A robot variable distance fixture

Abstract

The present invention discloses a robot variable pitch clamp, comprising three claw shields arranged in parallel, characterized in that a clamp plate is arranged on the inner side of the claw shield, a clamp gear shaft is fixedly mounted on the rear wall of the clamp plate, a clamp gear washer is sleeved on the side of the clamp gear shaft close to the clamp plate, a gear block is fixedly mounted on the end of the clamp gear shaft away from the clamp plate, a central gear is rotatably mounted between the clamp gear washer and the gear block, three clamp racks are meshed on the outer side of the central gear, the side of the clamp rack away from the central gear is fixedly mounted on the clamp rack fixing plate, and a reserved hole for the clamp rack fixing plate to pass through is provided in the clamp plate. The present invention squeezes the inner ring wall of the coiled wire by moving three claws outward synchronously, so that the coiled wire is fixedly grasped by the three claws, and since three groups of claws are provided, three coiled wires can be fixedly grasped at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of clamps, and in particular to a robot variable-distance clamp. Background Art

[0002] After leaving the factory, the coiled wires are stacked up and down, with each layer of coiled wire separated by partitions, and each coil of wire is wrapped in a plastic bag on the outside. During further processing, the wires need to be taken out one by one and hung on a rack.

[0003] In the prior art, the removal of the rolled wire and the hanging of the rolled wire on the placement rack are completed by manual handling. Since the rolled wire weighs about several kilograms, the manual operation results in a low degree of automation and is time-consuming and labor-intensive. Summary of the invention

[0004] The purpose of the present invention is to provide a robot variable-distance clamp to solve the problems raised in the above background technology section.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A robot variable pitch clamp comprises three claw shields arranged in parallel, a clamp plate is arranged on the inner side of the claw shield, a clamp gear shaft is fixedly mounted on the rear wall of the clamp plate, a clamp gear washer is sleeved on the side of the clamp gear shaft close to the clamp plate, a gear stopper is fixedly mounted on the end of the clamp gear shaft away from the clamp plate, a central gear is rotatably mounted between the clamp gear washer and the gear stopper, three clamp racks are meshed on the outer side of the central gear, and the clamp rack is away from the central gear. One side is fixedly installed on the clamp rack fixing plate, and a reserved hole is provided in the clamp plate for the clamp rack fixing plate to pass through. A claw head is passed through the reserved hole on the side of the clamp rack fixing plate away from the clamp rack, and a slider is fixedly installed on the rear side of the claw head. A mounting groove is opened on the front side of the clamp plate, and a claw linear rail for the sliding installation of the slider is fixedly installed in the mounting groove. The slider is slidably sleeved on the outside of the claw linear rail. The left and right sides of the clamp plate are respectively fixedly installed with left clamp connecting side plates The right clamp is connected to the side plate, the inner side of the right clamp connected to the side plate is fixedly installed with an opening and closing claw cylinder, the piston end of the opening and closing claw cylinder is fixedly installed with an opening and closing claw cylinder connecting head, one side of the opening and closing claw cylinder connecting head is fixedly installed with the clamp rack fixing plate, the clamp plate and the left clamp are connected to the side plate The outer side of the clamp push yarn cylinder mounting plate is fixedly installed with a clamp push yarn cylinder mounting plate, the outer side of the clamp push yarn cylinder mounting plate is fixedly installed with a push yarn cylinder, and the piston end of the push yarn cylinder is fixedly installed with a push yarn plate, the left clamp is connected The side plate and the right clamp connecting side plate are fixedly installed on both sides of one side of the clamp base plate at one side away from the clamp plate, and a group of clamp variable pitch linear rails are fixedly installed on the other side of the clamp base plates on both sides, and the outer sliding sleeve of the clamp variable pitch linear rail is provided with a guide block, and the guide block is fixedly installed on the variable pitch clamp fixed plate at a side away from the clamp variable pitch linear rail, and the two clamp base plates are fixedly installed with variable pitch cylinder joints on the sides close to each other, and the variable pitch cylinder is fixedly installed on the side of the variable pitch cylinder joint away from the clamp base plate.

[0007] Furthermore, a guide rod is fixedly installed on the rear side of the clamp plate, a guide wheel is rotatably sleeved on the outer side of the guide rod, and one side of the clamp rack fixing plate is in sliding contact with the guide wheel.

[0008] Furthermore, a moving hole for the claw head to move is provided in the yarn pushing plate, and the yarn pushing plate is sleeved on the outer side of the claw head through the moving hole.

