CN219705213U - Robot clamping jaw structure - Google Patents
Robot clamping jaw structure Download PDFInfo
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- CN219705213U CN219705213U CN202222964484.4U CN202222964484U CN219705213U CN 219705213 U CN219705213 U CN 219705213U CN 202222964484 U CN202222964484 U CN 202222964484U CN 219705213 U CN219705213 U CN 219705213U
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Abstract
The utility model discloses a robot clamping jaw structure which comprises a base, two clamping jaw assemblies, a first driving mechanism and a second driving mechanism, wherein the two clamping jaw assemblies are oppositely arranged on the base, and one ends of the two clamping jaw assemblies are respectively used for clamping two ends of a bar stock; the first driving mechanism is connected with the other ends of the two clamping jaw assemblies and is used for driving the two clamping jaw assemblies to synchronously clamp or loosen the bar stock; the second driving mechanism is connected with the two clamping jaw assemblies and is used for driving the two clamping jaw assemblies to be close to each other or to be away from each other, so that the distance between the two clamping jaw assemblies can be adjusted. The beneficial effects of the utility model are as follows: the long bar grabbing device is suitable for grabbing long bar materials, when grabbing long bar materials, two clamping jaw assemblies are used for respectively clamping the two ends of the long bar materials, so that grabbing of the long bar materials is firmer, and the long bar materials are not easy to shake and fall off from the clamping jaw assemblies.
Description
Technical Field
The utility model relates to the technical field of robot equipment, in particular to a robot clamping jaw structure.
Background
Along with the progress of science and technology and the rapid development of enterprises, more and more fields begin to use robots, certain specific operations are realized by utilizing robots, the improvement of operation safety and operation efficiency is facilitated, in order to realize the operation, the tail end of a mechanical arm of each robot is provided with a clamping jaw mechanism, the grabbing of objects is realized by utilizing the opening and closing of the clamping jaw mechanism, then the objects are transferred to a target position or the assembly of parts on equipment is completed by utilizing the movement of the mechanical arm, the existing clamping jaw structure (such as a clamping jaw structure of the robot disclosed in application number 201920 511307.6) is not suitable for grabbing long bar materials, and because the length of the long bar materials is long, the long bar materials are easy to shake when grabbing the long bar materials, so that the grabbing is not firm, and even the situation of falling off from the clamping jaw occurs.
Disclosure of Invention
The utility model aims to overcome the technical defects, and provides a robot clamping jaw structure which solves the technical problems that the robot clamping jaw structure in the prior art is not suitable for grabbing long bar materials, and the long bar materials are easy to shake to cause unstable grabbing and even fall off from the clamping jaw due to the longer length of the long bar materials.
In order to achieve the technical purpose, the technical scheme of the utility model provides a robot clamping jaw structure, which comprises:
a base;
the two clamping jaw assemblies are oppositely arranged on the base, and one ends of the two clamping jaw assemblies are respectively used for clamping two ends of a bar stock;
the first driving mechanism is connected with the other ends of the two clamping jaw assemblies and used for driving the two clamping jaw assemblies to synchronously clamp or loosen the bar stock;
the second driving mechanism is connected with the two clamping jaw assemblies and used for driving the two clamping jaw assemblies to be close to each other or to be away from each other so as to adjust the distance between the two clamping jaw assemblies.
Further, the base is provided with a cavity, and one side of the cavity is provided with an opening.
Further, a kidney-shaped groove communicated with the cavity is formed in the base, and the length direction of the kidney-shaped groove extends along the opening side of the cavity.
Further, the robot clamping jaw structure further comprises a connecting seat, wherein the connecting seat is arranged in the cavity in a sliding mode and can move towards the opening side of the cavity or move back to the opening side of the cavity.
Further, the robot clamping jaw structure further comprises two mounting seats, wherein the two mounting seats are oppositely arranged on the opening side of the cavity and are connected to the base in a sliding mode.
Further, the clamping jaw assembly comprises two clamping pieces, a movable block and a plurality of connecting rods, wherein the two clamping pieces are oppositely arranged and hinged to the mounting seat, the two clamping pieces are used for clamping one end of a bar, the movable block is slidably connected to the connecting seat and can move along the moving direction perpendicular to the connecting seat, one end of each connecting rod is hinged to the corresponding clamping piece, and the other end of each connecting rod is hinged to the movable block.
Further, the clamping piece is provided with a clamping end, a rotating shaft end and a connecting end, a clamping groove for clamping the bar stock is formed in the clamping piece, the clamping groove is of an arc-shaped structure and is located at the clamping end, the rotating shaft end is hinged to the mounting seat, and the connecting end is hinged to one end of the connecting rod.
