CN218170437U

CN218170437U - Low-cost robot tongs

Info

Publication number: CN218170437U
Application number: CN202222470873.1U
Authority: CN
Inventors: 张宏伟; 刘广东; 刘建辉
Original assignee: Dalian Guoteng Intelligent Machinery Co ltd
Current assignee: Dalian Guoteng Intelligent Machinery Co ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-12-30
Anticipated expiration: 2032-09-19

Abstract

The utility model discloses a low-cost robot tongs, including the mounting bracket, be connected with tongs mechanism on the bottom face at mounting bracket both ends respectively, tongs mechanism includes the tongs support frame, be provided with the connecting plate on the top face of tongs support frame, the tongs support frame passes through connecting plate and mounting bracket fixed connection, is provided with in the tongs support frame and drives actuating cylinder, drive actuating cylinder's cylinder part and tongs support frame fixed connection, and the tip that drives actuating cylinder working shaft then is connected with first slip table, be provided with first slide rail and the second slide rail along its length direction distribution and symmetry on the tongs support frame, be provided with the slider with first slide rail sliding connection on the top face of first slip table, still be connected with first rack on first slip table, also be provided with the slider with first slide rail sliding connection on the first rack, still be provided with the second slip table on the tongs support frame, be provided with the slider with second slide rail sliding connection on the top face of second slip table.

Description

Low-cost robot tongs

Technical Field

The utility model relates to an automatic get the material field, especially a low-cost robot tongs.

Background

Along with the continuous improvement of production and processing requirements, the automation degree in the production process is higher and higher. Therefore, in many production lines, a robot or a manipulator is adopted to realize material conveying or loading and unloading operations, in order to realize opening and closing actions (i.e. loosening and clamping actions of the manipulator) of two clamping jaws in a traditional gripper driven by the robot or the manipulator, a servo motor is adopted to drive a bidirectional screw rod to rotate, and two sections of threads with opposite rotating directions of the bidirectional screw rod are respectively connected with a nut seat, so that when the bidirectional screw rod rotates, the two nut seats can do horizontal motions with opposite directions and the same speed, and further respectively drive the two clamping jaws to act. The servo motor is needed to be used in the gripper structure with the traditional structure, the cost of the servo motor is relatively high, the overall cost of the gripper is high, and great cost pressure is brought to enterprises. There is therefore a need for a method or apparatus that addresses the above-mentioned problems.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a solve the above-mentioned not enough that prior art exists, provide a simple structure, design benefit, rationally distributed, the low-cost robot tongs that can the effective control overall cost.

The technical solution of the utility model is that: the utility model provides a low-cost robot tongs, includes mounting bracket 1, be connected with tongs mechanism 2, its characterized in that on the bottom face at 1 both ends of mounting bracket respectively: the gripper mechanism 2 comprises a gripper supporting frame 3, a connecting plate 4 is arranged on the top end face of the gripper supporting frame 3, the gripper supporting frame 3 is fixedly connected with the mounting frame 1 through the connecting plate 3, a driving air cylinder 5 is arranged in the gripper supporting frame 3, the cylinder barrel part of the driving air cylinder 5 is fixedly connected with the gripper supporting frame 3, the end part of a working shaft of the driving air cylinder 5 is connected with the first sliding table 6,

the gripper support frame 3 is provided with a first slide rail 7 and a second slide rail 8 which are distributed along the length direction and are symmetrical, the top end surface of the first sliding table 6 is provided with a slide block which is connected with the first slide rail 7 in a sliding way, the first sliding table 6 is also connected with a first rack 9, the first rack 9 is also provided with a slide block which is connected with the first slide rail 7 in a sliding way,

the gripper support frame 3 is also provided with a second sliding table 10, the top end surface of the second sliding table 10 is provided with a sliding block which is connected with a second sliding rail 8 in a sliding way, the second sliding table 10 is connected with a second rack 11, the second rack 11 is also provided with a sliding block which is connected with the second sliding rail 8 in a sliding way,

a gear 12 is rotatably supported at the centroid of the gripper support frame 3, the gear 12 is meshed with the first rack 9 and the second rack 11,

the bottom of first slip table 6 is provided with first clamping jaw 13, and the bottom of second slip table 10 is provided with second clamping jaw 14.

Compared with the prior art, the utility model, have following advantage:

the low-cost robot gripper with the structure is simple in structure, ingenious in design and reasonable in layout, and aims at solving the problem that the overall cost is relatively high due to the fact that a traditional gripper structure needs to be driven by a relatively expensive servo motor, and a special structure is designed. The air cylinder drives one sliding table to slide in a reciprocating mode, the rack connected with the sliding table is used for driving the gear to rotate, the gear can drive the other rack meshed with the sliding table to move when rotating, and then the other sliding table is driven to move, and finally synchronous and reverse actions of clamping jaws respectively arranged at the bottoms of the two sliding tables are achieved, so that the purposes of clamping and releasing target workpieces by the grippers are achieved. The robot gripper does not need to use a servo motor as a power source, and can realize the action of the gripping jaws only by using the air cylinder with lower cost, so that the overall cost of the robot gripper is greatly reduced compared with that of the traditional gripper. Meanwhile, the whole movement process is flexible and reliable, and each mechanism moves smoothly, so that the device has multiple advantages, is particularly suitable for popularization and application in the field, and has a very wide market prospect.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic perspective view of the gripper mechanism in the embodiment of the present invention.

