CN107471242A - Robot self-locking handgrip mechanism - Google Patents

Abstract

The present invention relates to the technical field of robot equipment, in particular to a self-locking gripper mechanism for a robot, which includes a base and claws arranged on the base, and also includes a limit post, a baffle and a first elastic element. There are two claws and they are set opposite to each other. The two claws are both rotatably set on the base, and a chute is provided on the base. section and the lower end guide section and form a closed ring structure. When the self-locking gripper mechanism for the robot of the present invention is in use, it cooperates with the chute on the base through the limit post on the claw. When the claw is in the clamped state On the one hand, the claws are forced to open under the action of external force, and the limit column is set against the blocking section of the spines, so that the claws cannot be opened and the claws are kept in a clamped state. On the other hand, when the driving device fails, the same The claws can clamp the parts, and all the above can ensure stable and reliable clamping of the claws.

Description

Self-locking gripper mechanism for robots

technical field

The invention relates to the technical field of robot equipment, in particular to a self-locking gripper mechanism for a robot.

Background technique

Robots have been used in various important occasions to grab objects, transfer objects or process parts through robots. The existing robot realizes the clamping or loosening of the parts by opening or closing the two claws relatively. When the claws are grasping, when the external force acts on the parts, the parts exert a reaction on the claws. It is easy to cause the claws to open relatively, which will cause the parts to fall and be damaged, increase the production cost, and in serious cases cause the staff to be injured.

Contents of the invention

The technical problem to be solved by the present invention is: in order to solve the problem that the existing robot realizes the clamping or loosening of the parts by relatively opening or closing the two claws, when the claws are grasping, due to the external force acting on the parts, When it is put on, the part exerts a reverse force on the jaws, and it is easy to make the jaws open relatively, which will cause the parts to fall and be damaged, increase the production cost, and cause serious injuries to the staff. Now a kind of problem is provided. The robot uses a self-locking gripper mechanism.

The technical solution adopted by the present invention to solve the technical problem is: a self-locking gripper mechanism for a robot, which includes a base and claws arranged on the base, and also includes a limit post, a baffle and a first elastic There are two claws and they are arranged oppositely, and the two claws are both rotatably arranged on the base, and a chute is opened on the base, and the chute has an upper end guide section connected in sequence, The limit section and the lower guide section form a closed ring structure. The upper guide section has a first slope that is gradually inclined upwards along the rotation direction when the claw is opened. The first slope is located on the side close to the limit section. The limiting section is arranged in the vertical direction, and there are several thorns arranged in the limiting section, and the thorns have a displacement section and a blocking section connected in sequence, and the displacement section is gradually inclined downward along the rotation direction of the claws The second slope is set, the blocking section is a horizontally arranged plane, the lower guide section has a third slope opposite to the upper guide section, and the third slope is located on the side close to the limiting section, One end of the limiting column is slidably arranged in the chute, and a limiting groove matching the limiting column is opened on the claw, and the end of the limiting column far away from the chute is slidably arranged in the chute. In the limit slot, one end of the first elastic element is set on the limit post, the other end of the first elastic element is set on the claw, and the baffle plate is rotatably set on the upper guide section Between the limiting section, the inclination direction of the baffle plate is consistent with the inclination direction of the spine upper displacement section, and a second elastic element for restoring the baffle plate to its original state is arranged on the baffle plate. Through the cooperation of the limit column on the claw and the chute on the base, when the claw is in the clamped state, the limit column on the claw is located in the limit section of the chute, and the limit section prevents the claws from facing each other. Open, pass the lower end guide section to make the limit column transition to the upper end guide section, then pass the upper end guide section and push the baffle, under the action of the baffle, the limit column enters the thorn on the limit section, and the limit column Circulate in the chute to realize the opening or loosening of the jaws; when the jaws are in the state of clamping the workpiece, when the force acts on the workpiece and forces the jaws to open relatively, the limit column is set against the position The blocking section of the thorn prevents the claws from turning ineffective, ensuring the clamping of the workpiece by the claws.

