CN218195246U

CN218195246U - Robot gripper capable of automatically feeding and discharging

Info

Publication number: CN218195246U
Application number: CN202123322825.XU
Authority: CN
Inventors: 卢明隆
Original assignee: Yuanli Intelligent Technology Dongguan Co ltd
Current assignee: Yuanli Intelligent Technology Dongguan Co ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2023-01-03
Anticipated expiration: 2031-12-27

Abstract

The utility model discloses an automatic go up robot tongs of unloading, including the device casing, the upper end outside fixedly connected with drive motor of device casing, the inboard of device casing is opened there is the connection chamber, drive motor's pivot lower extreme fixedly connected with gear, and the gear is located the outside of connecting the chamber, the outside meshing of gear is connected with the ring gear, drive motor drive gear rotates, and drives the ring gear rotation, the upper end of ring gear is pegged graft inside the ring spout in the side wall outside on connecting the chamber through the slider activity, the lower extreme of ring gear is the annular array and is connected with the push-and-pull rod through connecting the pivot, the inner of push-and-pull rod is connected with the outside one end of clamp splice through connecting the pivot. Through the overall structure of equipment, the clamp splice is equipped with a plurality ofly, can apply a plurality of clamping-force to the material surface for each clamping-force distributes evenly, and makes the centre gripping of material more stable, and the sucking disc can also increase the stability that the smooth material in surface was by the centre gripping.

Description

Robot gripper capable of automatically feeding and discharging

Technical Field

The utility model relates to a robot equipment technical field specifically is an automatic go up robot tongs of unloading.

Background

Robots are the common name for automatic control machines, which include all machines that simulate human behavior or thought and other creatures. There are also a number of taxonomies and controversy defining robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is the product of advanced integration control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.

In conclusion, when the existing industrial robot is used, cylindrical materials are inconvenient to grab and unstable, and therefore the robot gripper capable of automatically feeding and discharging materials is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic robot tongs of unloading of going up to current industrial robot who provides in solving above-mentioned background art is when using, and cylindric material snatchs inconveniently, and stable problem inadequately.

In order to achieve the above purpose, the utility model provides a following technical scheme: a robot gripper capable of automatically feeding and discharging materials comprises a device shell, wherein a transmission motor is fixedly connected to the outer side of the upper end of the device shell, a connecting cavity is formed in the inner side of the device shell, a gear is fixedly connected to the lower end of a rotating shaft of the transmission motor and located on the outer side of the connecting cavity, a gear ring is connected to the outer side of the gear in a meshed mode, the transmission motor drives the gear to rotate so as to drive the gear ring to rotate,

the upper end of the toothed ring is movably inserted into a circular ring sliding groove on the outer side of the side wall of the connecting cavity through a sliding block, the lower end of the toothed ring is in an annular array and is connected with a push-pull rod through a connecting rotating shaft, the inner end of the push-pull rod is connected with one end of the outer side of a clamping block through a connecting rotating shaft, the other end of the outer side of the clamping block is connected with the lower end of a fixing ring through a connecting rotating shaft, the push-pull rod can be pulled or pushed through the forward and reverse rotation of the toothed ring, the clamping block is pulled or pushed to rotate around one end of the outer side of the clamping block, the connecting rotating shaft is connected with the clamping block,

the middle part of the device shell is provided with a through hole, the inner side of the clamping block is provided with a plane, the inner side of the plane is inlaid with a rubber strip in a grade mode, and the outer end of the rubber strip is fixedly connected with a sucker.

Preferably, the middle part of the upper end of the device shell is fixedly connected with a connecting column, and the upper end of the connecting column is fixedly connected with a flange.

Preferably, the rubber strips are provided with a plurality of rubber strips, and the rubber strips are embedded in the corresponding plane at equal intervals.

Preferably, the sucking disc is equipped with a plurality ofly, the even connection of sucking disc is in the outside of each rubber strip.

Preferably, the number of the push-pull rods is five, and the push-pull rods are connected to the lower end of the gear ring in an annular array.

Preferably, the number of the clamping blocks is equal to the number of the push-pull rods.

