CN218984793U - Industrial robot transport centre gripping arm - Google Patents

Industrial robot transport centre gripping arm Download PDF

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Publication number
CN218984793U
CN218984793U CN202223552628.1U CN202223552628U CN218984793U CN 218984793 U CN218984793 U CN 218984793U CN 202223552628 U CN202223552628 U CN 202223552628U CN 218984793 U CN218984793 U CN 218984793U
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China
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fixedly connected
clamping
gear
wall
driving motor
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CN202223552628.1U
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Chinese (zh)
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赵莉
张丽丽
刘晓
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Yantai Junxing Special Equipment Co ltd
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Yantai Junxing Special Equipment Co ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The application provides an industrial robot transport centre gripping arm, including removing the frame and rotating to be connected in removing the first gear of frame roof, still include: the clamping assembly comprises a fixing frame fixedly connected to the top wall of the first gear, a group of first large arms are rotationally connected to the side wall of the fixing frame, a second large arm is rotationally connected to the inner wall of the first large arm, a small arm is rotationally connected to the outer wall of the second large arm, a clamping plate is fixedly connected to the bottom wall of the small arm, a second gear is rotationally connected to the inner wall of the clamping plate, clamping jaws are slidingly connected to the side wall of the clamping plate, two groups of clamping jaws are symmetrically arranged on the central axis of the clamping plate, racks are fixedly connected to the top wall of the clamping jaws, the racks are meshed with the second gear, and a pressing part is connected to the bottom wall of the clamping plate; the rotating part is connected to the top wall of the movable frame, is convenient to extrude cargoes through the pressing block after the cargoes are clamped by the clamping jaw through the guide rod and the guide frame, is convenient to improve stability after clamping the cargoes, prevents that the cargoes from falling, and is convenient to improve work efficiency.