Further, the clamping jaw assembly further comprises a plurality of clamping rods, each clamping rod is oppositely arranged in the clamping groove, one end of each clamping rod is fixed on the clamping piece, and the other end of each clamping rod extends towards the direction away from the clamping jaw assembly.
Further, the first driving mechanism is a telescopic driving piece, the telescopic driving piece is fixed on the base, and the output end of the telescopic driving piece extends into the cavity and is fixedly connected with the connecting seat, so that the connecting seat is driven to move in the cavity.
Further, the second driving mechanism is a driving rod, two ends of the driving rod are rotatably mounted on the connecting seat, one end of the driving rod penetrates through the kidney-shaped groove in a sliding mode and stretches out of the cavity, two sections of threads with opposite rotation directions are arranged on the driving rod, screw holes are formed in the two movable blocks, and the two movable blocks are sleeved on the corresponding screw holes through corresponding screw holes.
Compared with the prior art, the utility model has the beneficial effects that: when the robot clamping jaw structure is used for grabbing long bars, firstly, according to the length of the bars, the second driving mechanism is controlled to drive the two clamping jaw assemblies to be close to each other or to be away from each other, so that the distance between the two clamping jaw assemblies can be adjusted, the distance between the two clamping jaw assemblies is slightly smaller than the length of the bars, and the first driving mechanism is controlled to drive the two clamping jaw assemblies to synchronously clamp the bars.
Drawings
Fig. 1 is a schematic perspective view of a robot jaw structure according to the present utility model;
FIG. 2 is a cross-sectional view of one of the robotic jaw structures of FIG. 1;
FIG. 3 is a schematic view of a robotic jaw configuration of FIG. 1 when the clamp is in an open position;
FIG. 4 is a schematic view of one of the robotic jaw structures of FIG. 3 from another perspective;
in the figure: 100-base, 110-cavity, 120-kidney slot, 200-jaw assembly, 210-clamp, 211-clamp end, 212-swivel end, 213-connection end, 214-clamp slot, 220-movable block, 230-connecting rod, 240-clamp bar, 300-first drive mechanism, 310-telescoping drive, 400-second drive mechanism, 410-drive rod, 500-connection base, 600-mount.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
The utility model provides a robot clamping jaw structure, which is shown in fig. 1 and 2, and comprises a base 100, two clamping jaw assemblies 200, a first driving mechanism 300 and a second driving mechanism 400, wherein the two clamping jaw assemblies 200 are oppositely arranged on the base 100, and one ends of the two clamping jaw assemblies 200 are respectively used for clamping two ends of a bar stock; the first driving mechanism 300 is connected with the other ends of the two clamping jaw assemblies 200, and is used for driving the two clamping jaw assemblies 200 to clamp or unclamp bar synchronously; the second driving mechanism 400 is connected to both the jaw assemblies 200, and is used for driving the two jaw assemblies 200 to approach each other or to depart away from each other, so as to adjust the distance between the two jaw assemblies 200.
When the robot clamping jaw structure is used for grabbing long bars, firstly, according to the length of the bars, the second driving mechanism 400 is controlled to enable the second driving mechanism 400 to drive the two clamping jaw assemblies 200 to be close to each other or far away from each other, so that the distance between the two clamping jaw assemblies 200 can be adjusted, the distance between the two clamping jaw assemblies 200 is slightly smaller than the length of the bars, and then the first driving mechanism 300 is controlled to enable the first driving mechanism 300 to drive the two clamping jaw assemblies 200 to synchronously clamp the bars.
As a preferred embodiment, referring to fig. 2, the base 100 has a cavity 110, and one side of the cavity 110 is provided with an opening, so that the connection seat 500 and the movable block 220 can be slidably mounted in the cavity 110, and the movable block 220 can protrude from the opening side of the cavity 110, so that the connection with the clamping member 210 is facilitated by the connection rod 230.
As a preferred embodiment, referring to fig. 2 and 3, the base 100 is provided with a kidney-shaped slot 120 in communication with the cavity 110, and the length direction of the kidney-shaped slot 120 extends along the opening side of the cavity 110, so that one end of the driving rod 410 can slide through the kidney-shaped slot 120, thereby extending to the outside of the cavity 110, so as to facilitate the rotation of the driving rod 410 by a person, and simultaneously, the driving rod 410 can move towards the opening side of the cavity 110 or move away from the opening side of the cavity 110 along with the connection seat 500.