In order to ensure that the limit post slides stably and reliably in the chute, further, the chute is a "T"-shaped structure, and the end of the limit post away from the claw is provided with a slider, and the slide block and the slide The grooves are matched, and the slider is slidably arranged in the chute. By setting the cross-sectional shape of the chute as a "T" structure, and setting a matching slider in the chute, the limit post is restricted in the chute, which ensures the stable and reliable operation of the limit post and avoids the limit The phenomenon that the bit column breaks away from the chute.

In order to facilitate the processing of the chute on the base and the installation of the slider in the chute, further, the base includes a fixed plate and a side plate, the claws are rotatably arranged on the fixed plate, and the fixed plate A stepped hole is opened on the top, the limiting section is arranged on the side plate, the side plate is fixedly connected to the end of the fixing plate away from the claw, the limiting section is arranged in the stepped hole and forms chute. By matching the stepped hole on the base with the limiting section on the side plate to form a sliding groove, the processing of the sliding groove is facilitated, and at the same time, the installation of the slider is facilitated.

In order to ensure stable and reliable sliding of the limit post, further, a guide shaft is provided on the claw, the guide shaft and the limit slot are arranged parallel to each other, and the limit post is slidably arranged on the guide shaft. The sliding arrangement of the limiting column on the guide shaft not only makes the sliding of the limiting column more stable and reliable, but also facilitates the installation of the elastic element.

In order to make the limit column run stably and reliably, further, the first elastic element is a spring. The limit column is tensioned by the spring, so that the limit column can be stably stuck in the blocking section of the thorn when the claw is subjected to a reverse force or the driving device fails.

In order to realize that the baffle can automatically return to its original state, further, the second elastic element is a coil spring. Since the second elastic element is a coil spring, after the baffle is opened, when the force acting on the baffle disappears, the baffle can quickly return to its original state under the force of the coil spring, the structure is simple, and the installation is convenient , but also easy to maintain.

The beneficial effects of the present invention are: when the self-locking gripper mechanism for the robot of the present invention is in use, the limit post on the claw cooperates with the chute on the base. Under the action, the claws are forced to open, and the limit column is set on the blocking section of the thorns, so that the claws cannot be opened and the claws are kept in a clamped state. On the other hand, when the driving device fails, the same claws play a role in opposing For the clamping of parts, all of the above can ensure that the jaws are clamped stably and reliably, avoiding the fact that the existing robot realizes the clamping or loosening of the parts by relatively opening or closing the two jaws. When the jaws are grabbing , when an external force acts on the part, the part exerts a reverse force on the jaws, which can easily cause the jaws to open relatively, which will cause the parts to fall and be damaged, increase the production cost, and in serious cases cause the staff to be injured.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the front view of the present invention;

Fig. 2 is a partial enlarged view of A in Fig. 1;

Fig. 3 is the front view of base in the present invention;

Fig. 4 is a partially enlarged view of B in Fig. 3;

Fig. 5 is the sectional view of C-C among Fig. 3;

Fig. 6 is a schematic diagram of the installation structure of the slider and the chute in the present invention;

Fig. 7 is a schematic view of the structure of the jaws of the present invention when they are in a relatively open state;

Fig. 8 is a schematic view of the structure of the claw in the lower guide section of the present invention.

In the figure: 1, base, 101, fixed plate, 102, side plate, 2, claw, 201, limit groove, 3, limit column, 4, baffle plate, 5, first elastic element, 6, slide Slot, 601, upper guide section, 602, limit section, 603, lower guide section, 7, spines, 701, displacement section, 702, blocking section, 8, second elastic element, 9, guide shaft, 10, slide block .

