CN218639684U - Industrial robot varistructure clamping jaw - Google Patents
Industrial robot varistructure clamping jaw Download PDFInfo
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- CN218639684U CN218639684U CN202222560105.5U CN202222560105U CN218639684U CN 218639684 U CN218639684 U CN 218639684U CN 202222560105 U CN202222560105 U CN 202222560105U CN 218639684 U CN218639684 U CN 218639684U
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- 238000009434 installation Methods 0.000 abstract description 3
- 238000003756 stirring Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Abstract
The utility model discloses an industrial robot varistructure clamping jaw, including the expansion bar, be used for driving the flexible drive structure of expansion bar and the deformable splint of a plurality of, the surface of expansion bar has a plurality of collars along vertical direction evenly distributed, and is connected through the gear between expansion bar and the splint, and the side is fixed mutually with splint around this gear, and the outer circumference of gear is connected with the collar meshing of expansion bar, be connected through adjusting the structure between gear and the drive structure, should adjust the initial angle that expandes that the structure is used for adjusting splint. The utility model provides a can dismantle between extending structure and the support for the installation quantity of splint can increase and decrease as required, makes gear and telescopic bar separation simultaneously through adjusting the structure, can stir the gear, makes the initial angle of splint can set for as required according to the use, so that after the telescopic bar that changes stretches out, the biggest angle that opens of splint, thereby the not unidimensional work piece of clamp.
Description
Technical Field
The utility model belongs to the technical field of the industrial robot technique and specifically relates to an industrial robot varistructure clamping jaw.
Background
The clamping jaw of the end executing mechanism of the industrial robot is a device for directly executing operation tasks, the structure and the size of most clamping jaws are designed according to different operation task requirements, so that various structural forms are formed, the clamping jaw of the end executing mechanism is specially designed for specific purposes under most conditions, and the function of the clamping jaw is generally single, so that in the actual production and processing operation process, in order to produce and process workpieces with different shapes and sizes, the clamping operation needs to be realized by replacing the corresponding matched clamping jaw.
For this reason, the Chinese patent: the application number is CN202120916064.1, and discloses an electric clamping jaw device and a robot, wherein a middle disc drives a plurality of clamping jaws to synchronously turn over so that the other ends of the clamping jaws are close to or far away from each other to grab or loosen an article.
However, the maximum opening angle of the clamping jaw in the scheme is fixed, so that the clamping jaw can only grab a workpiece with the size smaller than the fixed maximum opening angle value during working, and the problem of large use limitation exists.
To this end, we propose an industrial robot variable structure jaw solving the above mentioned problems.
Disclosure of Invention
An object of the utility model is to provide an industrial robot varistructure clamping jaw to it is fixed to provide the biggest angle that opens of current clamping jaw in solving above-mentioned background art, makes its during operation can only snatch the work piece that is less than this fixed biggest angle value size that opens, has the great problem of use limitation.
In order to achieve the above object, the utility model provides a following technical scheme:
a clamping jaw with a variable structure for an industrial robot comprises a telescopic strip, a driving structure and a plurality of deformable clamping plates, wherein the driving structure is used for driving the telescopic strip to stretch, a plurality of convex rings are uniformly distributed on the outer surface of the telescopic strip along the vertical direction, the telescopic strip is connected with the clamping plates through a gear, the front side surface and the rear side surface of the gear are fixed with the clamping plates, the outer circumference of the gear is meshed with the convex rings of the telescopic strip and is connected with the driving structure through an adjusting structure, and the adjusting structure is used for adjusting the initial unfolding angle of the clamping plates;
the adjusting structure comprises an adjusting disc, a support and a telescopic structure used for driving the support to stretch, the telescopic structure is evenly distributed on the outer edge of the adjusting disc, one end of the support is installed on one side, away from the adjusting disc, of the telescopic structure, and the other end of the support is connected with the axis rod of the gear in a rotating mode.
In a further embodiment, the driving structure comprises a cylinder, an output shaft penetrates through the center of the upper portion of the cylinder, the output shaft is connected with the telescopic bar, and one end, far away from the output shaft, of the cylinder is provided with a tool quick-changing disc tool side for quick connection with a robot side of an industrial robot tool quick-changing disc.
