CN219294011U

CN219294011U - Robot clamping jaw applicable to different sizes

Info

Publication number: CN219294011U
Application number: CN202320376996.0U
Authority: CN
Inventors: 齐雪峰; 王海瑞
Original assignee: Shenyang Sanhe Precision Manufacturing Co ltd
Current assignee: Shenyang Sanhe Precision Manufacturing Co ltd
Priority date: 2023-03-03
Filing date: 2023-03-03
Publication date: 2023-07-04
Anticipated expiration: 2033-03-03

Abstract

The utility model discloses a robot clamping jaw applicable to different sizes, relates to the technical field of clamping jaws of mechanical arms, and solves the technical problems that in the prior art, objects with various shapes and sizes cannot be clamped and clamping parts can not be selected to work according to the clamped objects.

Description

Robot clamping jaw applicable to different sizes

Technical Field

The utility model relates to the technical field of mechanical claws, in particular to a robot clamping jaw applicable to different sizes.

Background

The utility model mainly relates to the gripper technology, along with the development of technology, the use of robot equipment is very wide, in various fields, robots play an important role in replacing manual work, while grippers are required to have working capacity and usually have a clamping structure, and parts are clamped by the clamping structure to complete the work

The utility model disclosed by the publication No. CN206982703U has the technical problems that objects with various shapes and sizes cannot be clamped, and clamping parts which can work according to the clamping objects cannot be selected.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a robot clamping jaw applicable to different sizes, and solves the technical problems that the prior art cannot clamp objects with various shapes and sizes and cannot select a clamping part for working according to the clamping object.

In order to achieve the above purpose, the utility model is realized by the following technical scheme: the utility model provides a robot clamping jaw applicable to not unidimensional, includes the arm, a serial communication port, arm front wall fixed mounting has extending structure, extending structure front end fixed mounting has the mainframe box, the main shaft is installed in the mainframe box rotation, main shaft one end fixed mounting has the rotating turret, rotating turret one end fixed mounting has outer cover plate, fixed mounting has the auxiliary frame in the outer cover plate, install the carriage in the auxiliary frame, install auxiliary clamping structure on the carriage, have the ability that makes the gripper stretch out, rotatory upset to centre gripping multiple size article.

Preferably, the telescopic structure comprises four pneumatic cylinders, the four pneumatic cylinders are fixedly arranged on the telescopic arm, the four telescopic ends of the pneumatic cylinders are fixedly provided with a linkage frame, the mainframe box is fixedly arranged in the linkage frame, the mainframe box is kept coaxial with the mechanical arm in the telescopic process through the linked pneumatic cylinders, and the clamping jaws can extend and retract.

Preferably, a first motor is fixedly installed in the main case, the driving end of the first motor is fixedly connected to the rotating frame, and the clamping jaw can rotate and turn over through the first motor to adjust the clamping state.

Preferably, an auxiliary roller is rotatably installed in the main case, and the main shaft part keeps coaxiality with the output end of the first motor and does not deflect in the rotating process through the auxiliary roller.

Preferably, the auxiliary clamping structure comprises a fixed cylinder, the fixed cylinder is fixedly arranged on the clamping frame, the telescopic heads are slidably arranged in the fixed cylinder, and the parts and the lengths which extend out when the clamping is needed are determined through the telescopic heads which are respectively controlled, so that objects with different shapes and sizes are clamped.

Preferably, a damper is fixedly arranged at one end of the telescopic head, a clamping arc plate is fixedly arranged at the telescopic end of the damper, and a buffer spring is connected between the clamping arc plate and the damper, so that the clamping becomes flexible clamping, and the damper has a certain buffer capacity to prevent damage to the surface of an object.

Preferably, the fixed cylinder is internally provided with a threaded rod in a rotating way, one end of the telescopic head is fixedly provided with a threaded sleeve, and the threaded sleeve is in threaded connection with the threaded rod.

Preferably, a servo motor is fixedly installed on the fixed cylinder, a driving gear is fixedly installed at the driving end of the servo motor, a driven gear is fixedly installed at one end of the threaded rod, the threaded rod is driven by a gear set driven by the servo motor, the threaded rod is rotated, the telescopic head is driven by the threaded rod to stretch and retract, and the clamping parts are controlled respectively.