[0009] Furthermore, the three clamp bottom plates are fixedly mounted on the variable-distance clamp fixing plate via reinforcing ribs on two sides of one side away from the clamp plate.

[0010] Furthermore, a group of fixed claw pads are fixedly installed on the side of the middle clamp base plate away from the clamp plate, and the fixed claw pads are fixedly installed on the variable distance clamp fixed plate on the side away from the clamp plate, and the other side of the variable distance clamp fixed plate is fixedly installed on the robot connecting plate.

[0011] Furthermore, clamp variable pitch linear rail blocks are fixedly installed on both sides of the clamp variable pitch linear rail.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The present invention squeezes the inner ring wall of the rolled silk wire by the way of synchronously moving three claws outward, so that the rolled silk wire is fixedly grasped by the three claws. Since three groups of claws are equipped, three rolled silk wires can be fixedly grasped at the same time. Before hanging the rolled silk wire, the clamp plate is pushed to move by the variable pitch cylinder, thereby driving the claws and the rolled silk wire to move synchronously, so as to adjust the distance between the rolled silk wire on both sides and the middle rolled silk wire to match the distance between two adjacent hanging rods on the hanging rack. Finally, the yarn pushing cylinder pushes the yarn pushing plate forward. During the forward movement, the yarn pushing plate pushes the rolled silk wire on the outer side of the claw head onto the hanging rod, thereby completing the grasping and hanging of the rolled silk wire. The present invention has a high degree of automation, saves time and effort in operation, and greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic front view of the structure of an embodiment of a robot variable-distance clamp proposed by the present invention;

[0015] Figure 2 A schematic diagram of the right side structure of a robot variable-distance clamp embodiment proposed by the present invention;

[0016] Figure 3 A schematic diagram of the top view of a robot variable-distance clamp embodiment proposed by the present invention;

[0017] Figure 4 This is a schematic diagram of the internal top view structure of an embodiment of a robot variable-distance clamp proposed by the present invention;

[0018] Figure 5 It is a schematic diagram of the internal rear view structure of an embodiment of a robot variable-distance clamp proposed by the present invention;

[0019] Figure 6 A schematic diagram of the internal front view structure of a claw shield of an embodiment of a robot variable pitch clamp proposed by the present invention;

[0020] Figure 7A schematic diagram of the three-dimensional structure of a gear block, a central gear, a fixture rack, a fixture rack fixing plate, a claw head, a slider, a claw linear rail, an opening and closing claw cylinder, an opening and closing claw cylinder connector, a guide rod, and a guide wheel of an embodiment of a robot variable pitch fixture proposed by the present invention;

[0021] Figure 8 A schematic diagram of the rear view structure of a gear block, a central gear, a fixture rack, a fixture rack fixing plate, a claw head, a slider, a claw linear rail, an opening and closing claw cylinder, an opening and closing claw cylinder connector, a guide rod, and a guide wheel of an embodiment of a robot variable pitch fixture proposed by the present invention;

[0022] Fig. 9 A schematic diagram of the structure of a yarn pushing plate of an embodiment of a robot variable pitch clamp proposed by the present invention;

[0023] Fig.10 A schematic diagram of the structure of a fixture gear shaft, a fixture gear washer and a gear block of an embodiment of a robot variable pitch fixture proposed by the present invention;

[0024] Fig.11 A schematic diagram of the guide rod and guide wheel structure of an embodiment of a robot variable pitch clamp proposed by the present invention;

[0025] Fig.12 A schematic diagram of the structure of a fixture plate of an embodiment of a robot variable pitch fixture proposed by the present invention;

[0026] Fig.13 A schematic diagram of the structure of a fixture bottom plate of an embodiment of a robot variable-distance fixture proposed by the present invention;

[0027] Fig.14 A schematic diagram of the claw structure of an embodiment of a robot variable-distance clamp proposed by the present invention;

[0028] Fig.15 A schematic diagram of the claw shield structure of an embodiment of a robot variable-pitch gripper proposed by the present invention;

[0029] Fig.16 A schematic diagram of a mounting frame structure of a robot variable-distance clamp embodiment provided by the present invention;

[0030] Fig.17 A schematic diagram of a coiled wire structure of an embodiment of a robot variable pitch clamp proposed by the present invention;

