CN219819768U - Industrial transfer robot grasping structure - Google Patents
Industrial transfer robot grasping structure Download PDFInfo
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- CN219819768U CN219819768U CN202321171438.7U CN202321171438U CN219819768U CN 219819768 U CN219819768 U CN 219819768U CN 202321171438 U CN202321171438 U CN 202321171438U CN 219819768 U CN219819768 U CN 219819768U
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- 230000006698 induction Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
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Abstract
The utility model relates to the field of robot gripping structures, in particular to an industrial transfer robot gripping structure, which comprises a fixed frame, wherein a first clamping jaw and a second clamping jaw are symmetrically and movably arranged below the fixed frame, an adjusting component is movably connected to one side surface of the first clamping jaw, a storage groove is formed in one side surface of the second clamping jaw, an induction component is movably arranged in the storage groove, a supporting component is fixedly connected to the rear surface of the fixed frame, the supporting component comprises a vertical plate, a folded plate, a supporting plate, a motor, a connecting seat and a rotating rod, and a connecting frame is fixedly arranged on the upper surface of the fixed frame. According to the utility model, when the clamping jaw is suddenly powered off or an object is heavy, auxiliary support can be carried out from the lower part of the object, so that the stability in clamping is improved, the object is prevented from falling off from the inner side of the clamping jaw, and when the object is attached to a corner, the object is moved out of the corner through the clamping jaw, so that the clamping jaw can clamp the object from the attaching surface of the object and the corner, and the clamping range of the clamping jaw is improved.
Description
Technical Field
The utility model relates to the field of robot gripping structures, in particular to an industrial transfer robot gripping structure.
Background
In the prior art, the manipulator is widely applied, and along with continuous improvement of the automation level, most factories use clamping jaws to be matched with robots to grasp products, so that the transfer of the products is realized.
Most of the clamping jaws of the existing transfer robot are used for clamping from two sides of an object, when the clamping jaws are suddenly powered off or the object is heavy, the object is easy to fall off from the inner sides of the clamping jaws, the stability during clamping is not high, and when the object is attached to a corner, the clamping jaws are not convenient to clamp from the attachment surfaces of the object and the corner, and the clamping range of the clamping jaws is limited.
Disclosure of Invention
In order to overcome the technical problems, the utility model aims to provide the gripping structure of the industrial transfer robot, which is characterized in that a first clamping jaw is controlled to clamp a fixed plate at one corner of an object, two vacuum chucks are attached to the object, the vacuum chucks can adsorb the object and then drive the object to move out of the corner, and the first clamping jaw can be inserted between the object and the corner, so that when the object is attached to the corner, the object can be moved out of the corner through the clamping jaw, the clamping jaw can clamp the object from the joint surface of the object and the corner, the clamping range of the clamping jaw is improved, the object slides downwards to drive a roller to rotate, an angle sensor senses the angle change of the roller, an electric signal is transmitted to a control system of the robot, a supporting assembly is controlled to be unfolded, the supporting plate is unfolded and is moved to the lower part of the object to carry out auxiliary supporting, and therefore, when the clamping jaw is suddenly powered off or the object is heavy, the stability in clamping process is improved, and the object is prevented from falling from the inner side of the clamping jaw.
The aim of the utility model can be achieved by the following technical scheme:
the utility model provides an industry transfer robot grasp structure, includes fixed frame, that symmetry activity of fixed frame below is equipped with clamping jaw and clamping jaw No. two, clamping jaw one side surface swing joint has an adjusting part, no. two clamping jaw one side surfaces have been seted up and have been accomodate the groove, accomodate the inside activity of groove and be equipped with response subassembly, fixed frame back fixed surface is connected with supporting component, supporting component includes riser, flip board, backup pad, motor, connecting seat and bull stick.
The method is further characterized in that: the fixed frame upper surface fixed mounting has the link, fixed frame inside rotates and is connected with the gear, the outside movable engagement of gear is connected with two pinion racks, fixed frame inside surface fixed mounting has the slide rail, pinion rack and slide rail sliding connection.