In a further embodiment, the telescopic structures are symmetrically distributed in six groups along the outer edge of the adjusting disc, and the telescopic structures and the support are detachable.
In a further embodiment, the telescopic structure comprises a sleeve and an inner rod which are sleeved with each other, and a spring is arranged inside the joint of the sleeve and the inner rod.
In a further embodiment, a connecting ring is installed at one end, away from the inner rod, of the sleeve, a first bolt is installed at the lower end of the support, and the first bolt can penetrate through the connecting ring and be in threaded locking connection with the connecting ring.
In a further embodiment, the clamping plate comprises a plurality of short rods, the connecting angle between the short rods is adjustable, and the short rods are connected in a locking mode through second bolts.
In a further embodiment, the inner side surface of the short rod is connected with an anti-slip strip, and the anti-slip strip is made of elastic rubber.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model provides a can dismantle between extending structure and the support for the installation quantity of splint can increase and decrease as required, so that the work piece of centre gripping different shapes makes gear and telescopic bar separation through adjusting the structure simultaneously, can stir the gear, make the initial angle of splint can set for as required according to the use, so that after the telescopic bar stretches out in the change, the biggest angle that opens of splint, thereby press from both sides and get the not unidimensional work piece, effectively expanded working range.
2. In order to further help the clamping jaw to change the structure, the clamping plate is formed by connecting a plurality of short rods, and the connecting angle between each short rod can be adjusted in good time, so that the bending angle of the clamping plate can be adjusted, and further the structure of the whole clamping jaw can be flexibly changed, and the trouble of integrally replacing the mechanical clamping jaw is saved.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the adjusting structure and the gear mounting front cross-section structure of the present invention;
FIG. 3 is a schematic view of the top view of the adjusting plate of the present invention;
fig. 4 is a schematic view of a part of an enlarged structure at a in fig. 3 according to the present invention.
In the figure: 1. a cylinder; 2. an output shaft; 3. a telescopic bar; 31. a convex ring; 4. an adjusting disk; 5. a telescopic structure; 51. a sleeve; 511. a connecting ring; 52. an inner rod; 53. a spring; 6. a support; 61. a first bolt; 7. a gear; 8. a splint; 81. a short bar; 811. anti-slip strips; 82. a second bolt; 9. tool quick change dish tool side.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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, a clamping jaw with a variable structure for an industrial robot comprises an air cylinder 1, a telescopic bar 3 and a plurality of deformable clamping plates 8, wherein an output shaft 2 penetrates through the center position above the air cylinder 1, the output shaft 2 is connected with the telescopic bar 3, the air cylinder 1 drives the telescopic bar 3 to stretch through the output shaft 2, in order to facilitate the quick connection with the industrial robot, the clamping jaw is controlled by the industrial robot, a tool quick-change plate tool side 9 is installed at one end of the air cylinder 1, which is far away from the output shaft, and is used for the quick connection with a robot side of a tool quick-change plate of the industrial robot, the tool quick-change plate tool side 9 and the robot side can not only realize the quick connection, but also enable different media such as gas, electric signals, liquid, video, ultrasound and the like to be communicated from a robot arm to an end effector, because it is the prior art that discloses, the concrete principle of realizing, this application does not disclose in detail, the outer surface of the telescopic bar 3 has several convex rings 31 along the vertical direction evenly distributed, connect through gear 7 between telescopic bar 3 and the clamp plate 8, the front and back sides of this gear 7 are fixed with clamp plate 8, and the outer circumference of the gear 7 engages with convex ring 31 outside the telescopic bar 3 and connects, can drive gear 7 to rotate when making the telescopic bar 3 stretch out and draw back, and then make the clamp plate 8 can receive and release, can drive a plurality of gears 7 to rotate at the same time for the telescopic bar 3, during the concrete preparation, can design the telescopic bar 3 into the columniform, make the convex ring 31 along the length direction equidistance distribution of the telescopic bar 3, and then form a cylindrical rack structure, it is convenient for engaging with a plurality of peripheral gears 7 at the same time;