Advantageous effects

The utility model provides a robot clamping jaw applicable to different sizes, which has the capabilities of enabling a mechanical claw to extend, rotationally overturn and clamp various sizes of objects, enabling the clamping jaw to extend and retract through a telescopic structure, enabling the clamping jaw to rotationally overturn through a first motor, adjusting the clamping state, clamping objects with different shapes and sizes through a telescopic head which is respectively controlled, enabling the clamping to be flexible, having a certain buffering capability for preventing damage to the surfaces of the objects, and completing the respective control of a clamping part through a gear set transmission and a threaded lifting structure driven by a servo motor.

Drawings

Fig. 1 is a schematic front view of a robot jaw applicable to different sizes according to the present utility model.

Fig. 2 is a schematic view of a partial top view of a robot jaw adaptable to different sizes according to the present utility model.

In the figure: 1. a mechanical arm; 2. a main chassis; 3. a main shaft; 4. a rotating frame; 5. an outer cover plate; 6. an auxiliary frame; 7. a clamping frame; 8. a pneumatic cylinder; 9. a linkage frame; 10. a first motor; 11. an auxiliary roller; 12. a fixed cylinder; 13. a retractable head; 14. a damper; 15. clamping the arc plate; 16. a buffer spring; 17. a threaded rod; 18. a thread sleeve; 19. a servo motor; 20. a drive gear; 21. a driven gear;

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all 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.

Referring to fig. 1-2, the present utility model provides a technical solution: the robot clamping jaw applicable to different sizes comprises a mechanical arm 1, and is characterized in that the front wall surface of the mechanical arm 1 is fixedly provided with a telescopic structure, the front end of the telescopic structure is fixedly provided with a mainframe box 2, a main shaft 3 is rotationally arranged in the mainframe box 2, one end of the main shaft 3 is fixedly provided with a rotating frame 4, one end of the rotating frame 4 is fixedly provided with an outer cover plate 5, an auxiliary frame 6 is fixedly arranged in the outer cover plate 5, a clamping frame 7 is arranged in the auxiliary frame 6, the clamping frame 7 is provided with an auxiliary clamping structure which has the capability of enabling the mechanical jaw to extend out, rotate and overturn and clamp various objects, the telescopic structure comprises four pneumatic cylinders 8, the four pneumatic cylinders 8 are fixedly arranged on the telescopic arm, the telescopic ends of the four pneumatic cylinders 8 are fixedly provided with a linkage frame 9, the mainframe box 2 is fixedly arranged in the linkage frame 9, the main case 2 keeps coaxiality with the mechanical arm 1 in the telescoping process through the linked pneumatic cylinder 8, the clamping jaw can extend and retract, a first motor 10 is fixedly arranged in the main case 2, the driving end of the first motor 10 is fixedly connected to the rotating frame 4, the clamping jaw can rotate and overturn through the first motor 10, the clamping state is adjusted, an auxiliary roller 11 is rotatably arranged in the main case 2, the coaxiality with the output end of the first motor 10 is kept in the partial rotating process of the main shaft 3 through the auxiliary roller 11 without deflection, the auxiliary clamping structure comprises a fixed cylinder 12, the fixed cylinder 12 is fixedly arranged on the clamping frame 7, a telescoping head 13 is slidably arranged in the fixed cylinder 12, and the extending part and the length required to be clamped are determined through the telescoping head 13 which is respectively controlled, the device comprises a clamping head 13, a damper 14 is fixedly arranged at one end of the clamping head 13, a clamping arc plate 15 is fixedly arranged at the telescopic end of the damper 14, a buffer spring 16 is connected between the clamping arc plate 15 and the damper 14, so that the clamping is changed into flexible clamping, the clamping head has a certain buffer capacity to prevent damage to the surface of an object, a threaded rod 17 is rotatably arranged in the fixing barrel 12, a thread sleeve 18 is fixedly arranged at one end of the telescopic head 13, the thread sleeve 18 is in threaded connection with the threaded rod 17, a servo motor 19 is fixedly arranged on the fixing barrel 12, a driving gear 20 is fixedly arranged at the driving end of the servo motor 19, a driven gear 21 is fixedly arranged at one end of the threaded rod 17, a gear set driven by the servo motor 19 is used for driving the threaded rod 17 to rotate, the telescopic head 13 is driven by the threaded rod 17 to stretch out and draw back, and the respective control of the clamping part is completed.

