CN220030270U - Multifunctional grabbing device of robot - Google Patents
Multifunctional grabbing device of robot Download PDFInfo
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- CN220030270U CN220030270U CN202320595889.7U CN202320595889U CN220030270U CN 220030270 U CN220030270 U CN 220030270U CN 202320595889 U CN202320595889 U CN 202320595889U CN 220030270 U CN220030270 U CN 220030270U
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- mounting plate
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- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 abstract description 16
- 230000001788 irregular Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000003437 trachea Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The utility model discloses a multifunctional grabbing device of a robot, which relates to the technical field of robots and comprises: the device comprises a mounting plate, wherein an indexing conversion structure is arranged on the lower wall surface of the mounting plate, a clamping and replacing structure is arranged on the side wall surface of the mounting plate, a sucking disc structure is arranged on the upper wall surface of the clamping and replacing structure, a clamping and fixing claw structure is arranged on the lower wall surface of the clamping and replacing structure, and a clamping and movable claw structure is arranged on the upper wall surface of the clamping and fixing claw structure. The indexing conversion structure comprises: an indexing motor, a worm gear indexing converter and a driving transmission gear; the worm gear indexing converter is arranged on the lower wall surface of the mounting plate, the worm gear indexing converter is used for grabbing two objects with different shapes, one object is a regular object, the grabbing can be performed in a clamping mode, the other object is an irregular spherical object, the grabbing can be performed in an adsorbing mode, the worm gear indexing converter and the spherical object can be replaced, and the grabbing action of an industrial robot is facilitated.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multifunctional grabbing device for a robot.
Background
Robots are automated machines, except that they have some intelligent capabilities similar to humans or living beings, such as perceptive, planning, actional and collaborative capabilities, and are highly flexible.
The industrial robot is an application classification of robots, and the industrial robot completes functions of feeding, discharging, conveying among process chains and the like through grabbing actions, but the grabbing of the industrial robot is difficult due to different shapes of products and different smoothness of outer surfaces, the products with spherical shapes are very difficult to grab.
Disclosure of Invention
The utility model aims to solve the defects in the prior art and provides a multifunctional grabbing device for a robot. The utility model can grasp two objects with different shapes, one is a regular object, the other is an irregular spherical object, the two objects can be grasped in an adsorption mode, and the two objects can be replaced, so that the grasping action of the industrial robot is facilitated.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
a robotic multifunctional gripping device comprising: the device comprises a mounting plate, wherein an indexing conversion structure is arranged on the lower wall surface of the mounting plate, a clamping and replacing structure is arranged on the side wall surface of the mounting plate, a sucking disc structure is arranged on the upper wall surface of the clamping and replacing structure, a clamping and fixing claw structure is arranged on the lower wall surface of the clamping and replacing structure, and a clamping and movable claw structure is arranged on the upper wall surface of the clamping and fixing claw structure.
The utility model is further arranged that the indexing arrangement comprises: an indexing motor, a worm gear indexing converter and a driving transmission gear; the worm and gear indexing converter is arranged on the lower wall surface of the mounting plate, the indexing motor is arranged on the lower wall surface of the mounting plate, the driving end of the indexing motor is connected with the input shaft of the worm and gear indexing converter, and the driving transmission gear is sleeved outside the output shaft of the worm and gear indexing converter.
The utility model is further arranged that the clamping and replacing structure comprises: clamping the replacement shaft, clamping the replacement frame and driving driven gears; the clamping replacement shaft is arranged on the side wall surface of the mounting plate, the clamping replacement frame is arranged on the side wall surface of the clamping replacement shaft, the transmission driven gear is sleeved outside the clamping replacement shaft, and the transmission driven gear is meshed with the driving transmission gear.
The utility model is further arranged that the sucker structure comprises: the pump body frame, the air pump, the sucker and the air pipe; the pump body frame is installed and is pressed from both sides the upper wall surface of getting the change frame, the inside at the pump body frame is installed to the air pump, the sucking disc is installed at the upper wall surface of air pump, the lower wall surface at the air pump is installed to the trachea.
The utility model further provides that the clamping and fixing claw structure comprises: clamping a fixed plate, two dovetail rails and two dovetail sliding blocks; the clamping fixing plate is arranged on the lower wall surface of the clamping replacement frame, the two dovetail rails are respectively arranged on the rear wall surface of the clamping fixing plate, and the two dovetail sliding blocks are respectively arranged in the two dovetail rails.
The utility model further provides that the clamping movable claw structure comprises: a movable grabbing frame and a pneumatic telescopic rod; the movable grabbing frame is arranged between the two dovetail sliding blocks, and the pneumatic telescopic rod is arranged on the upper wall surface of the clamping fixing plate.
The utility model is further characterized in that four mounting holes are formed in the upper wall surface of the mounting plate.
The beneficial effects of the utility model are as follows: the utility model can grasp two objects with different shapes, one is a regular object, the other is an irregular spherical object, the two objects can be grasped in an adsorption mode, and the two objects can be replaced, so that the grasping action of the industrial robot is facilitated.