[0031] In the figure: 1 claw shield, 2 fixture plate, 3 fixture gear shaft, 4 fixture gear gasket, 5 gear block, 6 center gear, 7 fixture rack, 8 fixture rack fixing plate, 9 reserved hole, 10 claw head, 11 slider, 12 claw linear rail, 13 left fixture connecting side plate, 14 right fixture connecting side plate, 15 opening and closing claw cylinder, 16 opening and closing claw cylinder connecting head, 17 fixture yarn pushing cylinder mounting plate, 18 yarn pushing cylinder, 19 yarn pushing plate, 20 guide rod, 21 guide wheel, 22 moving hole, 23 fixture bottom plate, 24 reinforcing rib, 25 variable pitch fixture fixing plate, 26 robot connecting plate, 27 fixture variable pitch linear rail, 28 guide block, 29 variable pitch cylinder joint, 30 variable pitch cylinder, 31 fixed claw pad, 32 fixture variable pitch linear rail block, 33 mounting groove, 34 hanging rack, 35 hanging rod, 36 rolled silk thread. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] Reference Figure 1-17A robot variable pitch fixture comprises three claw shields 1 arranged in parallel, a fixture plate 2 is arranged on the inner side of the claw shield 1, a fixture gear shaft 3 is fixedly installed on the rear wall of the fixture plate 2, a fixture gear washer 4 is sleeved on the side of the fixture gear shaft 3 close to the fixture plate 2, a gear stopper 5 is fixedly installed on the end of the fixture gear shaft 3 away from the fixture plate 2, a central gear 6 is rotatably installed between the fixture gear washer 4 and the gear stopper 5, three fixture racks 7 are meshed on the outer side of the central gear 6, and the side of the fixture rack 7 away from the central gear 6 is fixedly installed on On the fixture rack fixing plate 8, a reserved hole 9 for the fixture rack fixing plate 8 to pass through is provided in the fixture plate 2, and a claw head 10 is fixedly installed on the side of the fixture rack fixing plate 8 away from the fixture rack 7 through the reserved hole 9, and a slider 11 is fixedly installed on the rear side of the claw head 10, and a mounting groove 33 is opened on the front side of the fixture plate 2, and a claw linear rail 12 for slidingly installing the slider 11 is fixedly installed in the mounting groove 33, and the slider 11 is slidably sleeved on the outer side of the claw linear rail 12, and the left fixture connecting side plate 13 and the right fixture connecting side plate 13 are fixedly installed on the left and right sides of the fixture plate 2 respectively. The side plate 14 is fixedly installed with an opening and closing claw cylinder 15 on the inner side of the right clamp connecting side plate 14, and an opening and closing claw cylinder connecting head 16 is fixedly installed on the piston end of the opening and closing claw cylinder 15. One side of the opening and closing claw cylinder connecting head 16 is fixedly installed with the clamp rack fixing plate 8. The clamp plate 2 and the outer side of the left clamp connecting side plate 13 are fixedly installed with a clamp yarn pushing cylinder mounting plate 17. The outer side of the clamp yarn pushing cylinder mounting plate 17 is fixedly installed with a yarn pushing cylinder 18. The piston end of the yarn pushing cylinder 18 is fixedly installed with a yarn pushing plate 19. The left clamp connecting side plate 13 and the right clamp The side connecting side plate 14 is fixedly installed on both sides of one side of the clamp base plate 23 on one side, and a group of clamp variable pitch linear rails 27 are fixedly installed on the other side of the clamp base plates 23 on both sides. The outer sliding sleeve of the clamp variable pitch linear rail 27 is provided with a guide block 28. The side of the guide block 28 away from the clamp variable pitch linear rail 27 is fixedly installed on the variable pitch clamp fixed plate 25. The sides of the two clamp base plates 2 that are close to each other are respectively fixedly installed with variable pitch cylinder joints 29, and the side of the variable pitch cylinder joint 29 away from the clamp base plate 23 is fixedly installed with a variable pitch cylinder 30.

[0034] In the above embodiment, the inner ring wall of the rolled silk thread 36 is squeezed by the three claws 10 moving outward synchronously, so that the rolled silk thread 36 is fixedly grasped by the three claws 10. Since three groups of claws 10 are equipped, three rolled silk threads 36 can be fixedly grasped at the same time. Before hanging the rolled silk thread 36, the variable pitch cylinder 30 pushes the clamp plate 2 to move, thereby driving the claws 10 and the rolled silk thread 36 to move synchronously, so as to adjust the distance between the rolled silk thread 36 on both sides and the middle rolled silk thread 36 to match the distance between the two adjacent hanging rods 35 on the hanging frame 34. Finally, the yarn pushing cylinder 18 pushes the yarn pushing plate 19 forward. During the forward movement, the yarn pushing plate 19 pushes the rolled silk thread 36 on the outer side of the claw 10 onto the hanging rod 35, thereby completing the grasping and hanging of the rolled silk thread 36. The degree of automation is high, the operation saves time and effort, and the work efficiency is greatly improved.

