CN219170937U

CN219170937U - Robot claw pincers

Info

Publication number: CN219170937U
Application number: CN202222450404.3U
Authority: CN
Inventors: 朱亚平
Original assignee: Zhuzhou Golden Ant New Material Co ltd
Current assignee: Zhuzhou Golden Ant New Material Co ltd
Priority date: 2022-09-16
Filing date: 2022-09-16
Publication date: 2023-06-13
Anticipated expiration: 2032-09-16

Abstract

The utility model discloses a robot claw clamp, which comprises a shell, wherein the middle part of the bottom end of the shell is provided with a sliding rail, the sliding rail is provided with a pair of clamping plates I which are in sliding connection with the sliding rail, the rear end of the sliding rail is provided with a motor I which is connected with the bottom end of the shell, the front end of the motor I is provided with a threaded shaft which penetrates through the two clamping plates I, and the threaded shaft is movably connected with the sliding rail; the beneficial effects are as follows: through setting up synchronous carousel, fixture, actuating mechanism, synchronous chain, outer ring gear, gear and motor two, when clamping plate one with clamping plate two mutually perpendicular, can carry out the centre gripping to some cubic work piece four sides, when clamping plate one with clamping plate two mutually parallel, can carry out the centre gripping to some platy work pieces that length is big and width is little, and the centre gripping area is even extensive, no matter the cubic work piece still has good centre gripping effect with platy work piece, the effectual centre gripping break away from phenomenon that avoids appearing.

Description

Robot claw pincers

Technical Field

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

Background

In industrial automation, robots with robot arms are often used, which can automatically clamp and release workpieces, and the robot arms have clamping effect because each robot arm is provided with a robot claw clamp matched with the robot arm.

The existing robot claw pliers are simple in structure, can only clamp workpieces of a single shape, and when the workpieces have large gaps, stability after clamping is difficult to guarantee. For example, a block-shaped workpiece and a plate-shaped workpiece, because of a large shape gap, the existing robot claw clamp cannot clamp the block-shaped workpiece and the plate-shaped workpiece stably at the same time.

For the problems in the related art, no effective solution has been proposed at present.

Disclosure of Invention

Aiming at the problems in the related art, the utility model provides a robot claw clamp which aims to overcome the technical problems in the prior art.

For this purpose, the utility model adopts the following specific technical scheme:

the utility model provides a robot claw pincers, includes the shell, the bottom middle part of shell is equipped with the slide rail, be equipped with a pair of and rather than sliding connection's grip block one on the slide rail, the rear end of slide rail be equipped with the motor one that the shell bottom is connected, the front end of motor one is equipped with runs through two the screw thread axle of grip block one, just the screw thread axle with slide rail swing joint, the bottom of shell be equipped with a pair of rather than swing joint's synchronous carousel, every all be equipped with fixture on the synchronous carousel, just the inside top of shell be equipped with two fixture assorted actuating mechanism, two have between the synchronous carousel rather than assorted synchronous chain, one of them synchronous carousel's top is equipped with outer ring gear, one side of outer ring gear is equipped with rather than meshing connection's gear, the top of gear be equipped with rather than the motor two that the inside top of shell is connected.

Preferably, the clamping mechanism comprises a limit sliding rod positioned in the synchronous turntable, a pair of sliding seats are sleeved on the limit sliding rod, the sliding seats are in sliding connection with the limit sliding rod, a long opening communicated with the inside of the limit sliding rod is formed in the bottom end of the synchronous turntable, a pair of sliding blocks are arranged on the long opening, each sliding block is in sliding connection with the long opening, a clamping plate II is arranged at the bottom end of each sliding block, a movable rod I and a movable rod II are respectively arranged on two sides of the sliding seats, the movable rod I corresponds to the sliding blocks in movable connection, and the movable rod II corresponds to the inner walls of the long openings in movable connection.