As a preferred embodiment, referring to fig. 2 and 3, the robot jaw structure further includes a connection seat 500, where the connection seat 500 is slidably disposed in the cavity 110 and can move toward the open side of the cavity 110 or move away from the open side of the cavity 110, so as to push the two movable blocks 220 to move toward the open side of the cavity 110 or move away from the open side of the cavity 110 synchronously, so as to drive the two clamping members 210 to clamp or unclamp a bar through the corresponding connecting rods 230.
As a preferred embodiment, referring to fig. 2 and 3, the robotic clamping jaw structure further includes two mounting seats 600, wherein the two mounting seats 600 are disposed opposite to the opening side of the cavity 110 and slidably connected to the base 100, so that the clamping member 210 may be hinged to the mounting seats 600.
As a preferred embodiment, referring to fig. 2 and 3, the clamping jaw assembly 200 includes two clamping members 210, a movable block 220 and a plurality of connecting rods 230, wherein the two clamping members 210 are oppositely disposed and hinged on the mounting base 600, the two clamping members 210 are used for clamping one end of a bar, the movable block 220 is slidably connected to the connecting base 500 and can move along a direction perpendicular to the moving direction of the connecting base 500, one end of each connecting rod 230 is respectively hinged on the corresponding clamping member 210, the other end of each connecting rod 230 is hinged on the movable block 220, the connecting base 500 can move towards the open side of the cavity 110 or move away from the open side of the cavity 110, so as to push the two movable blocks 220 to synchronously move towards the open side of the cavity 110 or move away from the open side of the cavity 110, and thus the two clamping members 210 are driven to clamp or unclamp by the corresponding connecting rods 230.
As a preferred embodiment, please refer to fig. 2 and 3, the clamping member 210 has a clamping end 211, a rotating shaft end 212 and a connecting end 213, the clamping member 210 is provided with a clamping groove 214 for clamping the rod 240, the clamping groove 214 has an arc structure for improving the clamping effect on the rod, and is located at the clamping end 211, the rotating shaft end 212 is hinged to the mounting seat 600, the clamping member 210 always rotates around the rotating shaft end 212 during the opening and closing process, and the connecting end 213 is hinged to one end of the connecting rod 230, so as to control the opening and closing of the clamping member 210 under the driving of the connecting rod 230.
As a preferred embodiment, referring to fig. 2 and 3, the clamping jaw assembly 200 further includes a plurality of clamping bars 240, each clamping bar 240 is disposed in the clamping groove 214, one end of the clamping bar 240 is fixed on the clamping member 210, and the other end of the clamping bar 240 extends towards the two clamping jaw assemblies 200 in a direction away from each other, so that, on one hand, a contact area with a bar can be increased, on the other hand, a clamping length can be increased, and a clamping effect can be further improved.
As a preferred embodiment, referring to fig. 3 and 4, the first driving mechanism 300 is a telescopic driving member 310, the telescopic driving member 310 is fixed on the base 100, and an output end of the telescopic driving member 310 extends into the cavity 110 and is fixedly connected with the connection seat 500, so as to drive the connection seat 500 to move in the cavity 110, and by manipulating the telescopic driving member 310, the telescopic driving member 310 can drive the connection seat 500 to move towards the opening side of the cavity 110 or move away from the opening side of the cavity 110.
As a preferred embodiment, please refer to fig. 3 and 4, the second driving mechanism 400 is a driving rod 410, two ends of the driving rod 410 are rotatably mounted on the connecting seat 500, one end of the driving rod 410 slides through the kidney-shaped slot 120 and extends out of the cavity 110, two sections of threads with opposite rotation directions are provided on the driving rod 410, two movable blocks 220 are provided with screw holes, and the corresponding screw holes are sleeved on the corresponding screw threads, and by rotating the driving rod 410, the driving rod 410 drives the two movable blocks 220 to slide on the connecting seat 500 close to each other or away from each other, so that the distance between the two movable blocks 220 is adjusted, the distance between the two clamping jaw assemblies 200 is further adjusted, the clamping effect is better, and bar bars with different lengths can be clamped by the two clamping jaw assemblies 200.
For better understanding of the present utility model, the following details of the working principle of the technical solution of the present utility model are described with reference to fig. 1 to 4:
when the robotic clamping jaw structure is used for grabbing long bars, firstly, according to the length of the bars, the driving rod 410 is rotated to enable the driving rod 410 to drive the two movable blocks 220 to mutually approach or back to far away and slide on the connecting seat 500, so that the distance between the two movable blocks 220 is adjusted, the distance between the two clamping jaw assemblies 200 is further adjusted, the distance between the two clamping jaw assemblies 200 is slightly smaller than the length of the bars, then by controlling the telescopic driving piece 310, the telescopic driving piece 310 can enable the connecting seat 500 to move towards the opening side of the cavity 110, so that the two movable blocks 220 are pushed to synchronously move towards the opening side of the cavity 110, and accordingly, the two clamping pieces 210 are driven to synchronously clamp the two ends of the bars through the corresponding connecting rod 230.