1. This a multi-functional grabbing device for robot through being provided with sucking disc structure, and sucking disc structure adsorbs snatchs the object through the mode of negative atmospheric pressure, can snatch irregular object.
2. This a multi-functional grabbing device for robot gets the fixed jaw structure and presss from both sides and get movable jaw structure through being provided with, presss from both sides and gets the fixed jaw structure and presss from both sides and get movable jaw structure and have constituteed jointly and press from both sides and get the jaw structure, presss from both sides and gets the jaw structure and snatchs the object through frictional force, can snatch regular and great object of weight.
3. This a multi-functional grabbing device for robot gets the change structure through being provided with the graduation conversion structure and pressing from both sides, and the graduation conversion structure can drive to press from both sides and get the change structure and carry out the angle conversion of one hundred eighty degrees to can realize the transformation of two different forms snatchs the mode, with the requirement that adapts to snatch different objects, press from both sides and get the change structure and can support sucking disc structure and press from both sides and get claw structure, let two kinds of snatchs the mode and snatch the object steadily.
Drawings
Fig. 1 is a schematic diagram of a first overall structure of a multifunctional gripping device for a robot according to the present utility model;
fig. 2 is a schematic diagram of a second overall structure of the multifunctional gripping device of the robot according to the present utility model;
fig. 3 is a schematic diagram of a gripper structure of a multifunctional gripper for a robot according to the present utility model;
fig. 4 is a schematic diagram of an indexing structure of a multifunctional gripping device for a robot according to the present utility model.
In the figure: 1. a mounting plate; 2. an indexing motor; 3. a worm gear indexing converter; 4. a drive gear; 5. clamping and replacing the shaft; 6. clamping the replacement frame; 7. a drive driven gear; 8. a pump body frame; 9. an air pump; 10. a suction cup; 11. an air pipe; 12. clamping a fixing plate; 13. dovetail rail; 14. dovetail slide blocks; 15. a movable grabbing frame; 16. a pneumatic telescopic rod.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.
In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1-4, a robotic multifunctional gripping device, comprising: the device comprises a mounting plate 1, wherein an indexing conversion structure is arranged on the lower wall surface of the mounting plate 1, a clamping replacement structure is arranged on the side wall surface of the mounting plate 1, a sucking disc structure is arranged on the upper wall surface of the clamping replacement structure, a clamping fixed jaw structure is arranged on the lower wall surface of the clamping replacement structure, and a clamping movable jaw structure is arranged on the upper wall surface of the clamping fixed jaw structure. Four mounting holes are formed in the upper wall surface of the mounting plate 1.
Specifically, the indexing conversion structure includes: an indexing motor 2, a worm and gear indexing converter 3 and a driving transmission gear 4; the worm gear indexing converter 3 is arranged on the lower wall surface of the mounting plate 1, the indexing motor 2 is arranged on the lower wall surface of the mounting plate 1, the driving end of the indexing motor 2 is connected with the input shaft of the worm gear indexing converter 3, and the driving transmission gear 4 is sleeved outside the output shaft of the worm gear indexing converter 3. The indexing conversion structure can drive the clamping replacement structure to perform one hundred and eighty degrees of angle conversion, so that the conversion of two different grabbing modes can be realized, and the requirements of grabbing different objects can be met.
Specifically, the clamping and replacing structure comprises: a clamping replacement shaft 5, a clamping replacement frame 6 and a transmission driven gear 7; the clamping replacement shaft 5 is arranged on the side wall surface of the mounting plate 1, the clamping replacement frame 6 is arranged on the side wall surface of the clamping replacement shaft 5, the transmission driven gear 7 is sleeved outside the clamping replacement shaft 5, and the transmission driven gear 7 is meshed with the driving transmission gear 4. The clamping replacement structure can support the sucker structure and the clamping claw structure, so that the two grabbing modes can stably grab an object.
Specifically, the sucking disc structure includes: pump body frame 8, air pump 9, sucking disc 10 and air pipe 11; the pump body frame 8 is installed and is pressed from both sides the upper wall surface of getting the change frame 6, and air pump 9 is installed in the inside of pump body frame 8, and sucking disc 10 is installed on the upper wall surface of air pump 9, and trachea 11 is installed at the lower wall surface of air pump 9. The sucker structure adsorbs the object through the mode of negative air pressure and snatchs, can snatch irregular object.
The clamping and fixing claw structure comprises: clamping the fixed plate 12, two dovetail rails 13 and two dovetail sliding blocks 14; the clamping fixing plate 12 is installed on the lower wall surface of the clamping replacement frame 6, the two dovetail rails 13 are respectively installed on the rear wall surface of the clamping fixing plate 12, and the two dovetail sliding blocks 14 are respectively installed inside the two dovetail rails 13. The clamping movable claw structure comprises: a movable gripping frame 15 and a pneumatic telescopic rod 16; the movable grabbing frame 15 is arranged between the two dovetail sliding blocks 14, and the pneumatic telescopic rod 16 is arranged on the upper wall surface of the clamping and fixing plate 12. The clamping claw structure is formed by the clamping fixed claw structure and the clamping movable claw structure, and the clamping claw structure can grasp objects through friction force and can grasp regular objects with larger weight.