Preferably, the cross section of the limiting slide bar is of a square structure, and each slide block is of an L-shaped structure.

Preferably, the driving mechanism comprises a cylinder positioned in the middle of the top end of the inside of the shell, a long rod is arranged at the bottom end of the cylinder, discs are arranged at two ends of the long rod, and a pushing rod extending to the inside of the synchronous turntable and connected with the middle of the top end of the limiting slide rod is arranged at the bottom end of each disc.

Preferably, the push rod is movably connected with the limiting slide rod, and two ends of the limiting slide rod are vertically and slidably connected with the inner wall of the synchronous turntable.

Preferably, the two clamping plates are provided with a first buffer pad on one side close to each other, and a second buffer pad is provided on two sides of the clamping plates.

Preferably, the middle part of the top end of the shell is provided with a mounting seat, and one side of the top end of the shell is provided with a power line sealing cover.

The beneficial effects of the utility model are as follows:

1. through setting up synchronous carousel, fixture, actuating mechanism, synchronous chain, outer ring gear, gear and motor two, when clamping plate one and clamping plate two mutually perpendicular, can carry out the centre gripping to some cubic work piece four sides, when clamping plate one and clamping plate two mutually parallel, can carry out the centre gripping to some platy work pieces that length is big and width is little, and the centre gripping area is even extensive, and neither the cubic work piece nor platy work piece have good centre gripping effect, the effectual centre gripping break away from phenomenon that avoids appearing;

2. through all setting up blotter two in two sides of grip block two, have good buffering centre gripping effect under both conditions to make both have good guard action under the two states.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a robot claw grip according to an embodiment of the present utility model;

FIG. 2 is a bottom view of a robotic claw grip according to an embodiment of the utility model;

fig. 3 is a front cross-sectional view of a synchronized turntable in a robotic claw grip according to an embodiment of the utility model.

In the figure:

1. a housing; 2. a slide rail; 3. a clamping plate I; 4. a first motor; 5. a threaded shaft; 6. a synchronous turntable; 7. a synchronous chain; 8. an outer ring gear; 9. a gear; 10. a second motor; 11. a limit slide bar; 12. a slide; 13. an elongated opening; 14. a slide block; 15. a clamping plate II; 16. a movable rod I; 17. a second movable rod; 18. a cylinder; 19. a long rod; 20. a disc; 21. a push rod; 22. a mounting base; 23. a power line sealing cover.

Detailed Description

For the purpose of further illustrating the various embodiments, the present utility model provides the accompanying drawings, which are a part of the disclosure of the present utility model, and which are mainly used to illustrate the embodiments and, together with the description, serve to explain the principles of the embodiments, and with reference to these descriptions, one skilled in the art will recognize other possible implementations and advantages of the present utility model, wherein elements are not drawn to scale, and like reference numerals are generally used to designate like elements.

According to an embodiment of the present utility model, a robotic claw grip is provided.

Embodiment one;

as shown in fig. 1-3, a robot claw pliers according to an embodiment of the present utility model includes a housing 1, a slide rail 2 is disposed in the middle of the bottom end of the housing 1, a pair of clamping plates 3 slidably connected with the slide rail 2 are disposed on the slide rail 2, a motor 4 connected with the bottom end of the housing 1 is disposed at the rear end of the slide rail 2, a threaded shaft 5 penetrating through the two clamping plates 3 is disposed at the front end of the motor 4, the threaded shaft 5 is movably connected with the slide rail 2, a pair of synchronous turntables 6 movably connected with the housing 1 are disposed at the bottom end of the housing 1, a clamping mechanism is disposed on each synchronous turntable 6, a driving mechanism matched with the two clamping mechanisms is disposed at the top end of the interior of the housing 1, a synchronous chain 7 matched with the two synchronous turntables 6 is wound between the two synchronous turntables, an external gear ring 8 is disposed at the top end of one synchronous turntable 6, a gear 9 engaged with the external gear 8 is disposed at one side of the external gear ring 8, and a motor 10 connected with the top end of the external gear 9 is disposed at the top end of the gear 9.