The detailed connection means are known in the art, and the following mainly describes the working principle and process, and the specific work is as follows.

Examples: as shown in fig. 1-2, the first motor 10 and the servo motor 19 are connected with an external controller and a power supply through wires, the pneumatic cylinder 8 is connected with an external air source through a pipeline, the robot clamping jaw is installed at the front end of the mechanical arm 1 and is used as a working head, the mechanical arm 1 is controlled by a robot to move onto an article to be clamped, the position of the clamping jaw is adjusted through the telescopic process of the pneumatic cylinder 8, the angle of the clamping jaw is adjusted through the rotation of the driving end of the first motor 10, the clamping jaw can be overturned after clamping, then an operator or a control system determines that the telescopic head 13 for clamping stretches out according to the size and shape of the article, the servo motor 19 is started, a driving gear 20 at the driving end of the servo motor 19 drives a driven gear 21 in meshed connection with the driving gear to rotate, the driven gear 21 drives a threaded rod 17 to rotate, a threaded sleeve 18 in threaded connection with the threaded rod 17 stretches out of the threaded rod 17 and the telescopic head 13, and the article to be clamped through a clamping arc plate 15.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Claims

1. The utility model provides a clamping jaw of robot that is applicable to not unidimensional, includes arm (1), a serial communication port, wall fixed mounting has extending structure before arm (1), extending structure front end fixed mounting has mainframe box (2), main shaft (3) are installed in mainframe box (2) internal rotation, main shaft (3) one end fixed mounting has rotating turret (4), outer cover plate (5) are installed to rotating turret (4) one end fixed mounting, fixed mounting has auxiliary frame (6) in outer cover plate (5), install clamping frame (7) in auxiliary frame (6), install auxiliary clamping structure on clamping frame (7).

2. The robot clamping jaw applicable to different sizes according to claim 1, wherein the telescopic structure comprises four pneumatic cylinders (8), the four pneumatic cylinders (8) are fixedly arranged on telescopic arms, a linkage frame (9) is fixedly arranged at telescopic ends of the four pneumatic cylinders (8), and the main machine box (2) is fixedly arranged in the linkage frame (9).

3. The robot clamping jaw applicable to different sizes according to claim 1, wherein a first motor (10) is fixedly installed in the main case (2), and the driving end of the first motor (10) is fixedly connected to the rotating frame (4).

4. A robotic clamping jaw adaptable to different sizes according to claim 1, characterized in that the main housing (2) is rotatably mounted with auxiliary rollers (11).

5. A robotic clamping jaw as claimed in claim 1, characterized in that the auxiliary clamping structure comprises a fixed cylinder (12), the fixed cylinder (12) being fixedly mounted on the clamping frame (7), the fixed cylinder (12) being slidably mounted with a telescopic head (13).

6. The robot clamping jaw applicable to different sizes according to claim 5, wherein a damper (14) is fixedly arranged at one end of the telescopic head (13), a clamping arc plate (15) is fixedly arranged at the telescopic end of the damper (14), and a buffer spring (16) is connected between the clamping arc plate (15) and the damper (14).

7. A robotic clamping jaw as claimed in claim 5, characterized in that the fixed cylinder (12) is rotatably provided with a threaded rod (17), one end of the telescopic head (13) is fixedly provided with a threaded sleeve (18), and the threaded sleeve (18) is in threaded connection with the threaded rod (17).

8. A robotic clamping jaw as claimed in claim 7, characterized in that a servomotor (19) is fixedly mounted on the fixed barrel (12), a driving gear (20) is fixedly mounted at the driving end of the servomotor (19), and a driven gear (21) is fixedly mounted at one end of the threaded rod (17).