referring to fig. 2-3, the gear 7 is connected with the driving structure through an adjusting structure, the adjusting structure is used for adjusting an initial expansion angle of the clamping plate 8, the adjusting structure comprises an adjusting disc 4, a bracket 6 and a telescopic structure 5 for driving the bracket 6 to expand and contract, the adjusting disc 4 is installed on the upper end surface of the cylinder 1, the telescopic structure 5 is uniformly distributed on the outer edge of the adjusting disc 4, one side, away from the adjusting disc 4, of the telescopic structure 5 is provided with one end of the bracket 6, the telescopic structure 5 is symmetrically distributed with six groups along the outer edge of the adjusting disc 4, the telescopic structure 5 and the bracket 6 are detachable, so that the installation number of the clamping plate 8 can be increased or decreased according to use requirements, the other end of the bracket 6 is rotatably connected with an axis rod of the gear 7, when the telescopic structure 5 is expanded, the gear 7 can be driven by the bracket 6 to be away from the telescopic strip 3, the gear 7 is shifted at the moment, the clamping plate 8 can be driven to rotate by the adjusting angle, the initial angle of the clamping plate 8 can be conveniently adjusted according to use requirements, the initial appearance structure of the whole clamping jaw is changed, when the initial angle of the clamping plate 8 is different, the final expansion angle is larger, and the clamping piece is not convenient to be clamped;
referring to fig. 4, the telescopic structure 5 includes a sleeve 51, an inner rod 52 and a spring 53, one end of the inner rod 52 is fixed to the inner wall of the adjusting plate 4, the other end of the spring 53 is fixed to one end of the spring 53, the other end of the spring 53 is fixed to the inside of the sleeve 51, the sleeve 51 is sleeved outside the inner rod 52, the sleeve 51 and the inner rod 52 achieve telescopic resetting by the elastic action of the spring 53, a connecting ring 511 is installed at one end of the sleeve 51, which is far away from the inner rod 52, the lower end of the support 6 is connected with a first bolt 61, the lower end of the support 6 can be inserted between the connecting rings 511 and then fixed by traversing the first bolt 61, and the first bolt 61 can be fixedly connected with the connecting ring 511 through thread locking;
please refer to fig. 1, in order to further improve the flexibility of the structure change of the clamping jaw, the clamping plate 8 includes a plurality of short rods 81, the connection angle between the short rods 81 is adjustable, and the short rods 81 are connected by the second bolts 82 in a locking manner, the second bolts 82 are connected, so that the short rods 81 are conveniently assembled, and the included angle between the adjacent short rods 81 can be adjusted as required, thereby the structure finally presented by the clamping plate 8 is changed, so that the flexibility can be adjusted as required, and the clamping of the machined workpiece is more firm, furthermore, in order to reduce the damage of the clamping plate 8 to the machined workpiece, the inner side surface of the short rod 81 is connected with the anti-slip strip 811, and the anti-slip strip 811 is made of elastic rubber, which can prevent the machined workpiece from being out of the claw, the surface of the rubber material is smooth and elastic, and can also prevent the machined workpiece surface layer from being scratched.
The working principle is as follows: firstly outwards stimulate extending structure 5, extending structure 5 drives gear 7 and keeps away from telescopic bar 3, stirring gear 7 this moment, gear 7 rotates relative support 6, drive splint 8 rotation angle regulation, change splint 8's initial angle, then loosen extending structure 5, extending structure 5 automatic re-setting drives gear 7 laminating telescopic bar 3, start drive structure and drive telescopic bar 3 and rise, telescopic bar 3 and gear 7 meshing, drive gear 7 outwards rotates, make each splint 8 open simultaneously, otherwise the same reason can, when telescopic bar 3 descends, each splint 8 contracts simultaneously.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides an industrial robot varistructure clamping jaw, includes telescopic bar (3), is used for driving flexible drive structure of telescopic bar (3) and deformable splint (8) of a plurality of, its characterized in that: the outer surface of the telescopic strip (3) is uniformly provided with a plurality of convex rings (31) along the vertical direction, the telescopic strip (3) is connected with the clamping plate (8) through a gear (7), the front side surface and the rear side surface of the gear (7) are fixed with the clamping plate (8), the outer circumference of the gear (7) is meshed with the convex rings (31) of the telescopic strip (3) and is connected with the driving structure through an adjusting structure, and the adjusting structure is used for adjusting the initial unfolding angle of the clamping plate (8);
the adjusting structure comprises an adjusting disc (4), a support (6) and a telescopic structure (5) used for driving the support (6) to stretch, wherein the telescopic structure (5) is uniformly distributed at the outer edge of the adjusting disc (4), one side, away from the adjusting disc (4), of the telescopic structure (5) is provided with one end of the support (6), and the other end of the support (6) is rotatably connected with an axis rod of a gear (7).