Embodiment two;

as shown in fig. 1-3, according to the embodiment of the utility model, the clamping mechanism comprises a limit slide bar 11 positioned in the synchronous turntable 6, the limit slide bar 11 is sleeved with a pair of slide bases 12 in sliding connection with the limit slide bar 11, the bottom end of the synchronous turntable 6 is provided with a long opening 13 communicated with the interior of the synchronous turntable, the long opening 13 is provided with a pair of slide blocks 14 in sliding connection with the long opening 13, the bottom end of each slide block 14 is provided with a clamping plate two 15, two sides of each slide base 12 are respectively provided with a movable rod one 16 and a movable rod two 17, wherein the movable rod one 16 is correspondingly and movably connected with the slide blocks 14, the movable rod two 17 is correspondingly and movably connected with the inner wall of the long opening 13, the clamping plates two 15 have good clamping effect by controlling the up-down movement of the limit slide bar 11, and are matched with a driving mechanism, the operation of two clamping mechanisms can be controlled simultaneously, the cross section of the limit slide bar 11 is of a square structure, the horizontal movement stability of the slide base 12 is improved, each slide block 14 is of an L-shaped structure, the distance between the slide block 14 and the movable bar II 17 is reduced, the movement range of the slide block 14 is improved, the driving mechanism comprises an air cylinder 18 positioned in the middle of the top end inside the shell 1, the bottom end of the air cylinder 18 is provided with a long bar 19, two ends of the long bar 19 are respectively provided with a disc 20, the bottom end of each disc 20 is provided with a push bar 21 which extends into the synchronous turntable 6 and is connected with the middle of the top end of the limit slide bar 11, the driving function is achieved, the up-down movement of the limit slide bar 11 can be controlled, the push bar 21 is movably connected with the limit slide bar 11, the push bar 21 can not influence the extrusion and the pulling of the limit slide bar 11 when the synchronous turntable 6 rotates, and the both ends of spacing slide bar 11 all with synchronous carousel 6 inner wall vertical sliding connection prevents spacing slide bar 11 swing, improves the stability of spacing slide bar 11 reciprocates.

Embodiment three;

as shown in fig. 1-3, according to the robotic claw pliers of the embodiment of the utility model, the two clamping plates 3 are provided with the first buffer pad on the side close to each other, so that the clamping plates 3 have good buffer protection effect, the two sides of the second clamping plate 15 are provided with the second buffer pad, and the second clamping plate 15 has good buffer protection effect in both states.

Fourth embodiment;

as shown in fig. 1-3, according to the robotic claw forceps of the embodiment of the utility model, the middle part of the top end of the housing 1 is provided with the mounting seat 22, which can be connected with the robotic arm, one side of the top end of the housing 1 is provided with the power line sealing cover 23, the power line sealing cover 23 is opened, and some circuits below the power line sealing cover 23 are taken out, so that the operation of the whole robotic claw forceps can be well controlled by connecting the circuits with the robot.

In order to facilitate understanding of the above technical solutions of the present utility model, the following describes in detail the working principle or operation manner of the present utility model in the actual process.