[0035] Specifically, a guide rod 20 is fixedly installed on the rear side of the clamp plate 2 , a guide wheel 21 is rotatably sleeved on the outer side of the guide rod 20 , and one side of the clamp rack fixing plate 8 is in sliding contact with the guide wheel 21 .

[0036] In the above embodiment, one side of the clamp rack fixing plate 8 is brought into sliding contact with the guide wheel 21 , so that the moving track of the clamp rack fixing plate 8 is further limited by the guide wheel 21 .

[0037] Specifically, a moving hole 22 for the claw head 10 to move is provided in the yarn pushing plate 19 , and the yarn pushing plate 19 is sleeved on the outer side of the claw head 10 through the moving hole 22 .

[0038] In the above embodiment, the moving hole 22 can not only facilitate the movement of the claw head 10, but also further limit its moving trajectory.

[0039] Specifically, two sides of the three clamp bottom plates 23 away from the clamp plate 2 are fixedly mounted on the variable-distance clamp fixing plate 25 through reinforcing ribs 24 .

[0040] In the above embodiment, the reinforcing ribs 24 play a role of connection and fixing, and can simultaneously connect the three clamp bottom plates 23 into one.

[0041] Specifically, a group of fixed claw pads 31 are fixedly installed on the side of the clamp bottom plate 23 located in the middle away from the clamp plate 2, and the side of the fixed claw pads 31 away from the clamp plate 2 is fixedly installed on the variable-pitch clamp fixed plate 25.

[0042] In the above embodiment, the clamp plate 23 is fixedly mounted on the variable pitch clamp fixing plate 25 by fixing the claw pad 31 , and the other side of the variable pitch clamp fixing plate 25 is fixedly mounted to the robot connecting plate 26 .

[0043] Specifically, the two sides of the fixture variable pitch linear rail 27 are respectively fixedly installed with fixture variable pitch linear rail blocks 32, and the robot connecting plate 26 is fixedly installed with the robot, so that the robot connecting plate 26 is driven by the robot to move and rotate.

[0044] In the above embodiment, the fixture variable pitch linear rail stopper 32 can play the role of blocking and limiting.

