CN220660863U

CN220660863U - Robot clamping structure

Info

Publication number: CN220660863U
Application number: CN202322174685.9U
Authority: CN
Inventors: 张泽森; 冯心柔; 陆林律; 贾涵玟; 齐滢玥; 何正宾; 林健维; 耿子钰
Original assignee: Hebei University
Current assignee: Hebei University
Priority date: 2023-08-14
Filing date: 2023-08-14
Publication date: 2024-03-26
Anticipated expiration: 2033-08-14

Abstract

The utility model discloses a robot clamping structure which comprises clamping jaws, a fixing frame and a robot main body, wherein the top end of the robot main body is provided with the fixing frame, a hydraulic cylinder is arranged in the fixing frame, the bottom of the hydraulic cylinder is provided with a connecting block, connecting rods are arranged at the two sides, the front end and the rear end of the connecting block, the two sides, the front end and the rear end of the bottom of the fixing frame are respectively provided with a clamping jaw, the bottom ends of the clamping jaws are provided with arc-shaped inserted bars in a penetrating way, a plurality of fixing holes are uniformly formed in the inner parts of the arc-shaped inserted bars.

Description

Robot clamping structure

Technical Field

The utility model relates to the technical field of robots, in particular to a robot clamping structure.

Background

A robot gripping structure refers to a device or mechanism for gripping, grabbing and manipulating objects in a robot system, which is generally composed of a manipulator, a jaw, a finger or other similar means, and the purpose of the robot gripping structure is to provide a stable and reliable gripping capability so that the robot can precisely handle and process various objects, and the gripping structure is generally composed of components which are sturdy and durable in materials, easy to operate and adjust, and which can implement gripping actions by means of an electric, pneumatic or hydraulic mechanical system, and the robot gripping structure can be widely applied in industrial fields for tasks such as automated production lines, assembly, handling, packaging, etc.

According to the search, in a clamping hand for an industrial robot with the publication number of CN218255230U, the utility model discloses a clamping hand for an industrial robot, which comprises a sealing shell, wherein a driving structure is arranged on the sealing shell, a clamping structure is arranged on the driving structure, two clamping arms are clamped on the driving structure, the clamping structure comprises a pressing block, two pressing blocks are connected onto the driving structure in a sliding manner, the pressing block is clamped with the clamping arms, a first reset spring is abutted between the pressing block and the driving structure, a stop block is connected onto the pressing block in a sliding manner, the stop block is abutted with the clamping arms, a second reset spring is abutted between the stop block and the pressing block, and an opening is formed in the clamping arms; can carry out quick change to the arm lock when the article that needs to press from both sides is cylindrical to can make the centre gripping hand all can be fine to the centre gripping of article of different shapes, the flexibility is good.

The general robot clamping structure has the following problems:

the general robot clamping structure adopts simple double-claw or three-claw structure, when carrying out the centre gripping to cylindric or smooth object in surface, this kind of structure can not provide stable centre gripping, easily causes the landing and leads to the damage of article, and general clamping jaw tip is comparatively sharp-pointed, does not set up buffer structure for the article can't evenly receive clamping force, when carrying out the centre gripping to different articles, the extranal packing of article easily receives clamping force and leads to the damage, influences the problem of the outside impression of article. To this end, we propose a robotic gripping structure.

Disclosure of Invention

The present utility model is directed to a robot clamping structure, which solves the above-mentioned problems.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot clamping structure, includes clamping jaw, mount and robot main part, the top of robot main part is provided with the mount, the inside of mount is provided with hydraulic cylinder, hydraulic cylinder's bottom is provided with the connecting block, both sides and the front and back both ends of connecting block all are provided with the connecting rod, both sides and the front and back both ends of mount bottom all are provided with the clamping jaw, arc inserted bar is worn to be equipped with in the bottom of clamping jaw, a plurality of fixed orifices has evenly been seted up to the inside of arc inserted bar.

Preferably, the top of the robot main body is fixedly connected with the top of the fixing frame, the top of the inner side of the fixing frame is fixedly connected with the top of the hydraulic oil cylinder, and the pushing end of the hydraulic oil cylinder is fixedly connected with the connecting block.

Preferably, both sides and the front and back both ends of connecting block all are with the activity pin joint of one end of connecting rod, the other end of connecting rod and the middle part activity pin joint of clamping jaw, the top of clamping jaw and the bottom activity pin joint of mount.