The method is further characterized in that: the fixed frame upper surface has seted up a spout, two No. two spouts have been seted up to fixed frame lower surface, no. one clamping jaw and No. two clamping jaw upper ends run through No. two spouts respectively with two pinion racks fixed connection, fixed frame upper surface fixed mounting has the cylinder, cylinder one end fixedly connected with slider, the slider lower extreme runs through No. one spout and a pinion rack fixed connection.
The method is further characterized in that: the adjusting component comprises a fixed plate, vacuum chucks, clamping plates and bolts, wherein the two vacuum chucks are fixedly embedded in the inner side surface of the fixed plate, the clamping plates are fixedly connected with a clamping jaw, clamping grooves are formed in one side surface of the fixed plate, the clamping grooves are movably clamped with the clamping plates, and the bolts penetrate through the fixed plate and are screwed with the clamping plates.
The method is further characterized in that: the induction component comprises a rotating shaft, a roller, an angle sensor and a spring, wherein the rotating shaft is slidably connected inside the storage groove, the roller is rotationally connected to the outer side of the rotating shaft, the angle sensor is fixedly installed on the outer side surface of the rotating shaft, one end of the angle sensor is fixedly connected with the roller, and two ends of the spring are fixedly connected with the rotating shaft and one side surface of the storage groove respectively.
The method is further characterized in that: the vertical plate is fixedly connected with the fixed frame, the two connecting seats are respectively and fixedly arranged on one end surfaces of the vertical plate and the turnover plate, the two rotating rods are respectively and fixedly arranged on the other end surfaces of the turnover plate and the supporting plate, and the motor is fixedly connected with the vertical plate through the bracket.
The method is further characterized in that: the output of motor and the bull stick fixed connection of turning over the board other end, the bull stick of turning over the board other end rotates with the connecting seat of riser one end to be connected, the bull stick of backup pad other end rotates with the connecting seat of turning over the board one end to be connected.
The utility model has the beneficial effects that:
1. the sliding block is pushed to move through the air cylinder, one toothed plate slides in the sliding rail, the other toothed plate moves through the transmission of the gear, the first clamping jaw and the second clamping jaw are moved in opposite directions to clamp, the first clamping jaw is controlled, the fixing plate is clamped at one corner of an object, two vacuum chucks are attached to the object, at the moment, the vacuum chucks are connected with the vacuumizing equipment, the vacuum chucks can adsorb the object, then the object is driven to move out of the corner, the first clamping jaw can be inserted between the object and the corner, and therefore when the object is attached to the corner, the object is moved out of the corner through the clamping jaw, the clamping jaw can clamp the object and the corner attaching surface, and the clamping range of the clamping jaw is improved.
2. The spring promotes the pivot, makes the gyro wheel laminate the object all the time, and the object gliding drives the gyro wheel and rotates, and angle sensor responds to the angle variation of gyro wheel, gives the control system of robot with the signal of telecommunication, makes the control system of robot can send specific instruction, and control supporting component expandes, and the motor operation drives a bull stick and rotates, makes the board that turns over upset to under the action of gravity, makes the backup pad expand, moves to the object below, carries out auxiliary stay to the object, thereby can carry out auxiliary stay from the object below when the clamping jaw is suddenly cut off or the object is heavier, improves the stability when the centre gripping, avoids the object to drop from the clamping jaw inboard.
Drawings
The utility model is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is a schematic view of the overall static structure of the present utility model;
FIG. 3 is a schematic view showing the overall structure of the inside of the fixing frame of the present utility model;
FIG. 4 is a schematic vertical sectional view of a support assembly according to the present utility model;
FIG. 5 is a schematic view of the adjustment assembly of the present utility model in a disassembled configuration;
FIG. 6 is a schematic diagram of the overall structure of the sensing assembly of the present utility model.