Compared with the prior art, the beneficial effects of the utility model are that: the robot gripper capable of automatically feeding and discharging materials,

through the overall structure of equipment, driving motor can drive the corotation, and make the ring gear reversal, thereby promote each push-and-pull rod displacement left, thereby make the clamp splice rotate around the connecting axle of one side, make the inboard of clamp splice from the relatively nearer one side inward movement of push-and-pull rod, thereby make each clamp splice inside wall extrude the centre gripping to tubular material, and the clamp splice is equipped with a plurality ofly, can apply a plurality of clamping-force to the material surface, make each clamping-force distribute evenly, and make the centre gripping of material more stable, and the sucking disc can also increase the stability that the smooth material in surface was held.

Drawings

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

FIG. 2 is a bottom cross-sectional view of the device housing of the present invention;

FIG. 3 is an overall structure diagram of the clamping block of the present invention;

FIG. 4 is an enlarged view of the point A in FIG. 3 according to the present invention;

fig. 5 is a bottom view of the device housing of the present invention.

In the figure: 1. the device comprises a shell, 2, a connecting column, 3, a flange, 4, a transmission motor, 5, a connecting cavity, 6, a gear, 7, a toothed ring, 8, a push-pull rod, 9, a fixing ring, 10, a clamping block, 11, a through hole, 12, a plane, 13, a rubber strip, 14 and a sucker.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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.

Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides an automatic go up robot tongs of unloading, including device casing 1, the upper end outside fixedly connected with drive motor 4 of device casing 1, open the inboard of device casing 1 has connection chamber 5, the pivot lower extreme fixedly connected with gear 6 of drive motor 4, drive motor 4 is for driving gear 6 and just reverse the rotation, and gear 6 is located the outside of connecting chamber 5, the outside meshing of gear 6 is connected with ring gear 7, drive motor 4 drive gear 6 rotates, and drive ring gear 7 and rotate, drive motor 4 adopts current servo motor on the market, and be furnished with the controller, control its positive and reverse rotation, drive motor 4 is through switch external power supply.

The upper end of a toothed ring 7 is movably inserted into a circular chute on the outer side of the side wall of the connecting cavity 5 through a sliding block, the lower end of the toothed ring 7 is in an annular array and is connected with a push-pull rod 8 through a connecting rotating shaft, the inner end of the push-pull rod 8 is connected with one outer end of a clamping block 10 through a connecting rotating shaft, the other outer end of the clamping block 10 is connected to the lower end of a fixing ring 9 through a connecting rotating shaft, the toothed ring 7 rotates forwards and backwards, the push-pull rod 8 can be pulled or pushed, the clamping block 10 is pulled or pushed to rotate around the outer end of the clamping block 10, the transmission motor 4 can drive the forward rotation, the toothed ring 7 rotates backwards, and therefore each push-pull rod 8 is pushed to move leftwards, the clamping block 10 rotates around a connecting shaft on one side, the inner side, which is relatively close to the push-pull rod 8, of the clamping block 10 moves inwards, and the inner side wall of each clamping block 10 extrudes and clamps the tubular material.

The middle part of the device shell 1 is provided with a through hole 11, the inner side of the clamping block 10 is provided with a plane 12, the inner side of the plane 12 is embedded with a rubber strip 13 in a grading way, and the outer end of the rubber strip 13 is fixedly connected with a sucking disc 14. The suction cup 14 also increases the stability of the material with a smooth surface to be gripped.

As shown in fig. 1, a connection column 2 is fixedly connected to the middle of the upper end of the device housing 1, and a flange 3 is fixedly connected to the upper end of the connection column 2. The connecting column 2 is connected to a flange 3.

As shown in fig. 3, the rubber strips 13 are provided in a plurality, and the rubber strips 13 are embedded in the corresponding plane 12 at equal intervals. The rubber strip 13 can prevent the suction cup 14 from being damaged due to long-term use.

As shown in fig. 3 and 4, the suction cups 14 are provided in a plurality, and the suction cups 14 are uniformly connected to the outer side of each rubber strip 13. The suction cup 14 also increases the stability of the material with a smooth surface to be gripped.