Description

Industrial robot transport centre gripping arm
Technical Field
The utility model relates to the technical field of industrial robots, in particular to a carrying clamping arm of an industrial robot.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, is a machine for realizing various functions by self power and control capability, can accept human command, can operate according to a pre-programmed program, and can act according to the principle outline formulated by an artificial intelligence technology.
Through retrieving, chinese patent application number is CN 202220114561.4's patent discloses an intelligent device based on industrial robot people's material transport, relates to industrial robot technical field, and current industrial robot carries the centre gripping to the material when carrying the material by the clamping device of drive arrangement drive front end, but current arm front end clamping structure most centre gripping function singleness, including arm and mounting panel, the mounting panel is located the one end below setting of arm, fixedly provided with mobile jib between mounting panel and the arm, the bottom both sides fixed mounting of mounting panel have the bracing piece, and the bearing frame is installed at the bottom both ends symmetry of two sets of bracing pieces.
The above patents have the following disadvantages: 1. when the clamping claw is used for clamping an object, the clamped goods are easy to incline to two sides, so that the goods drop, the stability of the clamping claw for clamping the goods is poor, and the clamping claw is inconvenient to use; 2. when the goods need to be operated after clamping, the flexibility is poor, and the rotation of 360 degrees is inconvenient, so that the work efficiency is inconvenient to improve.
Therefore, there is a need for an industrial robot handling clamp arm to solve the above problems.
Disclosure of Invention
The utility model aims at: to what present exists clamping jaw when using after carrying out the centre gripping to the object, the goods that lead to the centre gripping easily incline to both sides to lead to the goods to drop, the stability of clamping jaw centre gripping goods is relatively poor, inconvenient use, and the flexibility is relatively poor when the centre gripping needs to carry out the rotation of 360 degrees to the goods after the centre gripping, thereby is inconvenient for improving work efficiency's problem.
In order to achieve the above object, the present utility model provides the following technical solutions:
an industrial robot handling clamp arm to ameliorate the above problems.
The application is specifically such that:
the utility model provides an industrial robot transport centre gripping arm, includes to remove the frame and rotates to connect in removing the first gear of frame roof, still includes:
the clamping assembly comprises a fixing frame fixedly connected to the top wall of a first gear, two groups of fixing frames are symmetrically arranged on the fixing frame relative to the first gear, a group of first big arms are rotationally connected to the side wall of the fixing frame, a second big arm is rotationally connected to the inner wall of the first big arm, a small arm is rotationally connected to the outer wall of the second big arm, a clamping plate is fixedly connected to the bottom wall of the small arm, a second gear is rotationally connected to the inner wall of the clamping plate, clamping jaws are slidably connected to the side wall of the clamping plate, two groups of clamping jaws are symmetrically arranged on the central axis of the clamping plate, racks are fixedly connected to the top wall of the clamping jaws and meshed with the second gear, a cylinder is fixedly connected to the side wall of the clamping plate, the output end of the cylinder is fixedly connected with one group of clamping jaws, a pressing part is connected to the bottom wall of the clamping plate, and the clamping jaws are matched with the pressing part;
and the rotating part is connected to the top wall of the movable frame.
As the preferred technical scheme of this application, press the part including fixed connection in the extension spring of grip block diapire, the extension spring is provided with two sets of about the grip block symmetry, the extension spring is kept away from the one end fixedly connected with of grip block and is pressed the clamp plate, two sets of the extension spring is connected through pressing the plate, press the bottom wall fixedly connected with spring of plate, the spring is provided with two sets of about pressing the plate symmetry, the one end fixedly connected with briquetting of pressing the clamp plate is kept away from to the spring.
As the preferred technical scheme of this application, press board lateral wall fixedly connected with leading truck, the leading truck is provided with two sets of about pressing board symmetry, clamping jaw lateral wall fixedly connected with guide bar, the guide bar cooperatees with the leading truck.
As the preferred technical scheme of this application, rotating parts includes first driving motor, second driving motor and third driving motor, first driving motor fixed connection is in the mount lateral wall, first driving motor output links to each other with first big arm is fixed, second driving motor fixed connection is in first big arm lateral wall, second driving motor output links to each other with the second big arm is fixed, third driving motor fixed connection is in the big arm lateral wall of second, second driving motor output links to each other with the forearm is fixed.
As the preferred technical scheme of this application, remove frame roof fixedly connected with fourth driving motor, fourth driving motor output fixedly connected with third gear, the third gear links to each other with first gear meshing.
In the scheme of the application:
1. through setting up the pressing part, drive the clamping jaw through the start-up cylinder and move, when the cylinder promotes one of them a set of clamping jaw and moves, the rack is transmitted through the second gear, thereby the clamping jaw of both sides has been driven and simultaneously moved, thereby clamp the getting to the goods, when the clamping jaw moves, the guide bar of both sides has driven the leading truck and has moved downwards, thereby it moves downwards to have driven the pressing plate, the pressing plate has driven the briquetting through the spring when moving downwards compresses tightly the goods, be convenient for prevent to lead to dropping in the in-process of removal, after having solved the gripper in the prior art when carrying out the centre gripping to the object, the goods that leads to the centre gripping easily inclines to both sides, thereby lead to the goods to drop, the stability of gripper gripping goods is relatively poor, inconvenient use's problem;
2. through starting fourth driving motor, fourth driving motor has driven the third gear and has rotated, and the third gear has brought first gear and has rotated to it rotates to have driven the goods, be convenient for more improve work efficiency, solved among the prior art when the centre gripping goods need carry out the rotation of 360 to the goods when going on the operation, thereby be inconvenient for improving work efficiency's problem.
Drawings
Fig. 1 is a schematic diagram of an overall structure of an industrial robot handling gripper arm provided in the present application;
FIG. 2 is a schematic cross-sectional view of an industrial robot handling clamp arm according to the present disclosure;
FIG. 3 is a schematic diagram of a cross-sectional structure of an industrial robot handling clamp arm according to the present disclosure;
FIG. 4 is an enlarged schematic view of the structure A in FIG. 2 of an industrial robot handling clamp arm provided herein;
fig. 5 is an enlarged view of the B structure in fig. 3 of an industrial robot handling clamp arm provided by the present application.