In the figure: 1. a fixed frame; 101. a connecting frame; 102. a first chute; 103. a second chute; 104. a slide rail; 105. a toothed plate; 106. a gear; 107. a cylinder; 108. a slide block; 2. a first clamping jaw; 201. a second clamping jaw; 202. a storage groove; 3. an adjustment assembly; 301. a fixing plate; 302. a vacuum chuck; 303. a clamping plate; 304. a clamping groove; 305. a bolt; 4. a support assembly; 401. a riser; 402. a folded plate is turned over; 403. a support plate; 404. a motor; 405. a connecting seat; 406. a rotating rod; 5. an induction assembly; 501. a rotating shaft; 502. a roller; 503. an angle sensor; 504. and (3) a spring.
Detailed Description
The technical solutions of the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. 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. 1-6, an industrial transfer robot gripping structure includes a fixed frame 1, a first clamping jaw 2 and a second clamping jaw 201 are symmetrically and movably arranged below the fixed frame 1, an adjusting component 3 is movably connected to one side surface of the first clamping jaw 2, a storage groove 202 is formed in one side surface of the second clamping jaw 201, an induction component 5 is movably arranged in the storage groove 202, a supporting component 4 is fixedly connected to the rear surface of the fixed frame 1, and the supporting component 4 includes a vertical plate 401, a turning plate 402, a supporting plate 403, a motor 404, a connecting seat 405 and a rotating rod 406.
The upper surface of the fixed frame 1 is fixedly provided with a connecting frame 101, a gear 106 is rotationally connected inside the fixed frame 1, two toothed plates 105 are movably engaged and connected outside the gear 106, the inner surface of the fixed frame 1 is fixedly provided with a sliding rail 104, and the toothed plates 105 are in sliding connection with the sliding rail 104; the fixed frame 1 upper surface has seted up a spout 102, two No. two spouts 103 have been seted up to fixed frame 1 lower surface, no. two spouts 103 have been run through No. two spouts 103 with No. two clamping jaw 201 upper ends respectively with two pinion racks 105 fixed connection, fixed frame 1 upper surface fixed mounting has cylinder 107, cylinder 107 one end fixedly connected with slider 108, slider 108 lower extreme runs through No. one spout 102 and a pinion rack 105 fixed connection, cylinder 107 promotes slider 108 and removes, make a pinion rack 105 slide in slide rail 104 inside, through gear 106's transmission, make another pinion rack 105 remove, mobilize No. one clamping jaw 2 and No. two clamping jaw 201 move in opposite directions, carry out the centre gripping.
The adjusting component 3 comprises a fixed plate 301, vacuum chucks 302, a clamping plate 303 and bolts 305, wherein the two vacuum chucks 302 are fixedly embedded and installed on the inner side surface of the fixed plate 301, the clamping plate 303 is fixedly connected with a first clamping jaw 2, a clamping groove 304 is formed in one side surface of the fixed plate 301, the clamping groove 304 is movably clamped and connected with the clamping plate 303, the bolts 305 penetrate through the fixed plate 301 and are in screwed connection with the clamping plate 303, the first clamping jaw 2 is controlled, the fixed plate 301 is clamped at one corner of an object, the two vacuum chucks 302 are attached to the object, at the moment, the vacuum chucks 302 are connected with vacuumizing equipment, the vacuum chucks 302 can adsorb the object, then the object is driven to move out of the corner, the first clamping jaw 2 can be inserted between the object and the corner, and therefore when the object is attached to the corner, the clamping jaw can clamp the object from the attaching surface of the object and the corner, and the clamping range of the clamping jaw is improved.