As shown in fig. 2, five push-pull rods 8 are provided, and the push-pull rods 8 are connected to the lower end of the gear ring 7 in an annular array. The push-pull rod 8 can be displaced as the toothed ring 7 rotates.

As shown in fig. 2, the number of clamping blocks 10 is equal to the number of push-pull rods 8. The clamping block 10 can be rotated by pulling or pushing the push-pull rod 8.

The working principle is as follows: when the equipment works, the whole structure is connected to a robot driving rod through a flange 3, so that the gripper displacement is driven, after the installation is finished, the starter robot controls the track of the gripper displacement, when tubular materials are gripped, a through hole 11 in the middle of a device shell 1 is sleeved outside the tubular materials, then a transmission motor 4 is started, the transmission motor 4 can drive forward rotation, so that a toothed ring 7 rotates reversely, each push-pull rod 8 is pushed to move leftwards, so that the clamping blocks 10 rotate around a connecting shaft on one side, the inner sides of the clamping blocks 10 move inwards from one side where the push-pull rods 8 are relatively close to each other, so that the inner side walls of the clamping blocks 10 extrude and clamp the tubular materials, a sucker 14 can also increase the stability of the materials with smooth surfaces to be clamped, after the clamping is finished, the robot drives the gripper to move to a specified position, the transmission motor 4 can rotate reversely, so that the clamping blocks 10 rotate outwards, and loosen the columnar materials, and the columnar materials can be transported.

The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the scope of the invention.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an automatic go up robot tongs of unloading, includes device casing (1), its characterized in that: the outer side of the upper end of the device shell (1) is fixedly connected with a transmission motor (4), the inner side of the device shell (1) is provided with a connecting cavity (5), the lower end of a rotating shaft of the transmission motor (4) is fixedly connected with a gear (6), the gear (6) is positioned on the outer side of the connecting cavity (5), the outer side of the gear (6) is meshed with a toothed ring (7), the transmission motor (4) drives the gear (6) to rotate so as to drive the toothed ring (7) to rotate,

the upper end of the toothed ring (7) is movably inserted into a circular ring sliding groove on the outer side of the upper side wall of the connecting cavity (5) through a sliding block, the lower end of the toothed ring (7) is in an annular array and is connected with a push-pull rod (8) through a connecting rotating shaft, the inner end of the push-pull rod (8) is connected with one end of the outer side of a clamping block (10) through the connecting rotating shaft, the other end of the outer side of the clamping block (10) is connected with the lower end of a fixing ring (9) through the connecting rotating shaft, the push-pull rod (8) can be pulled or pushed by the forward and reverse rotation of the toothed ring (7), and the clamping block (10) is pulled or pushed to rotate around one end of the outer side of the clamping block (10) to be connected with the rotating shaft,

open at the middle part of device casing (1) has through-hole (11), the inboard of clamp splice (10) is equipped with plane (12), plane (12) inboard equidistance is inlayed and is had rubber strip (13), the outer end fixedly connected with sucking disc (14) of rubber strip (13).

2. The robot gripper for automatic feeding and discharging of claim 1, wherein: the device is characterized in that a connecting column (2) is fixedly connected to the middle of the upper end of the shell (1), and a flange (3) is fixedly connected to the upper end of the connecting column (2).

3. The robot gripper capable of automatically feeding and discharging materials as claimed in claim 1, wherein: the rubber strip (13) is provided with a plurality of rubber strips, and the rubber strips (13) are embedded in the inner sides of the corresponding planes (12) at equal intervals.

4. The robot gripper capable of automatically feeding and discharging materials as claimed in claim 1, wherein: the sucking discs (14) are arranged in a plurality of numbers, and the sucking discs (14) are uniformly connected to the outer sides of the rubber strips (13).

5. The robot gripper for automatic feeding and discharging of claim 1, wherein: five push-pull rods (8) are arranged, and the push-pull rods (8) are connected to the lower end of the gear ring (7) in an annular array mode.

6. The robot gripper for automatic feeding and discharging of claim 1, wherein: the number of the clamping blocks (10) is equal to the number of the push-pull rods (8).