CN220113343U

CN220113343U - Robot claw

Info

Publication number: CN220113343U
Application number: CN202321423788.8U
Authority: CN
Inventors: 邱克林; 张长城; 皮航顺
Original assignee: Zhixi Robot Manufacturing Hubei Co ltd
Current assignee: Zhixi Robot Manufacturing Hubei Co ltd
Priority date: 2023-06-05
Filing date: 2023-06-05
Publication date: 2023-12-01
Anticipated expiration: 2033-06-05

Abstract

The utility model discloses a robot claw, which relates to the technical field of robot equipment and comprises an electric rotating table, wherein a rotating table is arranged on the bottom surface of the electric rotating table, a component frame is fixedly connected to the bottom surface of the rotating table, two symmetrical first sliding grooves are formed in the bottom surface of the component frame, two symmetrical sliding blocks are connected to the inner walls of the two first sliding grooves in a sliding manner, limiting mechanisms are arranged on the bottom surfaces of the two sliding blocks, a clamping mechanism is arranged on the outer surface of the component frame, and two symmetrical claw bodies are arranged below the component frame. It can be through setting up stop gear's effect, can carry out spacingly to jack catch body, latch, when needs carry out the centre gripping fixed to different grade type article to when needs changing the jack catch, stop gear can be released fast this moment and change the spacing of jack catch body, and can install fast when installing, overall structure is simple, reasonable in design, and stability is good and the practicality is strong, improves the conveying efficiency of robot.

Description

Robot claw

Technical Field

The utility model relates to the technical field of robot equipment, in particular to a robot claw.

Background

At present, the industrial robot is widely applied to the fields of automobile part manufacturing industry, mechanical processing industry, electronic and electric industry, food industry, rubber and plastic industry, wood and furniture manufacturing industry and the like, and the industrial robot can be used for reducing the rejection rate and cost, effectively reducing the risk of defective parts caused by misoperation of workers and the like. Gripping is one of the important applications of robotic arms, which can be used for the transport of items.

According to the Chinese patent of application number 201921245168.3, a robot claw for loading and unloading is disclosed. The automatic clamping device comprises an electric rotating table connected with a robot manipulator, wherein the bottom of the electric rotating table is provided with a mounting shell, an adjusting mechanism is arranged in the mounting shell, a claw is detachably arranged at the bottom of the adjusting mechanism, an auxiliary clamping mechanism which is adaptive to the claw is arranged at the outer bottom of the mounting shell, and the adjusting mechanism and the auxiliary clamping mechanism are respectively connected with a control unit arranged on the robot; the auxiliary clamping mechanism consists of an air cylinder arranged in the middle of the bottom in the installation shell, an arc-shaped clamping plate arranged at the power output end of the air cylinder and a pressure sensor arranged at the bottom of the arc-shaped clamping plate.

At present, when clamping different articles, the existing robot claw generally needs to replace different claws for multiple times in order to ensure the stability of clamping the articles, but the claw is generally fixed in a threaded fixing mode in the existing scheme, so that the claw replacement is difficult, and the transportation efficiency of the robot is reduced; to this end we provide a robotic gripper solving the above problems.

Disclosure of Invention

The utility model aims to make up the defects of the prior art and provides a robot claw.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot jack catch, includes electric turntable, the carousel is installed to electric turntable bottom surface, the bottom surface fixedly connected with subassembly frame of carousel, two symmetrical first spouts have been seted up to the bottom surface of subassembly frame, two the equal sliding connection of inner wall of first spout has two symmetrical sliders, two the bottom surface of slider all is provided with stop gear, the surface of subassembly frame is provided with fixture, the below of subassembly frame is equipped with two symmetrical jack catch bodies, two the equal fixedly connected with latch of surface of jack catch body.

Further, stop gear includes the subassembly piece, the surface fixed connection of subassembly piece is in the bottom surface of slider, the slot has been seted up to the surface of subassembly piece, the inner wall sliding connection of slot has the connecting block, and the surface fixed connection of connecting block is in the surface of jack catch body.

Further, two symmetrical assembly grooves are formed in the assembly block, connecting holes are formed in one side face, close to each other, of each assembly groove, and second sliding grooves are formed in the outer surfaces of the assembly grooves.

Further, two the inner wall in subassembly groove all sliding connection has the slide, two the equal fixedly connected with elastic component of a side that the slide kept away from each other, and the one end fixedly connected with in the inner wall in subassembly groove of elastic component kept away from the slide surface.