Preferably, a fixing bolt is arranged at the bottom of the clamping jaw in a penetrating way, and the fixing bolt is matched with the fixing hole.

Preferably, one end of the arc-shaped inserted rod inserted into the clamping jaw is fixedly connected with the middle part of the connecting arm, the top end of the connecting arm is movably pinned with the clamping jaw, the bottom end of the connecting arm is movably pinned with one side of the clamping plate, and the other side of the clamping plate is connected with a rubber pad.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the robot main body can be installed at a proper position, the hydraulic cylinder can be started, the connecting rods at the two sides of the bottom and the front and rear ends can be simultaneously pushed to move under the action of the hydraulic cylinder, the clamping jaws at the two sides and the front and rear ends can be simultaneously pushed to open through the movement of the connecting rods, the clamping jaws can be pushed to the outside of an object through the robot main body, the clamping jaws can be closed under the action of the contraction of the hydraulic cylinder, and then the clamping plate can be driven to clamp the object.

The clamping device can drive the connecting arm to rotate by pushing the movement of the arc-shaped inserted link, can drive the clamping plates at the bottom end to move by the rotation of the connecting arm, can be used for adjusting the clamping distance between the clamping plates, further can meet the requirements of clamping objects with different sizes, improves the practicality of the structure, can adjust each clamping plate to a proper position by the operation, can screw the fixing bolt into the fixing hole through the bottom of the clamping jaw, can be used for fixing the position of the arc-shaped inserted link, further can fix the position of the clamping plate, improves the stability of the clamping plate, can provide buffering for the objects in the clamping process, increases the area of the objects subjected to clamping force, and avoids damage caused by object sliding.

Drawings

FIG. 1 is a schematic diagram of a front view structure of the present utility model;

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

FIG. 3 is a schematic diagram of the front view of the hydraulic cylinder of the present utility model;

fig. 4 is a schematic view of a partial enlarged structure at a in fig. 1 according to the present utility model.

In the figure: 1. a connecting rod; 2. a clamping jaw; 3. a hydraulic cylinder; 4. a fixing frame; 5. a robot main body; 6. a connecting block; 7. a clamping plate; 8. a rubber pad; 9. a connecting arm; 10. a fixing bolt; 11. a fixing hole; 12. arc inserted bar.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but 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.

Please refer to fig. 1, a robot clamping structure, including clamping jaw 2, mount 4 and robot main part 5, the top of robot main part 5 is provided with mount 4, the inside of mount 4 is provided with hydraulic cylinder 3, hydraulic cylinder 3's bottom is provided with connecting block 6, connecting block 6's both sides and both ends all are provided with connecting rod 1 around, the both sides of mount 4 bottom and both ends all are provided with clamping jaw 2 around, arc inserted bar 12 is worn to be equipped with in clamping jaw 2's bottom, a plurality of fixed orifices 11 have evenly been seted up to arc inserted bar 12's inside.

As shown in fig. 1, fig. 2 and fig. 3, the top of the robot main body 5 is fixedly connected with the top of the fixing frame 4, the top of the inner side of the fixing frame 4 is fixedly connected with the top of the hydraulic cylinder 3, the pushing end of the hydraulic cylinder 3 is fixedly connected with the connecting block 6, both sides and front and rear ends of the connecting block 6 are movably pinned with one end of the connecting rod 1, the other end of the connecting rod 1 is movably pinned with the middle part of the clamping jaw 2, the top of the clamping jaw 2 is movably pinned with the bottom of the fixing frame 4, the robot main body 5 can be installed to a proper position, the hydraulic cylinder 3 can be started, both sides of the bottom and the connecting rods 1 at the front and rear ends can be pushed to move through the action of the hydraulic cylinder 3, both sides and the clamping jaws 2 at the front and rear ends can be pushed to the outside of an object through the movement of the connecting rod 1, the clamping jaw 2 can be closed through the contraction action of the hydraulic cylinder 3, and the clamping jaw 7 can be driven to clamp an object.

As shown in fig. 1 and fig. 4, fixing bolts 10 are arranged at the bottoms of the clamping jaws 2 in a penetrating manner, the fixing bolts 10 are matched with the fixing holes 11, one ends of the clamping jaws 2 are fixedly connected with the middle of the connecting arms 9, the tops of the connecting arms 9 are movably pinned with the clamping jaws 2, the bottoms of the connecting arms 9 are movably pinned with one sides of the clamping plates 7, rubber pads 8 are connected to the other sides of the clamping plates 7, the connecting arms 9 are driven to rotate by pushing the movement of the arc-shaped inserting rods 12, the clamping plates 7 at the bottoms are driven to move by the rotation of the connecting arms 9, clamping intervals between the clamping plates 7 can be adjusted, further clamping of objects with different sizes can be met, practicality of the structure is improved, the clamping plates 7 can be adjusted to proper positions through the operation, the fixing bolts 10 can be screwed into the fixing holes 11 through the bottoms of the clamping jaws 2, the positions of the arc-shaped inserting rods 12 can be fixed, stability of the clamping plates 7 can be improved, and the effect of the rubber pads 8 can be utilized to provide buffering for objects in the clamping process, and damage caused by sliding of the objects can be avoided.

Working principle: when using this robot clamping structure, at first, can install the robot main part 5 to suitable position, and can start hydraulic cylinder 3, through the effect of hydraulic cylinder 3, can promote the both sides of bottom simultaneously, and the connecting rod 1 at both ends removes around, the movement of accessible connecting rod 1 promotes both sides simultaneously, and the clamping jaw 2 at both ends opens around, and accessible robot main part 5 is with the outside of clamping jaw 2 propelling movement to the object, the effect of accessible hydraulic cylinder 3 shrink, can make clamping jaw 2 realize closing, and then can drive splint 7 and realize getting the clamp of object, then, the movement of accessible promotion arc inserted bar 12 drives connecting arm 9 and rotates, the splint 7 that can drive the bottom through the rotation of connecting arm 9 remove, can be used for adjusting the centre gripping interval between each splint 7, and then can satisfy the centre gripping to the not equidimension object, improve the practicality of structure, the operation of each splint 7 can be adjusted to suitable position through the bottom of clamping jaw 2, then, can screw in fixing bolt 10 through the bottom of clamping jaw 2 fixed orifices 11, can be used to the fixed to the position of arc inserted bar 12, and then can carry out the position to the splint 7, and firm effect can be avoided the object in the buffering area of the firm place of the clamping jaw 7, can be provided for the object, the object is broken in the buffering the process, the object is avoided, the object is broken down.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot clamping structure, includes clamping jaw (2), mount (4) and robot main part (5), its characterized in that: the robot comprises a robot body (5), wherein a fixing frame (4) is arranged at the top end of the robot body (5), a hydraulic oil cylinder (3) is arranged in the fixing frame (4), a connecting block (6) is arranged at the bottom of the hydraulic oil cylinder (3), connecting rods (1) are arranged at the two sides and the front and rear ends of the connecting block (6), clamping jaws (2) are arranged at the two sides and the front and rear ends of the bottom of the fixing frame (4), arc-shaped inserted bars (12) are arranged at the bottom ends of the clamping jaws (2) in a penetrating mode, and a plurality of fixing holes (11) are uniformly formed in the arc-shaped inserted bars (12);

the arc inserted link (12) insert clamping jaw (2) one end and linking arm (9) middle part fixed connection, the top and the clamping jaw (2) activity pin joint of linking arm (9), the bottom of linking arm (9) and one side activity pin joint of splint (7), the opposite side of splint (7) is connected with rubber pad (8).

2. The robotic clamping structure according to claim 1, wherein: the top of robot main part (5) is fixed connection with the top of mount (4), the top of mount (4) inboard is fixed connection with the top of hydraulic cylinder (3), the push end and the connecting block (6) fixed connection of hydraulic cylinder (3).

3. The robotic clamping structure according to claim 1, wherein: both sides and the front and back both ends of connecting block (6) all with the one end activity pin joint of connecting rod (1), the other end of connecting rod (1) and the middle part activity pin joint of clamping jaw (2), the top of clamping jaw (2) and the bottom activity pin joint of mount (4).

4. The robotic clamping structure according to claim 1, wherein: the bottom of clamping jaw (2) wears to be equipped with fixing bolt (10), fixing bolt (10) and fixed orifices (11) looks adaptation.