In practical application, when clamping a block-shaped workpiece: firstly, a motor I4 is started to drive a threaded shaft 5 to rotate, two clamping plates I3 are close to each other to clamp a block-shaped workpiece forwards and backwards, a cylinder 18 is started afterwards, under the connection action of a long rod 19, two pushing rods 21 move upwards simultaneously, two limit sliding rods 11 move upwards simultaneously, in the upward movement process, two pairs of sliding seats 12 slide away from each other along the limit sliding rods 11, at the moment, the included angle between a movable rod I16 and a movable rod II 17 is gradually reduced, and finally, two pairs of clamping plates II 15 move away from each other (the clamping plates II in the interior move towards one side of the block-shaped workpiece), and left and right clamping of the block-shaped workpiece is realized; when clamping the plate-shaped workpiece: firstly, a second motor 10 is started, a gear 9 rotates, the gear 9 drives an outer gear ring 8 to rotate, under the connection action of a synchronous chain 7, two synchronous turntables 6 simultaneously rotate for 90 degrees, a second clamping plate 15 is vertical to a first clamping plate 3, then an air cylinder 18 is started, under the connection action of a long rod 19, two pushing rods 21 simultaneously move downwards, then two limiting slide rods 11 simultaneously move downwards, in the process of moving downwards, two pairs of slide bases 12 slide along the limiting slide rods 11 close to each other, at the moment, the included angle between a first movable rod 16 and a second movable rod 17 slowly increases, and finally, the two pairs of second clamping plates 15 are mutually close to each other to clamp a plate-shaped workpiece.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims

1. The utility model provides a robot claw pincers, its characterized in that, includes shell (1), the bottom middle part of shell (1) is equipped with slide rail (2), be equipped with a pair of and rather than sliding connection's clamping plate one (3) on slide rail (2), the rear end of slide rail (2) be equipped with shell (1) bottom be connected motor one (4), the front end of motor one (4) is equipped with runs through two clamping plate one (3) screw spindle (5), just screw spindle (5) with slide rail (2) swing joint, the bottom of shell (1) be equipped with a pair of rather than swing joint's synchronous carousel (6), every all be equipped with fixture on synchronous carousel (6), just shell (1) inside top be equipped with rather than two fixture assorted actuating mechanism, two be equipped with rather than assorted synchronous chain (7) between synchronous carousel (6), one of them synchronous carousel (6) top is equipped with outer ring gear (8), one side of outer ring gear (8) is equipped with its gear (9) of being connected with and is equipped with two inside (10) of shell (10).

2. The robotic claw forceps according to claim 1, wherein the clamping mechanism comprises a limit sliding rod (11) positioned in the synchronous turntable (6), the limit sliding rod (11) is sleeved with a pair of sliding seats (12) in sliding connection with the limit sliding rod, a long opening (13) communicated with the synchronous turntable (6) is formed in the bottom end of the synchronous turntable, a pair of sliding blocks (14) in sliding connection with the long opening (13) are arranged on the long opening (13), a clamping plate two (15) is arranged at the bottom end of each sliding block (14), a movable rod one (16) and a movable rod two (17) are respectively arranged on two sides of each sliding seat (12), the movable rod one (16) is correspondingly and movably connected with the sliding blocks (14), and the movable rod two (17) is correspondingly and movably connected with the inner wall of the long opening (13).

3. The robotic claw forceps of claim 2 wherein the cross section of the limit slide bar (11) is of square configuration and each slide block (14) is of L-shaped configuration.

4. The robotic claw forceps of claim 2 wherein the driving mechanism comprises a cylinder (18) located in the middle of the top end of the interior of the housing (1), a long rod (19) is arranged at the bottom end of the cylinder (18), discs (20) are arranged at two ends of the long rod (19), and a pushing rod (21) extending into the interior of the synchronous turntable (6) and connected with the middle of the top end of the limit sliding rod (11) is arranged at the bottom end of each disc (20).

5. The robotic claw forceps according to claim 4, wherein the pushing rod (21) is movably connected with the limit sliding rod (11), and two ends of the limit sliding rod (11) are vertically and slidably connected with the inner wall of the synchronous turntable (6).

6. The robot claw forceps according to claim 2, wherein the two clamping plates (3) are provided with a first buffer pad on one side close to each other, and a second buffer pad on two sides of the clamping plate (15).

7. The robotic claw forceps of claim 1, wherein a mounting seat (22) is arranged in the middle of the top end of the housing (1), and a power wire sealing cover (23) is arranged on one side of the top end of the housing (1).