Further, two the surface of slide is equal fixedly connected with T type piece, and the surface sliding connection of T type piece in the inner wall of second spout, two the equal fixedly connected with gag lever post of a side that is close to each other of subassembly groove, and the surface sliding connection of gag lever post in the inner wall of connecting block and the inner wall of connecting hole.

Further, fixture includes two-way threaded rod and two slide bars and rotates the motor, the surface rotation of two-way threaded rod is connected in the inner wall of subassembly frame, two the equal fixed connection of surface of slide bar is in the inner wall of subassembly frame, the surface of rotation motor is inlayed in the surface of subassembly frame, and the output fixed connection of rotation motor is in the surface of two-way threaded rod.

Further, the surface fixedly connected with protecting crust of rotating motor, and the surface fixedly connected with of protecting crust in the surface of subassembly frame, the radiating groove has been seted up to the surface of protecting crust, the surface threaded connection of two-way threaded rod has two symmetrical movable blocks, and the inner wall sliding connection of movable block in the surface of slide bar, two the surface of movable block is equal fixed connection in the surface of slider.

Compared with the prior art, the robot claw has the following beneficial effects:

1. according to the utility model, through the effect of the limiting mechanism, the jaw body and the clamping teeth can be limited, when different types of objects are required to be clamped and fixed, and the jaw needs to be replaced, the limiting mechanism can rapidly remove the limitation of the jaw body and replace the jaw body, and the jaw body can be rapidly installed during installation, so that the robot is simple in integral structure, reasonable in design, good in stability and strong in practicability, and the transportation efficiency of the robot is improved.

2. According to the clamping mechanism, the clamping jaw can be driven to move under the action of the clamping mechanism, so that the clamping jaw can be driven to clamp and fix an article, the operation is simple and practical, the clamping force of the clamping jaw on the article is high, and the article is ensured to be stable and prevented from falling.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic view of the internal structure of the present utility model;

FIG. 3 is a schematic view of the internal structure of the limiting mechanism of the present utility model;

FIG. 4 is a schematic view of the internal structure of the clamping mechanism of the present utility model;

FIG. 5 is a schematic view of the internal structure of the protective shell according to the present utility model.

In the figure: 1 electric rotary table, 2 turntables, 3 component frames, 4 first sliding grooves, 5 sliding blocks, 6 limiting mechanisms, 601 component blocks, 602 slots, 603 component slots, 604 connecting holes, 605 second sliding grooves, 606 connecting blocks, 607 sliding plates, 608 elastic components, 609T-shaped blocks, 610 limiting rods, 7 clamping mechanisms, 701 bidirectional threaded rods, 702 sliding rods, 703 rotary motors, 704 protective shells, 705 heat dissipation grooves, 706 moving blocks, 8 claw bodies and 9 clamping teeth.

Detailed Description

The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.

This embodiment provides a robot jack catch, the device is used for carrying out quick replacement to the jack catch at the change jack catch in-process of robot, through setting up stop gear 6's effect, can carry out spacingly to jack catch body 8, latch 9, when needs carry out the centre gripping to the article of different grade type fixed, and when needs change the jack catch, stop gear 6 can be removed fast this moment and change the spacing of jack catch body 8, and can install fast when installing, overall structure is simple, reasonable in design, stability is good and the practicality is strong, improve the conveying efficiency of robot.

Referring to fig. 1 to 5, a robot claw comprises an electric rotating table 1, and a rotating table 2 is arranged on the bottom surface of the electric rotating table 1.

In this embodiment, the motor is installed inside the electric rotating table 1, so that the rotating table 2 can be driven to rotate, and the assembly frame 3 can be driven to integrally rotate, so that the clamping angle can be adjusted.

The bottom surface fixedly connected with subassembly frame 3 of carousel 2, two symmetrical first spouts 4 have been seted up to the bottom surface of subassembly frame 3, and the equal sliding connection of inner wall of two first spouts 4 has two symmetrical sliders 5, and the bottom surface of two sliders 5 all is provided with stop gear 6.

Referring to fig. 1 and 3, the limiting mechanism 6 includes a component block 601, an outer surface of the component block 601 is fixedly connected to a bottom surface of the slider 5, a slot 602 is provided on an outer surface of the component block 601, a connecting block 606 is slidably connected to an inner wall of the slot 602, and an outer surface of the connecting block 606 is fixedly connected to an outer surface of the jaw body 8.

Two symmetrical assembly grooves 603 are formed in the assembly block 601, connecting holes 604 are formed in one side face, close to each other, of each assembly groove 603, and second sliding grooves 605 are formed in the outer surfaces of each assembly groove 603.

The inner walls of both assembly slots 603 are slidably connected with a slide 607.

In this embodiment, the cooperation between the sliding plate 607 and the connection hole 604 can limit the limit rod 610, so that the limit rod 610 is stably inserted into the slot 602 and is limited.

One side surface of the two sliding plates 607, which is far away from each other, is fixedly connected with an elastic component 608, and one end of the elastic component 608, which is far away from the outer surface of the sliding plate 607, is fixedly connected with the inner wall of the component groove 603.

In this embodiment, the elastic component 608 is always in a pushing state, and the slide plate 607 and the limit rod 610 are driven to be inserted into the connecting block 606 to limit the elastic component 608.

The outer surfaces of the two sliding plates 607 are fixedly connected with T-shaped blocks 609, the outer surfaces of the T-shaped blocks 609 are slidably connected to the inner wall of the second sliding groove 605, one side surface of the two component grooves 603, which is close to each other, is fixedly connected with a limiting rod 610, and the outer surfaces of the limiting rods 610 are slidably connected to the inner wall of the connecting block 606 and the inner wall of the connecting hole 604.

The T-shaped blocks 609 on the two sides are manually pulled outwards, at this time, the slide plate 607 and the limit rod 610 are driven by the T-shaped blocks 609 to move towards the inside of the assembly groove 603, and after the limit rod 610 slides out of the inside of the connecting block 606, the limit of the connecting block 606 is released, and the limit of the jaw body 8 is released.

The outer surface of the component frame 3 is provided with a clamping mechanism 7.

Referring to fig. 1, 4 and 5, the clamping mechanism 7 includes a bidirectional threaded rod 701, two slide bars 702, and a rotating motor 703, the outer surface of the bidirectional threaded rod 701 is rotatably connected to the inner wall of the component frame 3, and the outer surfaces of the two slide bars 702 are fixedly connected to the inner wall of the component frame 3.

In this embodiment, the slide bar 702 can limit the moving block 706, so that the moving block 706 cannot rotate along with the bi-directional threaded rod 701, and stably moves on the surface of the bi-directional threaded rod 701.

The outer surface of the rotating motor 703 is fixedly inlaid on the outer surface of the assembly frame 3, and the output end of the rotating motor 703 is fixedly connected to the outer surface of the bidirectional threaded rod 701.

The outer surface of the rotating motor 703 is fixedly connected with a protecting shell 704, and the outer surface of the protecting shell 704 is fixedly connected with the outer surface of the assembly frame 3.

Through the effect of protecting crust 704, can protect rotating electric machine 703, avoid other foreign objects to collide rotating electric machine 703 and lead to unable use.

The outer surface of the protective shell 704 is provided with heat dissipation grooves 705.

In this embodiment, the number of the heat dissipation grooves 705 is plural, so that heat dissipation can be performed for the rotating motor 703, and the phenomenon that the rotating motor 703 is short-circuited due to overheating of the inside of the protective housing 704 caused by long-time use of the rotating motor 703 is avoided.

The external surface of the bidirectional threaded rod 701 is in threaded connection with two symmetrical moving blocks 706, the inner walls of the moving blocks 706 are in sliding connection with the external surface of the slide bar 702, and the external surfaces of the two moving blocks 706 are fixedly connected with the external surface of the slide block 5.

Here, the rotation motor 703 is started to drive the bidirectional threaded rod 701 to rotate, and drive the two moving blocks 706 in threaded connection to move towards the middle, and the movement of the moving blocks 706 drives the sliding block 5 to move and drives the limiting mechanism 6 and the jaw body 8 to integrally move.

Two symmetrical claw bodies 8 are arranged below the assembly frame 3, and clamping teeth 9 are fixedly connected to the outer surfaces of the two claw bodies 8.

In the embodiment, the two groups of clamping teeth 9 are inserted in the opposite directions, so that the article can be better clamped and fixed.

