of the vertical rod (31), and sliding blocks (35) are slidably connected in the two sliding grooves (36), and two ends of the movable block (32) are fixedly connected with the two sliding blocks (35).

4. The automatic orthotic device of a robotic gripper as claimed in claim 1, wherein the two first threaded rods (27) are of the same length.

5. The automatic orthotic device for robot grippers of claim 1, wherein a skid plate (9) is attached to the lower end of the base plate (1), and the size of the skid plate (9) is the same as the size of the base plate (1).

6. The automatic orthotic device with robotic gripper of claim 3, wherein the height of the sliding groove (36) is the same as the height of the second threaded rod (34).