The robot clamping jaw structure provided by the utility model has the following beneficial effects:
(1) The clamping rod 240 can increase the contact area with the bar stock, prolong the clamping length and further improve the clamping effect;
(2) By rotating the driving rod 410, the driving rod 410 may drive the two movable blocks 220 to slide on the connecting seat 500, so as to adjust the distance between the two movable blocks 220, further adjust the distance between the two clamping jaw assemblies 200, so that the clamping effect is better, and the two clamping jaw assemblies 200 can clamp bars with different lengths;
(3) The robot clamping jaw structure is more suitable for grabbing long bar materials, when grabbing long bar materials, two clamping jaw assemblies 200 are used for respectively clamping two ends of the long bar materials, so that grabbing of the long bar materials is firmer, and the long bar materials are not easy to fall off from the clamping jaw assemblies 200 due to shaking.
The above-described embodiments of the present utility model do not limit the scope of the present utility model. Any other corresponding changes and modifications made in accordance with the technical idea of the present utility model shall be included in the scope of the claims of the present utility model.
Claims (10)
1. A robotic gripper structure comprising:
a base;
the two clamping jaw assemblies are oppositely arranged on the base, and one ends of the two clamping jaw assemblies are respectively used for clamping two ends of a bar stock;
the first driving mechanism is connected with the other ends of the two clamping jaw assemblies and used for driving the two clamping jaw assemblies to synchronously clamp or loosen the bar stock;
the second driving mechanism is connected with the two clamping jaw assemblies and used for driving the two clamping jaw assemblies to be close to each other or to be away from each other so as to adjust the distance between the two clamping jaw assemblies.
2. The robotic jaw structure of claim 1, wherein the base has a cavity, one side of the cavity being open.
3. The robot jaw structure of claim 2, wherein the base is provided with a kidney-shaped groove communicated with the cavity, and a length direction of the kidney-shaped groove extends along an opening side of the cavity.
4. A robotic jaw structure according to claim 3, further comprising a connection mount slidably disposed within the cavity and movable toward or away from an open side of the cavity.
5. The robotic jaw structure of claim 4, further comprising two mounts disposed opposite the open side of the cavity and slidably coupled to the base.
6. The robot jaw structure of claim 5, wherein the jaw assembly comprises two clamping members, a movable block and a plurality of connecting rods, the two clamping members are oppositely arranged and hinged on the mounting base, the two clamping members are used for clamping one end of a bar, the movable block is slidably connected on the connecting base and can move along a moving direction perpendicular to the connecting base, one end of each connecting rod is respectively hinged on the corresponding clamping member, and the other end of each connecting rod is hinged on the movable block.
7. The robot jaw structure of claim 6, wherein the clamping member has a clamping end, a rotating shaft end and a connecting end, the clamping member is provided with a clamping groove for clamping a bar, the clamping groove is of an arc structure and is located at the clamping end, the rotating shaft end is hinged to the mounting seat, and the connecting end is hinged to one end of the connecting rod.
8. The robotic gripper structure according to claim 7, wherein the gripper assembly further includes a plurality of gripper bars, each gripper bar being disposed in the gripper slot opposite to the gripper bar, one end of the gripper bar being fixed to the gripper, and the other end of the gripper bar extending in a direction away from the gripper assemblies.
9. The robotic gripper structure according to claim 8, wherein the first driving mechanism is a telescopic driving member, the telescopic driving member is fixed on the base, and an output end of the telescopic driving member extends into the cavity and is fixedly connected with the connection base, so as to drive the connection base to move in the cavity.
10. The robot jaw structure of claim 9, wherein the second driving mechanism is a driving rod, two ends of the driving rod are rotatably mounted on the connecting seat, one end of the driving rod slides through the kidney-shaped groove and extends out of the cavity, two sections of threads with opposite rotation directions are arranged on the driving rod, screw holes are formed in the two movable blocks, and the two movable blocks are sleeved on the corresponding screw holes through corresponding screw holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222964484.4U CN219705213U (en) | 2022-11-08 | 2022-11-08 | Robot clamping jaw structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222964484.4U CN219705213U (en) | 2022-11-08 | 2022-11-08 | Robot clamping jaw structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219705213U true CN219705213U (en) | 2023-09-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222964484.4U Active CN219705213U (en) | 2022-11-08 | 2022-11-08 | Robot clamping jaw structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219705213U (en) |
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2022
- 2022-11-08 CN CN202222964484.4U patent/CN219705213U/en active Active
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