2. An industrial robot variable structure clamping jaw according to claim 1, characterized in that: the driving structure comprises a cylinder (1), an output shaft (2) penetrates through the center of the upper portion of the cylinder (1), the output shaft (2) is connected with a telescopic strip (3), and one end, far away from the output shaft, of the cylinder (1) is provided with a tool quick-change disc tool side (9) for quick connection with a robot side of an industrial robot tool quick-change disc.
3. An industrial robot variable structure jaw according to claim 1, characterized in that: the telescopic structure (5) is symmetrically distributed with six groups along the outer edge of the adjusting disc (4), and the telescopic structure (5) and the bracket (6) are detachable.
4. An industrial robot variable structure clamping jaw according to claim 1, characterized in that: the telescopic structure (5) comprises a sleeve (51) and an inner rod (52) which are sleeved with each other, and a spring (53) is arranged inside the joint of the sleeve (51) and the inner rod (52).
5. An industrial robot variable structure clamping jaw according to claim 4, characterized in that: the connecting ring (511) is installed at one end, away from the inner rod (52), of the sleeve (51), the first bolt (61) is installed at the lower end of the support (6), and the first bolt (61) can penetrate through the connecting ring (511) and is in threaded locking connection with the connecting ring (511).
6. An industrial robot variable structure clamping jaw according to claim 1, characterized in that: splint (8) are including a plurality of quarter butt (81), the connection angle between quarter butt (81) is adjustable, and carries out locking connection through bolt two (82) between quarter butt (81).
7. An industrial robot variable structure clamping jaw according to claim 6, characterized in that: the inner side surface of the short rod (81) is connected with an anti-slip strip (811), and the anti-slip strip (811) is made of elastic rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222560105.5U CN218639684U (en) | 2022-09-27 | 2022-09-27 | Industrial robot varistructure clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222560105.5U CN218639684U (en) | 2022-09-27 | 2022-09-27 | Industrial robot varistructure clamping jaw |
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| Publication Number | Publication Date |
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| CN218639684U true CN218639684U (en) | 2023-03-17 |
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| CN202222560105.5U Active CN218639684U (en) | 2022-09-27 | 2022-09-27 | Industrial robot varistructure clamping jaw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116374501A (en) * | 2023-06-05 | 2023-07-04 | 常州市蓝博氢能源科技有限公司 | Hydrogen tank conveying line for green hydrogen energy production |
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2022
- 2022-09-27 CN CN202222560105.5U patent/CN218639684U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116374501A (en) * | 2023-06-05 | 2023-07-04 | 常州市蓝博氢能源科技有限公司 | Hydrogen tank conveying line for green hydrogen energy production |
| CN116374501B (en) * | 2023-06-05 | 2023-08-15 | 常州市蓝博氢能源科技有限公司 | Hydrogen tank conveying line for green hydrogen energy production |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240326 Address after: 342400, 1st to 2nd floors, Building 3, Intelligent Terminal Industrial Park, South District, Xingguo County Economic Development Zone, Ganzhou City, Jiangxi Province Patentee after: Jiangxi Xiaoming Intelligent Technology Co.,Ltd. Country or region after: China Address before: 343100 floors 1-2, plant 4, Electronics City, new industrial park, Jinggangshan economic and Technological Development Zone, Ji'an City, Jiangxi Province Patentee before: Jiangxi Hongde Zhixin Technology Innovation Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |