CN221160400U - Robot tongs double-sided fixture - Google Patents

Abstract

The utility model relates to the technical field of robot grippers, in particular to a robot gripper with double-sided clamps, which comprises a power arm, wherein a first sliding groove is formed in the lower end of the power arm, first I-shaped sliding blocks are symmetrically arranged in the first sliding groove in a sliding manner, electric telescopic rods are fixedly arranged on the other sides of the two first I-shaped sliding blocks, connecting plates are fixedly arranged at the telescopic ends of the two electric telescopic rods, and clamping mechanisms for clamping objects are arranged on the connecting plates. According to the utility model, the first servo motor can drive the two first I-shaped sliding blocks and the two second clamping plates to move relatively through the first bidirectional screw rod so as to clamp a large object, the second servo motor drives the two second I-shaped sliding blocks and the two first clamping plates to move relatively through the second bidirectional screw rod in cooperation with the second servo motor, and the two groups of clamping plates can further clamp two small objects respectively, so that the working efficiency is improved, and the middle object can be clamped through the cooperation of the two groups of clamping mechanisms.

Description

Robot tongs double-sided fixture

Technical Field

The utility model relates to a robot gripper, in particular to a double-sided gripper of the robot gripper, and belongs to the technical field of robot grippers.

Background

The robot gripper is one of important components in a robot system, can realize operations such as automatic grabbing, carrying and assembling, is widely applied to an automatic production process in the modern manufacturing industry, and can greatly improve the production efficiency and quality and reduce the production cost and the safety risk;

the robot gripper generally comprises a clamping gripper type mechanical gripper, a clamping plate type mechanical gripper, a vacuum suction type mechanical gripper and the like, the existing large clamping plate type mechanical gripper is mainly suitable for stacking boxes, the gripper is mainly used for stacking whole boxes or regular boxes for packaging objects, objects packaged by the small boxes are not suitable for clamping and taking, some small clamping plate type mechanical grippers can clamp and take the objects packaged by the small boxes, but the small clamping plate type mechanical gripper cannot clamp and take large packaging boxes due to the limitation of equipment, and meanwhile, the small clamping plate type mechanical gripper can only singly clamp and take the small boxes.

Accordingly, there is a need for an improvement in a robot gripper double-sided gripper to solve the above-mentioned problems.

Disclosure of utility model

The utility model aims to provide a robot gripper double-sided clamp, a first servo motor can drive two first I-shaped sliding blocks and two second clamping plates to move relatively through a first bidirectional screw rod so as to clamp a large object, the second servo motor is matched with the second servo motor, the second servo motor drives the two second I-shaped sliding blocks and the two first clamping plates to move relatively through the second bidirectional screw rod, the two groups of clamping plates can further clamp two small objects respectively, the working efficiency is improved, and the middle object can be clamped through the matched use of the two groups of clamping mechanisms.

In order to achieve the above purpose, the main technical scheme adopted by the utility model comprises the following steps:

The double-sided fixture of the robot gripper comprises a power arm, wherein a first sliding groove is formed in the lower end of the power arm, first I-shaped sliding blocks are symmetrically arranged in the first sliding groove in a sliding mode, electric telescopic rods are fixedly arranged on the other sides of the two first I-shaped sliding blocks, connecting plates are fixedly arranged at the telescopic ends of the two electric telescopic rods, and clamping mechanisms for clamping objects are arranged on the two connecting plates;

The clamping mechanism comprises a second sliding groove formed in the lower end of the connecting plate, second I-shaped sliding blocks symmetrically arranged in the second sliding groove in a sliding mode, and first clamping plates fixedly connected with the other sides of the two second I-shaped sliding blocks respectively;

The two opposite sides of the connecting plates are fixedly provided with round columns, and the opposite ends of the two round columns are fixedly provided with second clamping plates.

Preferably, a first bidirectional screw rod rotationally connected with the power arm is arranged in the first sliding groove, one end of the first bidirectional screw rod penetrates through the two first I-shaped sliding blocks and is in threaded screwing connection with the two first I-shaped sliding blocks, a first servo motor is fixedly arranged on one side of the power arm, and one end of the first bidirectional screw rod extends to the outer side of the power arm and is connected with the output end of the first servo motor.

Preferably, a second bidirectional screw rod rotationally connected with the connecting plate is arranged in the second sliding groove, the second bidirectional screw rod penetrates through the two second I-shaped sliding blocks and is in threaded screwing connection with the two second I-shaped sliding blocks, a second servo motor is fixedly arranged on one side of the connecting plate, and one end of the second bidirectional screw rod extends to the outer side of the connecting plate and is connected with the output end of the second servo motor.

Preferably, a rotating shaft is rotatably arranged on the upper end face of the power arm, a plurality of tooth grooves are formed in the outer surface of the rotating shaft, driving motors are symmetrically and fixedly arranged at the upper ends of the power arm, the output ends of the driving motors are connected with driving shafts, gears are fixedly arranged at the other ends of the driving shafts, and the gears are matched with the tooth grooves.

Preferably, two groups of first clamping plates and two opposite sides of the second clamping plates are fixedly provided with antiskid plates, and the antiskid plates are fixedly provided with antiskid stripes.

Preferably, a plurality of reinforcing ribs are fixedly arranged on one side, close to the connecting plate, of the second clamping plate, and the other ends of the reinforcing ribs are fixedly connected with the outer surface of the circular column.

Preferably, the rotating shaft is fixedly arranged at one end, close to the power arm, of the rotating shaft, the circular disc is positioned inside the power arm and is rotationally connected with the power arm, a protective cover is arranged at the upper end of the power arm, and the protective cover is rotationally connected with the rotating shaft.

The utility model has at least the following beneficial effects:

1. The first servo motor can drive two first I-shaped sliding blocks to move relatively through the first bidirectional screw rod, indirectly drives two second clamping plates to move relatively, can clamp a large object, and is matched with the use of the second servo motor, the second servo motor drives the two second I-shaped sliding blocks and the two first clamping plates to move relatively through the second bidirectional screw rod, the two groups of clamping plates can clamp two small objects, the working efficiency is improved, the two groups of clamping mechanisms are matched with the first servo motor, the first bidirectional screw rod and the first I-shaped sliding blocks to use, the distance between the two groups of clamping structures can be adjusted, and then the middle object can be clamped.

2. Starting two driving motors, after being connected in series through wires, the two driving motors are electrically connected with external commercial power, the two driving motors can realize synchronous rotation, the driving shafts drive gears to rotate, the gears are meshed with tooth grooves, and after the rotating shafts are fixedly connected with a robot, the power arms can rotate, so that objects with different angles can be clamped.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

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

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

FIG. 3 is a perspective cross-sectional view of the present utility model;

FIG. 4 is an enlarged schematic view of the structure of FIG. 3A according to the present utility model;

FIG. 5 is an enlarged schematic view of the structure of FIG. 3B according to the present utility model;

Fig. 6 is a second perspective cross-sectional view of the present utility model.

In the figure, 1, a power arm; 11. a first sliding groove; 12. a first I-shaped slider; 13. an electric telescopic rod; 14. a connecting plate; 15. a clamping mechanism; 151. a second sliding groove; 152. a second I-shaped slider; 153. a first clamping plate; 16. a circular column; 17. a second clamping plate; 2. a first bidirectional screw rod; 21. a first servo motor; 3. a second bidirectional screw rod; 31. a second servo motor; 4. a rotating shaft; 41. tooth slots; 42. a driving motor; 43. a drive shaft; 44. a gear; 5. a cleat; 51. anti-slip stripes; 6. reinforcing ribs; 7. a circular disc; 71. and a protective cover.

Detailed Description

The following detailed description of embodiments of the present application will be given with reference to the accompanying drawings and examples, by which the implementation process of how the present application can be applied to solve the technical problems and achieve the technical effects can be fully understood and implemented.

As shown in fig. 1-6, the double-sided robot gripper provided in this embodiment includes a power arm 1, a first sliding groove 11 is provided at the lower end of the power arm 1, a first i-shaped sliding block 12 is symmetrically and slidably provided in the first sliding groove 11, electric telescopic rods 13 are fixedly provided at the other sides of the two first i-shaped sliding blocks 12, when the gripping framework grips an object, the gripping mechanism 15 can be driven to approach the gripping object and grip the object by starting the electric telescopic rods 13 when the robot has a distance or is inconvenient to stretch, the telescopic ends of the two electric telescopic rods 13 are fixedly provided with connecting plates 14, the first i-shaped sliding blocks 12 drive the two second gripping plates 17 to move relatively or relatively in the sliding groove, and when the first i-shaped sliding blocks 12 move relatively, the two second gripping plates 17 can grip the large object and the medium object, the two connecting plates 14 are matched to use the gripping mechanism 15 for gripping the object in a more biased manner;

The clamping mechanism 15 comprises a second sliding groove 151 formed at the lower end of the connecting plate 14, a second I-shaped sliding block 152 symmetrically arranged in the second sliding groove 151 in a sliding way, and a first clamping plate 153 fixedly connected with the other sides of the two second I-shaped sliding blocks 152 respectively, the second sliding groove 151, the second I-shaped sliding block 152 and the two first clamping plates 153 are matched and practical, the two second I-shaped sliding blocks 152 slide in the second sliding groove 151, and the two first clamping plates 153 can be driven to move relatively or oppositely, so that a small object can be clamped when the two first clamping plates 153 do relative movement;

The round posts 16 are fixedly arranged on the opposite sides of the two connecting plates 14, the second clamping plates 17 are fixedly arranged on the opposite ends of the two round posts 16, a plurality of reinforcing ribs 6 are fixedly arranged on the side, close to the connecting plates 14, of the second clamping plates 17, the other ends of the reinforcing ribs 6 are fixedly connected with the outer surfaces of the round posts 16, and the reinforcing ribs 6 are arranged, so that the reinforcing ribs 6 can play a supporting role when the two second clamping plates 17 clamp a large object, and deformation of the second clamping plates 17 is avoided, and the use of the large object is influenced;

In addition, as shown in fig. 1 and 2, the anti-skid plates 5 are fixedly arranged on the opposite sides of the two groups of first clamping plates 153 and the two groups of second clamping plates 17, anti-skid stripes 51 are fixedly arranged on the anti-skid plates 5, the anti-skid plates 5 and the anti-skid stripes 51 are made of rubber, the rubber has good elasticity, high toughness, wear resistance and corrosion resistance, and friction force between the anti-skid plates 5 and objects can be increased by arranging the anti-skid stripes 51, so that the clamping effect on the objects is better;

As shown in fig. 1 and 2, a first bidirectional screw rod 2 rotationally connected with a power arm 1 is arranged in a first sliding groove 11, one end of the first bidirectional screw rod 2 penetrates through two first i-shaped sliding blocks 12 and is in threaded screwing connection with the two first i-shaped sliding blocks 12, a first servo motor 21 is fixedly arranged on one side of the power arm 1, one end of the first bidirectional screw rod 2 extends to the outer side of the power arm 1 and is connected with the output end of the first servo motor 21, the first servo motor 21 is started by arranging the first servo motor 21 and the first bidirectional screw rod 2, the first servo motor 21 drives the first bidirectional screw rod 2 to rotate, and the first bidirectional screw rod 2 is in threaded connection with the two first i-shaped sliding blocks 12, so that the two first i-shaped sliding blocks 12 can be driven to move relatively or oppositely;

Further, as shown in fig. 1, 3 and 5, a second bidirectional screw rod 3 rotationally connected with the connecting plate 14 is arranged in the second sliding groove 151, the second bidirectional screw rod 3 penetrates through the two second i-shaped sliding blocks 152 and is in threaded connection with the two second i-shaped sliding blocks 152, a second servo motor 31 is fixedly arranged on one side of the connecting plate 14, one end of the second bidirectional screw rod 3 extends to the outer side of the connecting plate 14 and is connected with the output end of the second servo motor 31, the second servo motor 31 is started by arranging the second servo motor 31 and the second bidirectional screw rod 3, the second servo motor 31 drives the second bidirectional screw rod 3 to rotate, and the second bidirectional screw rod 3 is in threaded connection with the two second i-shaped sliding blocks 152, so that the two second i-shaped sliding blocks 152 can be driven to move relatively or oppositely;

in a further step, as shown in fig. 1 and 6, a rotating shaft 4 is rotatably arranged on the upper end face of the power arm 1, a circular disc 7 is fixedly arranged at one end, close to the power arm 1, of the rotating shaft 4, the circular disc 7 is positioned in the power arm 1 and is rotationally connected with the power arm 1, the rotating shaft 4 can be prevented from being separated from the power arm 1 by arranging the circular disc 7, a plurality of tooth grooves 41 are formed in the outer surface of the rotating shaft 4, the plurality of tooth grooves 41 are circumferentially arrayed around the central axis of the rotating shaft 4, so that the power arm 1 can be uniformly stressed during rotation, driving motors 42 are symmetrically and fixedly arranged at the upper end of the power arm 1, the output end of each driving motor 42 is connected with a driving shaft 43, a gear 44 is fixedly arranged at the other end of each driving shaft 43, the gears 44 are matched with the corresponding tooth grooves 41, two driving motors 42 are started, the two driving motors 42 are in series connection with external power supply through wires, the two driving motors 42 can realize synchronous rotation, the gears 44 are meshed with the tooth grooves 41 through the driving shafts 43, and after the rotating shaft 4 is fixedly connected with a robot, the power arm 1 can rotate, and further objects with different angles can be clamped;

As shown in fig. 2, the power arm 1 is provided with a shield 71 at the upper end, and the shield 71 is rotatably connected to the rotation shaft 4, and the drive motor 42 and the gear 44 are both located in the shield 71, so that the shield 71 is provided to protect the power arm.

As shown in fig. 1 to 6, the principle of the robot hand double-sided clamp provided in this embodiment is as follows: through starting first servo motor 21, first servo motor 21 drives first two-way lead screw 2 and rotates, first two-way lead screw 2 and two first worker's type slider 12 spiro union, and then can drive two first worker's type sliders 12 and do relative or move in opposite directions, behind the fixture 15 relative motion that drives the below when two first worker's type sliders 12 are doing relative motion to suitable position, start second servo motor 31, second servo motor 31 can drive two second worker's type sliders 152 through second two-way lead screw 3 and do relative or move in opposite directions, indirectly drive two first grip plates 153 and move relatively or in opposite directions, can carry out the centre gripping to small-size object when two first grip plates 153 move relatively, can release the object after the centre gripping in opposite directions, two sets of grip plates can centre gripping a medium-size object respectively or centre gripping small-size object simultaneously, to large-size object, through first servo motor 21, first two-way lead screw 2, first worker's type sliders 12 and second grip plates 17 mutually support each other and use, can carry out relative or move in opposite directions to large-size object, can carry out the centre gripping with the drive shaft 4 through the first two-way lead screw 12 and the first worker's type sliders 17, and the gear wheel groove, and drive shaft 44, can be rotated, and the machine is rotated, can be rotated, and the opposite shaft 4 is rotated, can be rotated, and the opposite shaft is rotated, can be rotated, and is connected with the opposite shaft 4, and can be rotated, and can rotate, and 4, and can rotate the opposite arm 44.

Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art can solve the technical problem within a certain error range, substantially achieving the technical effect.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.

While the foregoing description illustrates and describes the preferred embodiments of the present utility model, it is to be understood that the utility model is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the utility model are intended to be within the scope of the appended claims.

Claims (7)

1. The utility model provides a robot tongs double-sided fixture, includes power arm (1), its characterized in that, first sliding tray (11) has been seted up on power arm (1) lower extreme, the symmetry slides in first sliding tray (11) and is provided with first I-shaped slider (12), two the opposite side of first I-shaped slider (12) is all fixed to be provided with electric telescopic handle (13), two electric telescopic handle (13)'s flexible end is all fixed to be provided with connecting plate (14), two be provided with on connecting plate (14) fixture (15) that are used for carrying out the centre gripping to the object;

The clamping mechanism (15) comprises a second sliding groove (151) formed in the lower end of the connecting plate (14), second I-shaped sliding blocks (152) symmetrically arranged in the second sliding groove (151) in a sliding mode, and first clamping plates (153) fixedly connected with the other sides of the two second I-shaped sliding blocks (152) respectively;

The round posts (16) are fixedly arranged on one sides of the two connecting plates (14) opposite to each other, and the second clamping plates (17) are fixedly arranged on one ends of the two round posts (16) opposite to each other.

2. The robotic gripper double-sided clamp of claim 1, wherein: the novel power arm is characterized in that a first bidirectional screw rod (2) rotationally connected with the power arm (1) is arranged in the first sliding groove (11), one end of the first bidirectional screw rod (2) penetrates through the two first I-shaped sliding blocks (12) and is in threaded screwing connection with the two first I-shaped sliding blocks (12), a first servo motor (21) is fixedly arranged on one side of the power arm (1), and one end of the first bidirectional screw rod (2) extends to the outer side of the power arm (1) and is connected with the output end of the first servo motor (21).

3. The robotic gripper double-sided clamp of claim 1, wherein: the second sliding groove (151) is internally provided with a second bidirectional screw rod (3) rotationally connected with the connecting plate (14), the second bidirectional screw rod (3) penetrates through the two second I-shaped sliding blocks (152) and is in threaded screwing connection with the two second I-shaped sliding blocks (152), one side of the connecting plate (14) is fixedly provided with a second servo motor (31), and one end of the second bidirectional screw rod (3) extends to the outer side of the connecting plate (14) and is connected with the output end of the second servo motor (31).

4. The robotic gripper double-sided clamp of claim 1, wherein: the automatic transmission device is characterized in that a rotating shaft (4) is rotatably arranged on the upper end face of the power arm (1), a plurality of tooth grooves (41) are formed in the outer surface of the rotating shaft (4), driving motors (42) are symmetrically and fixedly arranged at the upper ends of the power arm (1), driving shafts (43) are connected to the output ends of the driving motors (42), gears (44) are fixedly arranged at the other ends of the driving shafts (43), and the gears (44) are matched with the tooth grooves (41).

5. The robotic gripper double-sided clamp of claim 1, wherein: the two groups of the first clamping plates (153) and the two second clamping plates (17) are fixedly arranged on opposite sides of the two groups of the first clamping plates, and anti-slip strips (51) are fixedly arranged on the anti-slip plates (5).

6. The robotic gripper double-sided clamp of claim 1, wherein: a plurality of reinforcing ribs (6) are fixedly arranged on one side, close to the connecting plate (14), of the second clamping plate (17), and the other ends of the reinforcing ribs (6) are fixedly connected with the outer surface of the circular column (16).

7. The robot hand grip double-sided clamp of claim 4, wherein: the rotary shaft (4) is close to one end of the power arm (1) and is fixedly provided with a circular disc (7), the circular disc (7) is located inside the power arm (1) and is rotationally connected with the power arm (1), a protective cover (71) is arranged at the upper end of the power arm (1), and the protective cover (71) is rotationally connected with the rotary shaft (4).