[0045] Working principle: When grabbing the coiled wire 36, since three groups of claw heads 10 are used in the present application, the three coiled wires 36 can be grabbed simultaneously. The method is that the robot (not shown in the figure) drives the three groups of claw heads 10 to be inserted into the inner circles of the three coiled wires 36 arranged linearly through the robot connecting plate 26, and the spacing between each two adjacent inner circles of the coiled wires 36 arranged linearly is the same as the distance between the two adjacent groups of claw heads 10. After each group of claw heads 10 is inserted into the inner circle of the coiled wire 36, the opening and closing claw cylinder 15 is opened, and the piston end of the opening and closing claw cylinder 15 drives the opening and closing claw cylinder connection The head 16 moves, the opening and closing claw cylinder connecting head 16 drives the clamp rack fixing plate 8 fixedly connected thereto to move, the clamp rack fixing plate 8 drives the clamp rack 7 fixedly connected thereto to move, the clamp rack 7 drives the central gear 6 to rotate, and the central gear 6 synchronously drives the other two clamp racks 7 meshing therewith to move, thereby driving the three clamp rack fixing plates 8 to move along the trajectory of the moving hole 22 in the clamp plate 2 toward one side away from each other through the three clamp racks 7, so that the three claw heads 10 synchronously move in a direction away from each other to squeeze the inner ring wall of the coiled wire 36, thereby completing the grasping of the coiled wire 36 The robot then drives the claw head 10 and the grabbed coiled wire 36 to move to the side of the hanging rack 34. Since the spacing between two adjacent hanging rods 35 on the hanging rack 34 is different from the spacing between two adjacent coiled wires 36 grabbed, the spacing between the two adjacent coiled wires 36 should be adjusted before hanging the coiled wire 36 on the hanging rod 34. The method is to open the variable pitch cylinder 30, and the piston end of the variable pitch cylinder 30 drives the variable pitch cylinder joint 29 to move, and the variable pitch cylinder joint 29 pushes the clamp plate 2 to move. While the clamp plate 2 moves, the claw heads 10 and the coiled wire 36 on both sides are moved. 6 also moves synchronously. Since the middle rolled silk thread 36 is located in the center position, it does not need to be driven by the variable pitch cylinder 30 to move it. It is only necessary to change the position of the rolled silk threads 36 on both sides. After the rolled silk threads 36 on both sides are adjusted to the distance with the middle rolled silk thread 36 by the variable pitch cylinder 30, the yarn pushing cylinder 18 is turned on at this time, and the piston end of the yarn pushing cylinder 18 pushes the yarn pushing plate 19 to move forward. In the process of moving forward, the yarn pushing plate 19 pushes the rolled silk thread 36 on the outer side of the claw head 10 onto the hanging rod 35, thereby completing the grabbing and hanging of the rolled silk thread 36, with a high degree of automation, saving time and effort in operation, and greatly improving work efficiency.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot variable-pitch gripper, comprising three claw guards arranged in parallel, characterized in that: A clamp plate is provided on the inner side of the claw guard, a clamp gear shaft is fixedly installed on the rear wall of the clamp plate, a clamp gear washer is sleeved on the side of the clamp gear shaft close to the clamp plate, a gear stopper is fixedly installed on the end of the clamp gear shaft away from the clamp plate, a central gear is rotatably installed between the clamp gear washer and the gear stopper, three clamp racks are meshed on the outer side of the central gear, the side of the clamp rack away from the central gear is fixedly installed on the clamp rack fixing plate, a reserved hole is provided in the clamp plate for the clamp rack fixing plate to pass through, and the side of the clamp rack fixing plate away from the clamp rack passes through the reserved hole and is fixedly installed A claw head, a slider is fixedly installed on the rear side of the claw head, a mounting groove is opened on the front side of the clamp plate, a claw linear rail for sliding installation of the slider is fixedly installed in the mounting groove, the slider sliding sleeve is arranged on the outer side of the claw linear rail, a left clamp connecting side plate and a right clamp connecting side plate are fixedly installed on the left and right sides of the clamp plate respectively, an opening and closing claw cylinder is fixedly installed on the inner side of the right clamp connecting side plate, an opening and closing claw cylinder connecting head is fixedly installed on the piston end of the opening and closing claw cylinder, one side of the opening and closing claw cylinder connecting head is fixedly installed with the clamp rack fixing plate, and a clamp yarn pushing cylinder mounting plate is fixedly installed on the outer side of the clamp plate and the left clamp connecting side plate A yarn pushing cylinder is fixedly installed on the outer side of the clamp yarn pushing cylinder mounting plate, and a yarn pushing plate is fixedly installed on the piston end of the yarn pushing cylinder, and the left clamp connecting side plate and the right clamp connecting side plate are fixedly installed on both sides of one side of the clamp bottom plate away from the clamp plate, and a group of clamp variable pitch linear rails are fixedly installed on the other side of the clamp bottom plates on both sides, and the outer sliding sleeve of the clamp variable pitch linear rail is provided with a guide block, and the guide block is fixedly installed on the variable pitch clamp fixing plate on the side away from the clamp variable pitch linear rail, and the two clamp bottom plates are fixedly installed with variable pitch cylinder joints on the sides close to each other, and the variable pitch cylinder joints are fixedly installed on the side away from the clamp bottom plate A variable pitch cylinder is equipped, and a guide rod is fixedly installed on the rear side of the clamp plate, and a guide wheel is rotatably sleeved on the outer side of the guide rod, one side of the clamp rack fixing plate is in sliding contact with the guide wheel, and a movable hole for the movement of the claw head is provided in the yarn pushing plate, and the yarn pushing plate is sleeved on the outer side of the claw head through the movable hole, and a group of fixed claw pads are fixedly installed on the side of the clamp bottom plate in the middle away from the clamp plate, and the fixed claw pads are fixedly installed on the variable pitch clamp fixing plate on the side away from the clamp plate, and the other side of the variable pitch clamp fixing plate is fixedly installed on the robot connecting plate, and clamp variable pitch linear rail blocks are fixedly installed on both sides of the clamp variable pitch linear rail.

2. A robot variable distance fixture according to claim 1, characterized in that: The two sides of the three clamp bottom plates away from the clamp plate are fixedly mounted on the variable-distance clamp fixing plate through reinforcing ribs.

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