The figures indicate: 100. a moving rack; 101. a first gear; 102. a fixing frame; 110. a first large arm; 111. a second large arm; 112. a forearm; 113. a clamping plate; 114. a second gear; 115. a clamping jaw; 116. a rack; 117. a cylinder; 120. a tension spring; 121. pressing the plate; 122. a spring; 123. briquetting; 124. a guide frame; 125. a guide rod; 130. a first driving motor; 131. a second driving motor; 132. a third driving motor; 133. a fourth driving motor; 134. and a third gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model.
Thus, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model, as claimed, but is merely representative of some embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that, under the condition of no conflict, the embodiments of the present utility model and the features and technical solutions in the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present utility model, it should be noted that, the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or a positional relationship conventionally put in use of the inventive product, or an azimuth or a positional relationship conventionally understood by those skilled in the art, such terms are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
As shown in fig. 1-5, the present embodiment provides an industrial robot handling clamp arm, which includes a movable frame 100 and a first gear 101 rotatably connected to a top wall of the movable frame 100, and further includes:
the clamping assembly comprises a fixing frame 102 fixedly connected to the top wall of the first gear 101, two groups of clamping frames 102 are symmetrically arranged around the first gear 101, a group of first big arms 110 are rotationally connected to the side wall of the fixing frame 102, a second big arm 111 is rotationally connected to the inner wall of the first big arm 110, a small arm 112 is rotationally connected to the outer wall of the second big arm 111, a clamping plate 113 is fixedly connected to the bottom wall of the small arm 112, a second gear 114 is rotationally connected to the inner wall of the clamping plate 113, clamping jaws 115 are slidingly connected to the side wall of the clamping plate 113, two groups of clamping jaws 115 are symmetrically arranged around the central axis of the clamping plate 113, a rack 116 is fixedly connected to the top wall of the clamping jaws 115, the rack 116 is meshed with the second gear 114, an air cylinder 117 is fixedly connected to the side wall of the clamping plate 113, the output end of the air cylinder 117 is fixedly connected with one group of clamping jaws 115, a pressing part is connected to the bottom wall of the clamping plate 113, and the clamping jaws 115 are matched with the pressing part;
the rotating part is connected to the top wall of the movable frame 100, and the guide rods 125 on two sides drive the guide frames 124 to move downwards, so that the pressing plate 121 is driven to move downwards, and the pressing plate 121 moves downwards and simultaneously drives the pressing block 123 to press cargoes through the springs 122, so that stability is improved conveniently.
As shown in fig. 1 to 5, as a preferred embodiment, further, on the basis of the above manner, the pressing component includes two groups of tension springs 120 fixedly connected to the bottom wall of the clamping plate 113, two groups of tension springs 120 are symmetrically arranged about the clamping plate 113, one end of each tension spring 120, which is far away from the clamping plate 113, is fixedly connected with a pressing plate 121, the two groups of tension springs 120 are connected through the pressing plate 121, the bottom wall of each pressing plate 121 is fixedly connected with a spring 122, two groups of springs 122 are symmetrically arranged about the pressing plate 121, one end of each spring 122, which is far away from the pressing plate 121, is fixedly connected with a pressing block 123, and the springs 122 are arranged to adapt to goods with different sizes conveniently, so that the adaptability is improved conveniently.
As shown in fig. 1 to 4, as a preferred embodiment, further, on the basis of the above manner, the side wall of the pressing plate 121 is fixedly connected with a guide frame 124, two groups of guide frames 124 are symmetrically arranged about the pressing plate 121, the side wall of the clamping jaw 115 is fixedly connected with guide rods 125, and the guide rods 125 are matched with the guide frames 124, so that the pressing plate 121 is arranged to facilitate driving the pressing block 123 to move, thereby improving the practicability.
As shown in fig. 1-2, as a preferred embodiment, further, the rotating component includes a first driving motor 130, a second driving motor 131 and a third driving motor 132, where the first driving motor 130 is fixedly connected to the side wall of the fixed frame 102, the output end of the first driving motor 130 is fixedly connected to the first big arm 110, the second driving motor 131 is fixedly connected to the side wall of the first big arm 110, the output end of the second driving motor 131 is fixedly connected to the second big arm 111, the third driving motor 132 is fixedly connected to the side wall of the second big arm 111, and the output end of the second driving motor 131 is fixedly connected to the small arm 112, and by setting the first driving motor 130, the second driving motor 131 and the third driving motor 132, the first big arm 110, the second big arm 111 and the small arm 112 are conveniently driven to rotate, thereby facilitating the movement of goods and the improvement of working efficiency.
As shown in fig. 1 to 3, as a preferred embodiment, further, on the basis of the above manner, the top wall of the moving frame 100 is fixedly connected with a fourth driving motor 133, the output end of the fourth driving motor 133 is fixedly connected with a third gear 134, the third gear 134 is meshed with the first gear 101, and the third gear 134 is arranged to drive the first gear 101 to rotate, so that the use efficiency is improved.
Specifically, this industrial robot transport centre gripping arm when using: the device is moved to a position to be used through the moving frame 100, when an article is required to be clamped, the angle of the first big arm 110 is adjusted through starting the first driving motor 130, the angle of the second big arm 111 is adjusted through starting the second driving motor 131, the angle of the small arm 112 is adjusted through starting the third driving motor 132, after the device is adjusted to a proper position, the clamping jaw 115 is driven to move through the starting cylinder 117, when the cylinder 117 pushes one group of clamping jaw 115 to move, the rack 116 is driven through the second gear 114, the clamping jaw 115 on two sides is driven to move simultaneously, so that the article is clamped, when the clamping jaw 115 moves, the guide rods 125 on two sides drive the guide frame 124 to move downwards, so that the pressing plate 121 moves downwards, the pressing plate 121 drives the pressing block 123 to compress the article through the spring 122 simultaneously, falling is prevented conveniently in the moving process, when the rotating angle is required, the fourth driving motor 133 drives the third gear 134 to rotate, the third gear 134 is driven to rotate to the first gear 101, and therefore the work efficiency of the article is improved.
The above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, and although the present utility model has been described in detail in the present specification with reference to the above embodiments, the present utility model is not limited to the above specific embodiments, and thus any modifications or equivalent substitutions are made to the present utility model; all technical solutions and modifications thereof that do not depart from the spirit and scope of the utility model are intended to be included in the scope of the appended claims.