Fig. 3 is a front view of the gripper mechanism in an embodiment of the present invention.

Fig. 4 is a top view of a gripper mechanism in an embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. As shown in fig. 1 to 4: a robot gripper with low cost comprises a mounting frame 1, gripper mechanisms 2 are respectively connected to the bottom end faces of two ends of the mounting frame 1, each gripper mechanism 2 comprises a gripper supporting frame 3, a connecting plate 4 is arranged on the top end face of each gripper supporting frame 3, each gripper supporting frame 3 is fixedly connected with the mounting frame 1 through the corresponding connecting plate 3, a driving cylinder 5 is arranged in each gripper supporting frame 3, the cylinder barrel part of each driving cylinder 5 is fixedly connected with each gripper supporting frame 3, the end part of the working shaft of each driving cylinder 5 is connected with a first sliding table 6,

the gripper support frame 3 is provided with a first slide rail 7 and a second slide rail 8 which are distributed along the length direction and are symmetrical, the top end face of the first sliding table 6 is provided with a slide block which is connected with the first slide rail 7 in a sliding way, the first sliding table 6 is also connected with a first rack 9, the first rack 9 is also provided with a slide block which is connected with the first slide rail 7 in a sliding way,

the gripper support frame 3 is also provided with a second sliding table 10, the top end face of the second sliding table 10 is provided with a sliding block which is connected with a second sliding rail 8 in a sliding way, the second sliding table 10 is connected with a second rack 11, the second rack 11 is also provided with a sliding block which is connected with the second sliding rail 8 in a sliding way,

The utility model discloses low-cost robot tongs's working process as follows: when the robot gripper is used for conveying materials, firstly, the mounting frame 1 is connected to a mechanical arm or a mechanical arm of the robot, the mounting frame 1 and the gripper mechanisms 2 at two ends of the mounting frame are driven by the robot to move to a target workpiece,

in an initial state, the gripper mechanism 2 is in a non-clamping state, at the moment, the first clamping jaw 13 and the second clamping jaw 14 are located at limit positions close to each other, when the first clamping jaw 13 and the second clamping jaw 14 both move into a grabbing inner hole of a workpiece to be grabbed, the control system controls the driving cylinder 5 to work, the driving cylinder 5 drives the first sliding table 6 to slide along the first sliding rail 7, so as to drive the first rack 9 connected with the first sliding table 6 to do linear motion, the motion of the first rack 9 drives the gear 12 meshed with the first rack 9 to rotate, and when the gear 12 rotates, the second rack 11 meshed with the first rack is driven to do linear motion, and as the first rack 9 and the second rack 11 are parallel to each other and are respectively distributed on two opposite sides of the gear 12, the first rack 9 and the second rack 11 can do linear motion in opposite directions, and the motion speeds of the first rack 9 and the second rack 11 are the same;

that is to say, when the driving cylinder 5 works, the first sliding table 6 and the second sliding table 10 are driven to perform linear motion with opposite directions and the same speed, and then the first clamping jaw 13 and the second clamping jaw 14 connected to the bottoms of the first clamping jaw and the second clamping jaw are driven to simultaneously move outwards to be supported in an inner hole of a target workpiece, then the robot can drive the gripper mechanism 2 and a workpiece grabbed by the gripper mechanism 2 to move, and convey the workpiece to a target position or the control system controls the driving cylinder 5 to recover, the actions are performed in opposite directions, the first clamping jaw 13 and the second clamping jaw 14 move oppositely again, clamping of the target workpiece is released, and the workpiece falls to the target position, so that the operation of transferring the target workpiece is completed.

Claims

1. The utility model provides a low-cost robot tongs, includes mounting bracket (1), be connected with tongs mechanism (2), its characterized in that on the bottom face at mounting bracket (1) both ends respectively: the gripper mechanism (2) comprises a gripper support frame (3), a connecting plate (4) is arranged on the top end face of the gripper support frame (3), the gripper support frame (3) is fixedly connected with the mounting frame (1) through the connecting plate (4), a driving air cylinder (5) is arranged in the gripper support frame (3), the cylinder barrel part of the driving air cylinder (5) is fixedly connected with the gripper support frame (3), the end part of a working shaft of the driving air cylinder (5) is connected with the first sliding table (6),

the gripper support frame (3) is provided with a first slide rail (7) and a second slide rail (8) which are distributed along the length direction and are symmetrical, the top end face of the first sliding table (6) is provided with a slide block which is connected with the first slide rail (7) in a sliding way, the first sliding table (6) is also connected with a first rack (9), the first rack (9) is also provided with a slide block which is connected with the first slide rail (7) in a sliding way,

the gripper support frame (3) is also provided with a second sliding table (10), the top end surface of the second sliding table (10) is provided with a sliding block which is connected with a second sliding rail (8) in a sliding way, the second sliding table (10) is connected with a second rack (11), the second rack (11) is also provided with a sliding block which is connected with the second sliding rail (8) in a sliding way,

a gear (12) is rotatably supported at the centroid of the gripper support frame (3), the gear (12) is meshed with the first rack (9) and the second rack (11),

the bottom of first slip table (6) is provided with first clamping jaw (13), and the bottom of second slip table (10) is provided with second clamping jaw (14).