Working principle: the utility model can not be used independently, the utility model needs to be matched with the existing manipulator, firstly, an operator uses four bolts to pass through four threaded holes formed in the mounting plate 1, the mounting plate 1 is fixed at the tail end of the manipulator, then the operator directly accesses an external alternating current power supply into the utility model, energy is provided for the work of the indexing motor 2 and the air pump 9 in the utility model, an external air source is accessed into the pneumatic telescopic rod 16, the utility model can clamp objects in two shapes, one is a regular object, can clamp the object, the other is an irregular spherical object, can clamp the object in an adsorption mode, and can be replaced in an adsorption mode, the two can be replaced in a replacement mode, the operator starts to rotate through controlling a controller matched with the indexing motor 2, the indexing motor 2 drives the driving transmission gear 4, and drives the transmission driven gear 7 to rotate through the engagement between the gears, so that the clamping and replacing frame 6 can clamp the object in a turnover type, when the clamping mode is used for clamping the object, the operator can clamp the object in an irregular mode by controlling the air pump 15, and can clamp the object in an air pump 9 in an adsorption mode by controlling the movable frame 15, and the object can be clamped in an adsorption mode, and the air pump 9 can be clamped in an irregular mode, and the object can be clamped and clamped in an air pump is required to be clamped and clamped.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (7)
1. A robotic multifunctional gripping device comprising: the mounting plate (1), its characterized in that, indexing conversion structure is installed to the lower wall of mounting plate (1), the side wall of mounting plate (1) is installed and is pressed from both sides and get the change structure, press from both sides and get the upper wall of changing the structure and install the sucking disc structure, press from both sides and get the lower wall of changing the structure and install and press from both sides and get the fixed jaw structure, press from both sides the upper wall of getting the fixed jaw structure and install and press from both sides and get the movable jaw structure.
2. The robotic multifunctional gripping device according to claim 1, wherein the indexing arrangement comprises: an indexing motor (2), a worm and gear indexing converter (3) and a driving transmission gear (4);
the worm and gear indexing converter (3) is arranged on the lower wall surface of the mounting plate (1), the indexing motor (2) is arranged on the lower wall surface of the mounting plate (1), the driving end of the indexing motor (2) is connected with the input shaft of the worm and gear indexing converter (3), and the driving transmission gear (4) is sleeved outside the output shaft of the worm and gear indexing converter (3).
3. The robotic multifunctional gripping device of claim 1, wherein the gripping and replacing structure comprises: a clamping replacement shaft (5), a clamping replacement frame (6) and a transmission driven gear (7);
the clamping replacing shaft (5) is arranged on the side wall surface of the mounting plate (1), the clamping replacing frame (6) is arranged on the side wall surface of the clamping replacing shaft (5), the driving driven gear (7) is sleeved outside the clamping replacing shaft (5), and the driving driven gear (7) is meshed with the driving gear (4).
4. The robotic multifunctional gripping device of claim 1, wherein the suction cup structure comprises: the pump body frame (8), the air pump (9), the sucker (10) and the air pipe (11);
the pump body frame (8) is installed on the upper wall surface of the clamping replacement frame (6), the air pump (9) is installed in the pump body frame (8), the sucking disc (10) is installed on the upper wall surface of the air pump (9), and the air pipe (11) is installed on the lower wall surface of the air pump (9).
5. The robotic multifunctional gripping device of claim 1, wherein the gripping and securing jaw structure comprises: clamping a fixed plate (12), two dovetail rails (13) and two dovetail sliding blocks (14);
the clamping fixing plate (12) is arranged on the lower wall surface of the clamping replacement frame (6), the two dovetail rails (13) are respectively arranged on the rear wall surface of the clamping fixing plate (12), and the two dovetail sliding blocks (14) are respectively arranged in the two dovetail rails (13).
6. The robotic multifunctional gripping device of claim 1, wherein the gripping moveable jaw structure comprises: a movable grabbing frame (15) and a pneumatic telescopic rod (16);
the movable grabbing frame (15) is arranged between the two dovetail sliding blocks (14), and the pneumatic telescopic rod (16) is arranged on the upper wall surface of the clamping fixing plate (12).
7. The multifunctional grabbing device for a robot according to claim 1, wherein four mounting holes are formed in the upper wall surface of the mounting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320595889.7U CN220030270U (en) | 2023-03-23 | 2023-03-23 | Multifunctional grabbing device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320595889.7U CN220030270U (en) | 2023-03-23 | 2023-03-23 | Multifunctional grabbing device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220030270U true CN220030270U (en) | 2023-11-17 |
Family
ID=88727373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320595889.7U Active CN220030270U (en) | 2023-03-23 | 2023-03-23 | Multifunctional grabbing device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220030270U (en) |
-
2023
- 2023-03-23 CN CN202320595889.7U patent/CN220030270U/en active Active
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