Working principle: when the clamping jaw of the robot is required to be replaced, firstly, the T-shaped blocks 609 on two sides are manually pulled outwards at the moment, the sliding plate 607 and the limiting rod 610 are driven by the T-shaped blocks 609 to move towards the inside of the component groove 603, after the limiting rod 610 slides out of the inside of the connecting block 606, the limiting of the connecting block 606 is released, the clamping jaw body 8 is manually pulled out to replace the clamping jaw body 8, then the clamping jaw body 8 after replacement drives the connecting block 606 to be inserted into the inside of the slot 602, after the clamping jaw body is inserted into the bottom, the inner wall of the connecting hole 604 is overlapped with the clamping groove in the slot 602 at the moment, the limiting of the T-shaped blocks 609 on two sides is released at the moment, under the pushing of the elastic component 608, the sliding plate 607 and the limiting rod 610 are driven to be inserted into the inside of the connecting block 606, finally, the rotating motor 701 is started to drive the bidirectional threaded rod 701 to rotate, the two moving blocks 706 to move towards the middle, the moving block 706 is limited by the sliding rod 702 to move stably, and then the moving block 702 is driven by the moving block 706, and the moving block 706 to move integrally, and the moving block 706 is driven by the moving block 706 to move 6, and the clamping jaw 8 to be clamped by the whole body to be clamped.

The foregoing is only illustrative of the present utility model and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present utility model.

Claims

1. The utility model provides a robot claw, includes electric rotating platform (1), its characterized in that: the electric rotating table is characterized in that the rotating table (2) is installed on the bottom surface of the electric rotating table (1), the assembly frame (3) is fixedly connected to the bottom surface of the rotating table (2), two symmetrical first sliding grooves (4) are formed in the bottom surface of the assembly frame (3), two symmetrical sliding blocks (5) are slidably connected to the inner walls of the first sliding grooves (4), limiting mechanisms (6) are arranged on the bottom surfaces of the sliding blocks (5), clamping mechanisms (7) are arranged on the outer surfaces of the assembly frame (3), and two symmetrical clamping jaw bodies (8) are arranged below the assembly frame (3), and clamping teeth (9) are fixedly connected to the outer surfaces of the clamping jaw bodies (8).

2. A robotic claw as claimed in claim 1 wherein: stop gear (6) are including subassembly piece (601), the surface fixed connection of subassembly piece (601) is in the bottom surface of slider (5), slot (602) have been seted up to the surface of subassembly piece (601), the inner wall sliding connection of slot (602) has connecting block (606), and the surface fixed connection of connecting block (606) is in the surface of jack catch body (8).

3. A robotic claw as claimed in claim 2 wherein: two symmetrical assembly grooves (603) are formed in the assembly block (601), connecting holes (604) are formed in one side face, close to each other, of each assembly groove (603), and second sliding grooves (605) are formed in the outer surfaces of the assembly grooves (603).

4. A robotic claw according to claim 3 wherein: the inner walls of the component grooves (603) are both connected with sliding plates (607) in a sliding mode, one side faces, away from each other, of the sliding plates (607) are both fixedly connected with elastic components (608), and one ends, away from the outer surfaces of the sliding plates (607), of the elastic components (608) are fixedly connected with the inner walls of the component grooves (603).

5. A robotic claw as claimed in claim 4 wherein: the outer surfaces of the two sliding plates (607) are fixedly connected with T-shaped blocks (609), the outer surfaces of the T-shaped blocks (609) are slidably connected to the inner wall of the second sliding groove (605), one side surface, close to each other, of the two assembly grooves (603) is fixedly connected with a limiting rod (610), and the outer surfaces of the limiting rods (610) are slidably connected to the inner wall of the connecting block (606) and the inner wall of the connecting hole (604).

6. A robotic claw as claimed in claim 1 wherein: the clamping mechanism (7) comprises a bidirectional threaded rod (701), two slide bars (702) and a rotating motor (703), wherein the outer surface of the bidirectional threaded rod (701) is rotationally connected to the inner wall of the assembly frame (3), the outer surfaces of the slide bars (702) are fixedly connected to the inner wall of the assembly frame (3), the outer surface of the rotating motor (703) is fixedly inlaid on the outer surface of the assembly frame (3), and the output end of the rotating motor (703) is fixedly connected to the outer surface of the bidirectional threaded rod (701).

7. A robotic claw as claimed in claim 6 wherein: the external surface fixedly connected with protecting crust (704) of rotating motor (703), and the external surface fixedly connected with of protecting crust (704) is in the surface of subassembly frame (3), radiating groove (705) has been seted up to the surface of protecting crust (704), the surface threaded connection of two-way threaded rod (701) has two symmetrical movable blocks (706), and the inner wall sliding connection of movable block (706) is in the surface of slide bar (702), two the surface of movable block (706) is equal fixed connection in the surface of slider (5).