detailed description

The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

Example

As shown in Figures 1-8, a self-locking gripper mechanism for a robot includes a base 1 and a claw 2 arranged on the base 1, and also includes a limit post 3, a baffle 4 and a first elastic Component 5, the claws 2 have two and are oppositely arranged, and the two claws 2 are all rotatably arranged on the base 1, and a chute 6 is opened on the base 1, and the chute 6 has successively The upper end guide section 601, the limit section 602 and the lower end guide section 603 connected at the end form a closed ring structure. The upper end guide section 601 has a first slope that is gradually inclined upwards along the rotation direction when the claw 2 is opened. An inclined surface is located on the side close to the limiting section 602, the limiting section 602 is arranged in the vertical direction, and a plurality of thorns 7 are arranged in the limiting section 602, and the thorns 7 have a displacement section 701 and a blocking section connected in sequence. Section 702, the displacement section 701 is a second slope that is gradually inclined downwards in the direction of rotation when the claw 2 is close, the blocking section 702 is a plane that is horizontally arranged, and the lower end guide section 603 has a Section 601 is relatively obliquely provided with a third inclined surface. The third inclined surface is located on the side close to the limiting section 602. One end of the limiting column 3 is slidably arranged in the slide groove 6, and the claw 2 is provided with There is a limit slot 201 matched with the limit post 3, the end of the limit post 3 away from the chute 6 is slidably set in the limit slot 201, and one end of the first elastic element 5 is set in the On the limit post 3, the other end of the first elastic element 5 is set on the claw 2, and the baffle plate 4 is rotatably set between the upper end guide section 601 and the limit section 602. The inclination direction of the plate 4 is consistent with the inclination direction of the displacement section 701 on the spines 7 , and the second elastic element 8 for restoring the baffle 4 to its original state is arranged on the baffle 4 . The base 1 is provided with a cylinder for driving the two claws 2 to open or close relatively. The cylinder is connected to an external air source, and the opening and closing is controlled by an external controller. Of course, the drive claw 2 can also be a motor, etc. . Limiting columns 3 are arranged on the two claws 2 .

Described chute 6 is " T " shape structure, and described limit post 3 is provided with slide block 10 away from one end of claw 2, and described slide block 10 matches with described chute 6, and described slide block (0 Slidingly arranged in the chute 6 .

The base 1 includes a fixed plate 101 and a side plate 102, the claw 2 is rotatably arranged on the fixed plate 101, a stepped hole is opened on the fixed plate 101, and the limiting section 602 is set on the side plate 102 , the side plate 102 is fixedly connected to the end of the fixing plate 101 away from the claw 2 by screws, and the limiting section 602 is set in the stepped hole and forms the sliding groove 6 . In order to facilitate the manufacture of the chute 6 on the base 1 and to facilitate the installation of the slider 10 into the chute 6 . That is, the side plate 102 is provided with a protrusion, and the limiting section 602 is disposed on the protrusion, and the slide groove 6 is formed by matching the protrusion with the stepped hole.

The claw 2 is provided with a guide shaft 9 , the guide shaft 9 and the limiting groove 201 are arranged parallel to each other, and the limit post 3 is slidably arranged on the guide shaft 9 .

The first elastic element 5 is a spring. One end of the spring is arranged on the end of the claw 2 away from its center of rotation.

The second elastic element 8 is a coil spring.

When the above-mentioned self-locking gripper mechanism for robots is in use, the specific process is as follows: first start the cylinder, and the cylinder drives the claw 2 to rotate on the base 1, the two claws 2 are relatively opened, and the force of the limit column 3 under the force of the spring Down, the limit column 3 is displaced in the chute 6, the slider 10 on the limit column 3 slides in the chute 6, and the limit column 3 slides in the limit groove 201 on the claw 2 at the same time, by the limit The positioning column 3 is gradually displaced from the lower guide section 603 to the upper guide section 601. The lower guide section 603 has a third inclined plane opposite to the upper guide section 601. The inclined first slope forces the limit post 3 to move toward the stop section 602 at the upper guide section 601, and when the stop post 3 moves to the baffle 4 at the upper guide section 601, the stop post 3 pushes away the baffle 4, and enter between the upper guide section 601 and the limiting section 602, when the force of the limiting column 3 acting on the baffle 4 disappears, the baffle 4 returns to its original state under the force of the coil spring. At this time, the claws 2 gradually move closer to each other, so that the limiting column 3 is in contact with the baffle plate 4, and the limiting column 3 is forced to enter the thorns 7 of the limiting section 602. At this time, the limiting column 3 is displaced on the displacement section 701 of the foundation. When the claw 2 is in the clamped state, the limiting column 3 is on the thorn 7 of the limiting section 602 at this time, and the parts can be grasped or loosened by repeating the above process; when the claw 2 is in the clamped state, That is to say, the limiting column 3 is located at the spine 7 of the limiting section 602, and the workpiece is subjected to an external force on the jaw 2, and the parts act on the jaw 2, forcing the jaw 2 to open relatively, and the jaw 2 drives the limiting column 3 , so that the limit post 3 is against the blocking section 702 provided on the thorn 7, thereby preventing the reverse rotation of the claw 2, keeping the claw 2 in the clamped state, and also ensuring that the claw 2 is in the clamped state when the cylinder fails .