The sensing assembly 5 comprises a rotating shaft 501, a roller 502, an angle sensor 503 and a spring 504, wherein the rotating shaft 501 is in sliding connection with the inside of the accommodating groove 202, the roller 502 is rotationally connected to the outer side of the rotating shaft 501, the angle sensor 503 is fixedly arranged on the outer side surface of the rotating shaft 501, one end of the angle sensor 503 is fixedly connected with the roller 502, two ends of the spring 504 are respectively fixedly connected with the rotating shaft 501 and one side surface of the accommodating groove 202, when an object falls off, the spring 504 slides between the first clamping jaw 2 and the second clamping jaw 201, the rotating shaft 501 is pushed by the spring 504, the roller 502 always contacts the object, the roller 502 is driven to rotate by the object to slide downwards, the angle sensor 503 senses the angle change of the roller 502, an electric signal is transmitted to a control system of the robot, and the control system of the robot can send specific instructions to control the supporting assembly 4 to be unfolded; the vertical plate 401 is fixedly connected with the fixed frame 1, two connecting seats 405 are respectively and fixedly arranged on one end surfaces of the vertical plate 401 and the turnover plate 402, two rotating rods 406 are respectively and fixedly arranged on the other end surfaces of the turnover plate 402 and the supporting plate 403, and the motor 404 is fixedly connected with the vertical plate 401 through a bracket; the output of motor 404 is fixed connection with the bull stick 406 of turning over board 402 other end, and the bull stick 406 of turning over board 402 other end rotates with the connecting seat 405 of riser 401 one end to be connected, and the bull stick 406 of backup pad 403 other end rotates with the connecting seat 405 of turning over board 402 one end to be connected, and motor 404 moves, drives a bull stick 406 and rotates, makes turning over board 402 upset to under the effect of gravity, makes backup pad 403 expand, moves to the object below, carries out auxiliary stay to the object, thereby can carry out auxiliary stay from the object below when the clamping jaw is suddenly cut off power or the object is heavier, improves the stability when the centre gripping, avoids the object to drop from the clamping jaw inboard.
Working principle: when in use, the air cylinder 107 pushes the sliding block 108 to move, so that one toothed plate 105 slides in the sliding rail 104, the other toothed plate 105 moves through the transmission of the gear 106, the first clamping jaw 2 and the second clamping jaw 201 are moved in opposite directions to clamp, the first clamping jaw 2 is controlled, the fixed plate 301 is clamped at one corner of an object, the two vacuum chucks 302 are attached to the object, at the moment, the vacuum chucks 302 are connected with a vacuumizing device, the vacuum chucks 302 can adsorb the object, then the object is driven to move out of the corner, the first clamping jaw 2 can be inserted between the object and the corner, thus when the object is attached to the corner, the object is moved out of the corner through the clamping jaw, the clamping jaw can clamp the object and the corner joint surface, the clamping range of the clamping jaw is improved, when the object falls off, the sliding between the first clamping jaw 2 and the second clamping jaw 201 is achieved, the spring 504 pushes the rotating shaft 501, the roller 502 is always attached to an object, the object slides downwards to drive the roller 502 to rotate, the angle sensor 503 senses the angle change of the roller 502, an electric signal is transmitted to a control system of the robot, the control system of the robot can send a specific instruction, the supporting component 4 is controlled to be unfolded, the motor 404 is operated to drive the rotating rod 406 to rotate, the turnover plate 402 is enabled to turn over, the supporting plate 403 is enabled to be unfolded under the object under the action of gravity, the object is supported in an auxiliary mode, and therefore when the clamping jaw is suddenly powered off or the object is heavy, the auxiliary support is carried out under the object, the stability during clamping is improved, and the object is prevented from falling from the inner side of the clamping jaw.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative and explanatory of the utility model, as various modifications and additions may be made to the particular embodiments described, or in a similar manner, by those skilled in the art, without departing from the scope of the utility model or exceeding the scope of the utility model as defined in the claims.
Claims (7)
1. The utility model provides an industry transfer robot grasp structure, its characterized in that, including fixed frame (1), that symmetry activity of fixed frame (1) below is equipped with clamping jaw (2) and clamping jaw (201) No. two, clamping jaw (2) one side surface swing joint has adjusting part (3), no. two clamping jaw (201) one side surfaces have been seted up and have been accomodate groove (202), accomodate the inside activity of groove (202) and be equipped with response subassembly (5), fixed frame (1) rear surface fixedly connected with supporting component (4), supporting component (4) include riser (401), turn over board (402), backup pad (403), motor (404), connecting seat (405) and bull stick (406).
