Parallel clamping jaw mechanism connected with robot for use

Abstract

The utility model provides a parallel clamping jaw mechanism connected with a robot for use, which solves the problem that products or materials with special characteristics such as hollow thin walls are easy to deform when being grabbed, and comprises an adapter plate connected with the robot, and the adapter plate is detachably connected with a fixing plate. A groove is formed in one end face of the fixing plate, the groove is detachably connected with a guide rail and a sliding block which are matched with the groove, one edge of the fixing plate is detachably connected with an air cylinder installation block used for fixing an air cylinder, and the air cylinder drives the clamping jaw assembly through a driving connecting rod so as to clamp and place products or materials. Compared with a common clamping jaw or a finger air cylinder, the parallel clamping jaw is higher in precision, adjustable in force and convenient in model replacement. The problem that the clamping jaw deforms when grabbing products or materials with special characteristics such as hollow thin walls can be effectively solved, and adjustment and installation are convenient and fast.

Description

Technical Field

[0001] The present application relates to the field of robot grippers, and in particular to a parallel gripper mechanism used in connection with a robot. Background Art

[0002] The gripper mechanism is one of the mechanisms widely used in the automation industry. The Z-axis part of the robot is responsible for the clamping and vacuum adsorption of the product. The ordinary clamping structure generally uses a finger cylinder or other mechanism to achieve the clamping action of most products or materials. In reality, there are some products with hollow single thin wall characteristics, such as: plastic rings, silicone sheets, alloy resistors, hardware frames, pipe fittings, etc. When clamping these thin-walled products or materials, it is necessary to consider the problem of clamping the surface, material deformation during clamping, and clamping force adjustment. For the clamping of these products or materials, it is worth proposing an improved technical solution. Utility Model Content

[0003] The purpose of the utility model is to solve the above technical shortcomings existing in the prior art, and proposes a parallel clamping mechanism used in connection with a robot, including an adapter plate connected to the robot, the adapter plate is detachably connected to a fixed plate, one end surface of the fixed plate is provided with a groove, the groove is detachably connected to a guide rail and a slider adapted thereto, one edge of the fixed plate is detachably connected to a cylinder mounting block, which is used for the fixed plate to transfer the cylinder, and the cylinder drives the clamping claw assembly through a driving connecting rod to realize the clamping and placement of products or materials;

[0004] Furthermore, the groove is in a cross shape, and each end of the groove extends to the edge of the fixed plate. In the middle of the fixed plate, a through hole is provided at the intersection of the X-axis and Y-axis grooves to eliminate the internal stress of the workpiece;

[0005] Furthermore, the guide rail and the slider include an X-axis guide rail a and a Y-axis guide rail b, a slider a slidably connected to the X-axis guide rail, and a slider b slidably connected to the Y-axis guide rail b;

[0006] Further, the clamping jaw assembly 7 includes a rotating shaft block a, an adapter block a, a connecting piece, a rotating shaft block b, an adapter block b, and a clamping jaw. One end of the rotating shaft block a is connected to the driving connecting rod, and the other end is connected to the connecting piece by a pin, so that the connecting piece slides along the Y-axis groove. One end of the connecting piece is connected to the rotating shaft block b and the adapter block b. The foot of the connecting piece is connected to the rotating shaft block b by a pin. The rotating shaft block b is connected to the adapter block b by a screw. The adapter block b is connected to the slider b by a screw. One end of the adapter block b is connected to the clamping jaw by a screw.

[0007] Furthermore, the two end surfaces of the adapter block a are detachably connected to the X-axis slider a and the rotating shaft block a;

[0008] Furthermore, the length of the guide rail a is less than the length of the X-axis groove, and the Y-axis groove of the fixed plate is connected with a guide rail b on both sides with the intersection point of the groove as the center, and the length of a single guide rail is less than the distance from the intersection point of the X-axis and Y-axis grooves to the edge of the Y-axis fixed plate;

[0009] Furthermore, a protruding portion is provided at the upper end of one side edge of the fixing plate, and the protruding portion is used for positioning and limiting the cylinder mounting block;

[0010] Furthermore, the driving connecting rod is provided with an adjusting screw for adjusting the moving stroke of the connecting rod.