The above-mentioned ideal embodiment according to the present invention is an inspiration. Through the above-mentioned description, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.

Claims (6)

1. A self-locking gripper mechanism for a robot, comprising a base (1) and a claw (2) arranged on the base (1), characterized in that: it also includes a limit post (3), a stop The plate (4) and the first elastic element (5), the two claws (2) are arranged oppositely, and the two claws (2) are all rotated on the base (1), and the base A chute (6) is provided on the seat (1), and the chute (6) has an upper end guide section (601), a limit section (602) and a lower end guide section (603) connected sequentially to form a closed ring structure, the upper end guide section (601) has a first inclined surface that is gradually inclined upwards along the rotation direction when the claw (2) is opened, and the first inclined surface is located on the side close to the limiting section (602). The section (602) is arranged in the vertical direction, and several thorns (7) are arranged in the limiting section (602), and the thorns (7) have a displacement section (701) and a blocking section (702) connected in sequence. The displacement section (701) is a second inclined plane gradually inclined downwards along the rotation direction when the claw (2) approaches, the blocking section (702) is a plane arranged horizontally, and the lower guide section (603) has a The upper end guide section (601) has a third inclined surface arranged obliquely, the third inclined surface is located on the side close to the limiting section (602), and one end of the limiting column (3) is slidably arranged on the chute (6), the claw (2) is provided with a limit groove (201) matching the limit post (3), and the end of the limit post (3) is far away from the chute (6) Slidingly arranged in the limiting groove (201), one end of the first elastic element (5) is arranged on the limiting post (3), and the other end of the first elastic element (5) is arranged on the On the claw (2), the baffle (4) is rotatably arranged between the upper guide section (601) and the limiting section (602), and the inclination direction of the baffle (4) is in line with the spine ( 7) The inclination directions of the upper displacement sections (701) are consistent, and the baffle (4) is provided with a second elastic element (8) for restoring the baffle (4) to its original state. 2. The robot self-locking gripper mechanism according to claim 1, characterized in that: the chute (6) is a "T"-shaped structure, and the limit post (3) is far away from the claw (2) One end is provided with a slide block (10), the slide block (10) is matched with the slide groove (6), and the slide block (10) is slidably arranged in the slide groove (6). 3. The robot self-locking gripper mechanism according to claim 2, characterized in that: the base (1) includes a fixed plate (101) and a side plate (102), and the claw (2) is rotated to set On the fixed plate (101), a stepped hole is opened on the fixed plate (101), the limiting section (602) is arranged on the side plate (102), and the side plate (102) is fixedly connected to The end of the fixing plate (101) away from the claw (2), the limiting section (602) is arranged in the stepped hole and forms a sliding groove (6). 4. The self-locking gripper mechanism for a robot according to claim 1, characterized in that: the claw (2) is provided with a guide shaft (9), and the guide shaft (9) and the limiting groove (201) are arranged parallel to each other, and the limit post (3) is slidably arranged on the guide shaft (9). 5. The robot self-locking gripper mechanism according to claim 1, characterized in that: the first elastic element (5) is a spring. 6. The robot self-locking gripper mechanism according to claim 1, characterized in that: the second elastic element (8) is a coil spring.