2. The industrial transfer robot grasping structure according to claim 1, wherein the connecting frame (101) is fixedly installed on the upper surface of the fixed frame (1), a gear (106) is rotatably connected inside the fixed frame (1), two toothed plates (105) are movably engaged and connected outside the gear (106), a sliding rail (104) is fixedly installed on the inner surface of the fixed frame (1), and the toothed plates (105) are slidably connected with the sliding rail (104).
3. The industrial transfer robot grasping structure according to claim 2, wherein a first sliding groove (102) is formed in the upper surface of the fixed frame (1), two second sliding grooves (103) are formed in the lower surface of the fixed frame (1), the first clamping jaw (2) and the second clamping jaw (201) penetrate through the second sliding grooves (103) to be fixedly connected with two toothed plates (105) respectively, an air cylinder (107) is fixedly mounted on the upper surface of the fixed frame (1), one end of the air cylinder (107) is fixedly connected with a sliding block (108), and the lower end of the sliding block (108) penetrates through the first sliding groove (102) to be fixedly connected with one toothed plate (105).
4. The industrial transfer robot grasping structure according to claim 1, wherein the adjusting assembly (3) comprises a fixing plate (301), a vacuum chuck (302), a clamping plate (303) and bolts (305), the two vacuum chucks (302) are fixedly embedded and installed on the inner side surface of the fixing plate (301), the clamping plate (303) is fixedly connected with a clamping jaw (2), a clamping groove (304) is formed in one side surface of the fixing plate (301), the clamping groove (304) is movably clamped with the clamping plate (303), and the bolts (305) penetrate through the fixing plate (301) and are connected with the clamping plate (303) in a screwing mode.
5. The industrial transfer robot grasping structure according to claim 1, wherein the sensing assembly (5) comprises a rotating shaft (501), a roller (502), an angle sensor (503) and a spring (504), the rotating shaft (501) is slidably connected inside the accommodating groove (202), the roller (502) is rotatably connected to the outer side of the rotating shaft (501), the angle sensor (503) is fixedly mounted on the outer side surface of the rotating shaft (501), one end of the angle sensor (503) is fixedly connected with the roller (502), and two ends of the spring (504) are fixedly connected with the rotating shaft (501) and one side surface of the accommodating groove (202) respectively.
6. The grasping structure of an industrial transfer robot according to claim 1, wherein the vertical plate (401) is fixedly connected with the fixed frame (1), two connecting seats (405) are respectively fixedly installed on one end surfaces of the vertical plate (401) and the turnover plate (402), two rotating rods (406) are respectively fixedly installed on the other end surfaces of the turnover plate (402) and the supporting plate (403), and the motor (404) is fixedly connected with the vertical plate (401) through a bracket.
7. The industrial transfer robot grasping structure according to claim 6, wherein the output end of the motor (404) is fixedly connected with a rotating rod (406) at the other end of the turnover plate (402), the rotating rod (406) at the other end of the turnover plate (402) is rotatably connected with a connecting seat (405) at one end of the vertical plate (401), and the rotating rod (406) at the other end of the supporting plate (403) is rotatably connected with the connecting seat (405) at one end of the turnover plate (402).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321171438.7U CN219819768U (en) | 2023-05-16 | 2023-05-16 | Industrial transfer robot grasping structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321171438.7U CN219819768U (en) | 2023-05-16 | 2023-05-16 | Industrial transfer robot grasping structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219819768U true CN219819768U (en) | 2023-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321171438.7U Active CN219819768U (en) | 2023-05-16 | 2023-05-16 | Industrial transfer robot grasping structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219819768U (en) |
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2023
- 2023-05-16 CN CN202321171438.7U patent/CN219819768U/en active Active
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