[0011] Compared with the prior art, the advantages of this application are:

[0012] In the utility model, the cylinder 4 drives the connecting rod mechanism to realize the left and right movement of the rotating shaft block a, thereby realizing the effective clamping of special characteristic products or materials by the clamping claws. The operation is stable and the deformation problem when the clamping claws grasp hollow thin-walled products or materials is effectively solved. In addition, the adjustment and installation of the mechanism are convenient and quick, and the market prospects are good and suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the main structure of this application;

[0014] Figure 2 This is a schematic diagram of the Z-axis structure of this application;

[0015] Figure 3 This is a schematic diagram of the structure of the clamping jaw assembly of the present application;

[0016] Figure 4 Schematic diagram for connecting the robot for this application.

[0017] Description of the numbers in the figure:

[0018] Adapter plate 1, fixed plate 2, cylinder mounting block 3, cylinder 4, driving connecting rod 41, adjusting screw 42, guide rail a51, slider a52, guide rail b61, slider b62, clamping jaw assembly 7, rotating shaft block a71, adapter block a72, connecting piece 73, rotating shaft block b74, adapter block b75, clamping jaw 76, product 88. DETAILED DESCRIPTION

[0019] The embodiments will be combined with the drawings in the specification to clearly and completely describe the technical solution of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of the present application.

[0020] In the description of the present invention, it should be understood that the terms "upper end", "lower end", "up", "down", "left side", "right side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown along the Z-axis direction of the robot. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0021] Embodiment 1:

[0022] The utility model provides a parallel clamping mechanism for connecting robots. Figure 1-4 , including an adapter plate 11 and a fixed plate 2, the robot Z-axis lower end is connected with an adapter plate 1, the adapter plate 1 and the robot end are fixed with screws, the upper end face of the fixed plate 2 is screwed to the adapter plate 1, a "cross" shaped groove is arranged in the middle of the lower end face, and each end of the groove extends to the edge of the fixed plate 2, in the middle of the fixed plate 2, the intersection of the X-axis and Y-axis grooves is provided with a through hole, which is used to screw the fixed connecting plate, the fixed plate 2 and the guide rail a51 installed on the groove in the X-axis direction, and effectively eliminate the internal stress of the workpiece at the same time, the guide rail a51 is slidably connected with a slider a52, and the length of the guide rail a51 is less than the length of the X-axis groove, and the fixed plate 2 is connected with a groove in the Y-axis direction. The gathering point is the center, and a guide rail b61 is provided on each side. The length of a single guide rail is less than the distance from the intersection of the X-axis and Y-axis grooves to the edge of the Y-axis fixed plate 2. The guide rail b61 is slidably connected with a slider b62. The upper end of the right edge of the fixed plate 2 is more protruding than the lower end. The protruding part supports and limits the mounting block 3 of the cylinder 4. The mounting block 3 of the cylinder 4 is connected and fixed with screws of the cylinder 4 and the fixed plate 2. The cylinder 4 is connected and controls the action of the clamping jaw assembly 7 through the driving connecting rod 41. The driving connecting rod 41 is provided with an adjusting screw 42 for adjusting the connecting rod moving stroke so that the clamping tightness of the clamping jaw 76 is suitable for the characteristics of the product or material to be clamped, and can be adjusted according to the characteristics of the product or material.

[0023] like Figure 3 As shown, the clamping jaw assembly 7 includes a shaft block a71, a transfer block a72, a connecting piece 73, a shaft block b74, a transfer block b75, and a clamping jaw 76. One side of the transfer block a72 is screwed to the X-axis slider a52, and the other side is screwed to the shaft block a71. One end of the shaft block a71 is connected to the driving connecting rod 41, and the other end is pin-connected to two connecting pieces 73, so that the connecting piece 73 slides along the Y-axis groove. The foot of the connecting piece 73 is upwardly connected to the shaft block b74 and the transfer block b75 in sequence. The foot of the connecting piece 73 is pin-connected to the shaft block b74, the shaft block b74 is screwed to the transfer block b75, and the transfer block is screwed to the slider b62. The transfer block b75 is also screwed to one end with a clamping jaw 76.