Claims (5)

1. An industrial robot carries centre gripping arm, includes and removes frame (100) and rotates first gear (101) of connecting in the roof of removing frame (100), its characterized in that still includes:
the clamping assembly comprises a fixing frame (102) fixedly connected to the top wall of a first gear (101), two groups of clamping jaws (115) are symmetrically arranged on the side wall of the fixing frame (102) relative to the first gear (101), a group of first large arms (110) are rotationally connected to the side wall of the fixing frame (102), a second large arm (111) is rotationally connected to the inner wall of the first large arm (110), a small arm (112) is rotationally connected to the outer wall of the second large arm (111), a clamping plate (113) is fixedly connected to the bottom wall of the small arm (112), a second gear (114) is rotationally connected to the inner wall of the clamping plate (113), clamping jaws (115) are slidably connected to the side wall of the clamping plate (113), two groups of clamping jaws (115) relative to the central axis of the clamping plate (113) are symmetrically arranged, racks (116) are fixedly connected to the top wall of the clamping jaws (115), the racks (116) are in meshed connection with the second gear (114), an air cylinder (117) is fixedly connected to the side wall of the clamping plate (113), the output end of the air cylinder (117) is fixedly connected to one group of clamping plates (115), clamping jaws (115) are fixedly connected to the bottom wall of the clamping member, and the clamping jaw (113) is matched with the pressing part.
And a rotating part connected to the top wall of the movable frame (100).
2. The industrial robot carrying clamping arm according to claim 1, wherein the pressing component comprises tension springs (120) fixedly connected to the bottom wall of the clamping plate (113), the tension springs (120) are symmetrically arranged in two groups with respect to the clamping plate (113), one end, far away from the clamping plate (113), of each tension spring (120) is fixedly connected with a pressing plate (121), the two groups of tension springs (120) are connected through the pressing plate (121), springs (122) are fixedly connected to the bottom wall of the pressing plate (121), the springs (122) are symmetrically arranged in two groups with respect to the pressing plate (121), and one end, far away from the pressing plate (121), of each spring (122) is fixedly connected with a pressing block (123).
3. The industrial robot handling clamp arm according to claim 2, wherein the side wall of the pressing plate (121) is fixedly connected with a guide frame (124), the guide frame (124) is symmetrically provided with two groups about the pressing plate (121), the side wall of the clamping jaw (115) is fixedly connected with a guide rod (125), and the guide rod (125) is matched with the guide frame (124).
4. The industrial robot handling clamp arm according to claim 1, wherein the rotating component comprises a first driving motor (130), a second driving motor (131) and a third driving motor (132), the first driving motor (130) is fixedly connected to the side wall of the fixed frame (102), the output end of the first driving motor (130) is fixedly connected to the side wall of the first large arm (110), the output end of the second driving motor (131) is fixedly connected to the side wall of the second large arm (111), the output end of the third driving motor (132) is fixedly connected to the side wall of the second large arm (111), and the output end of the second driving motor (131) is fixedly connected to the small arm (112).
5. The industrial robot handling clamp arm according to claim 4, wherein a fourth driving motor (133) is fixedly connected to the top wall of the moving frame (100), a third gear (134) is fixedly connected to the output end of the fourth driving motor (133), and the third gear (134) is meshed with the first gear (101).
CN202223552628.1U 2022-12-29 2022-12-29 Industrial robot transport centre gripping arm Active CN218984793U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202223552628.1U CN218984793U (en) 2022-12-29 2022-12-29 Industrial robot transport centre gripping arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202223552628.1U CN218984793U (en) 2022-12-29 2022-12-29 Industrial robot transport centre gripping arm

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CN218984793U true CN218984793U (en) 2023-05-09

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116692467A (en) * 2023-06-27 2023-09-05 武汉扶鸾科技有限公司 Transfer robot rotary mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116692467A (en) * 2023-06-27 2023-09-05 武汉扶鸾科技有限公司 Transfer robot rotary mechanism

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