[0024] When clamping products or materials, the cylinder 4 pulls the rotating shaft block a71 through the driving connecting rod 41, and the rotating shaft block a71 slides to the right side of the X-axis through the slider a52 connected to it. At this time, the two connecting parts 73 connected to the pin of the rotating shaft block a71 slide inwardly in the Y-axis at the same time to close and clamp the product; when placing products or materials, the cylinder 4 pushes the rotating shaft block a71 through the driving connecting rod 41, and the rotating shaft block a71 slides to the left side of the X-axis through the slider a52 connected to it. At this time, the two connecting parts 73 connected to the pin of the rotating shaft block a71 slide outwardly in the Y-axis at the same time, and the clamping jaws 76 open, and the product or material is placed.

[0025] The cylinder in the utility model drives the connecting rod mechanism to realize the left and right movement of the rotating shaft block a, thereby realizing the effective clamping of special characteristic products or materials by the clamping claws. The operation is stable and the deformation problem when the clamping claws grasp hollow thin-walled products or materials is effectively solved. The mechanism is easy and quick to adjust and install, has market prospects, and is suitable for promotion and application.

[0026] The above is only the best implementation method adopted by this application in combination with current actual needs, but the protection scope of this application is not limited to this.

Claims

1. A parallel gripper mechanism for connecting a robot, comprising an adapter plate (1) connected to the robot, characterized in that: The adapter plate (1) is detachably connected to the fixed plate (2); a groove is provided on one end surface of the fixed plate (2); a guide rail and a sliding block adapted thereto are detachably connected to the groove; an edge of the fixed plate (2) is detachably connected to a cylinder mounting block (3) for connecting the fixed plate (2) to the cylinder (4); the cylinder (4) drives the clamping jaw assembly (7) via a driving connecting rod (41) to achieve the clamping and placement of the product (8) or material.

2. A parallel gripper mechanism for connecting robots according to claim 1, characterized in that: The groove is in a cross shape, and each end of the groove extends to the edge of the fixed plate (2). In the middle of the fixed plate (2), a through hole is provided at the intersection of the X-axis and Y-axis grooves to eliminate internal stress of the workpiece.

3. A parallel gripper mechanism for connecting robots according to claim 2, characterized in that: The guide rails and sliders include an X-axis guide rail a (51) and a Y-axis guide rail b (61), a slider a (52) slidably connected to the X-axis guide rail a (51) and a slider b (62) slidably connected to the Y-axis guide rail b (61).

4. The parallel gripper mechanism for connecting robots according to claim 2, characterized in that: The clamping jaw assembly (7) comprises a rotating shaft block a (71), an adapter block a (72), a connecting piece (73), a rotating shaft block b (74), an adapter block b (75), and a clamping jaw (76). One end of the rotating shaft block a (71) is connected to the driving connecting rod (41), and the other end is connected to the connecting piece (73) by a pin, so that the connecting piece (73) slides along the Y-axis groove. One end of the connecting piece (73) is connected to the rotating shaft block b (74) and the adapter block b (75). The foot of the connecting piece (73) is connected to the rotating shaft block b (74) by a pin. The rotating shaft block b (74) is connected to the adapter block b (75) by a screw. The adapter block b (75) is connected to the slider b (62) by a screw. One end of the adapter block b (75) is connected to the clamping jaw (76) by a screw.

5. The parallel gripper mechanism for connecting robots according to claim 4, characterized in that: The two end surfaces of the adapter block a (72) are detachably connected to the X-axis sliding block a (52) and the rotating shaft block a (71).

6. The parallel gripper mechanism for connecting robots according to claim 3, characterized in that: The length of the guide rail a (51) is less than the length of the X-axis groove. The Y-axis groove of the fixed plate (2) is connected with a guide rail b (61) on both sides with the intersection point of the groove as the center. The length of a single guide rail is less than the distance from the intersection point of the X-axis and Y-axis grooves to the edge of the Y-axis fixed plate (2).

7. The parallel gripper mechanism for connecting robots according to claim 1, characterized in that: A protruding portion is provided at the upper end of one side edge of the fixing plate (2), and the protruding portion is used for positioning and limiting the cylinder mounting block (3).

8. The parallel gripper mechanism for connecting robots according to claim 1, characterized in that: The driving connecting rod (41) is provided with an adjusting screw (42) for adjusting the moving stroke of the connecting rod.

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