Gripping apparatus structure

Abstract

The utility model relates to the technical field of welding clamping, in particular to a gripper structure which comprises supporting legs and a bottom plate, a welding mechanism comprises a rotating assembly, a mounting plate, a sliding groove and two sets of fixing assemblies, the rotating assembly comprises a first motor, a first gear, a mounting block, a rotating disc and a rotating table, and the supporting legs are all fixedly connected with the bottom plate. The rotating assembly is arranged above the bottom plate, the first motor is arranged above the bottom plate, the rotary table is fixedly connected with the mounting block, the driven rotary table is movably connected with the rotary table, and the sliding groove is fixedly connected with the mounting plate. According to the above arrangement, when a workpiece is fixed and welded, the workpiece can only be moved and adjusted in a small range, large-angle adjustment cannot be conducted, and welding dead angles can be generated.

Description

Technical Field

[0001] The utility model relates to the technical field of welding clamping, in particular to a gripper structure. Background Art

[0002] In daily life, a welding robot is an industrial robot engaged in welding. According to the definition of the International Organization for Standardization (ISO), an industrial robot is a standard welding robot. An industrial robot is a multi-purpose, reprogrammable automatic control operating machine with three or more programmable axes, which is used in the field of industrial automation. The existing welding robot gripper structure adjustment method and clamping method are relatively simple, which limits the angle of the gripper after clamping and cannot cope with processing of various complex angles. The relatively simple clamping method will lead to a reduced scope of use of the gripper, reduced adaptability, and inconvenience in use.

[0003] In the prior art, the CN218108764U patent discloses a gripper structure for an automobile welding robot, which relates to the field of welding clamping technology. In order to solve the problem that the existing gripper structure adjustment method and gripping method for welding robots are relatively single, so that the angle of the gripper after clamping is limited, and it cannot cope with the processing of various complex angles, and the gripping method is relatively single, it will lead to a reduced range of use of the gripper, reduced adaptability, and inconvenient use. The welding robot clamping member is fixed with side plates on both sides of the upper end, and a support rod is rotatably connected to the middle of the side plate through a support rod, one end of the support rod is connected to a self-locking worm wheel through a keyway, and the lower end of the self-locking worm wheel is meshed with a self-locking worm, and the self-locking worm is rotatably connected to the side plate through a connecting rod, and a gripper mounting plate is fixed to one end of the support rod, and a clamping cylinder is fixedly installed through the middle of the gripper mounting plate, and a cross plate is provided at one end of the clamping cylinder.

[0004] However, in the above scheme, when the workpiece is welded, the welded workpiece is usually irregular, and the workpiece needs to be welded at multiple angles during the welding process. When the workpiece is fixed for welding in the above setting, the workpiece can only be moved and adjusted in a small range, and cannot be adjusted at a large angle, resulting in welding dead angles. Utility Model Content

[0005] The purpose of the utility model is to provide a gripper structure, which aims to solve the problem that when welding a workpiece, the welding workpiece is usually irregular, and the workpiece needs to be welded at multiple angles during the welding process. When the workpiece is fixed for welding in the above-mentioned setting, the workpiece can only be moved and adjusted in a small range, and cannot be adjusted at a large angle, resulting in the problem of welding dead angles.

[0006] To achieve the above-mentioned purpose, the utility model adopts a gripper structure, including a supporting foot and a base plate, the welding mechanism includes a rotating assembly, a mounting plate, a slide groove and two groups of fixed assemblies, the rotating assembly includes a first motor, a first gear, a mounting block, a turntable and a turntable, a plurality of the supporting feet are fixedly connected to the base plate and are evenly arranged below the base plate, the rotating assembly is arranged above the base plate, the mounting plate is arranged above the rotating assembly, two groups of the fixed assemblies are symmetrically arranged above the mounting plate, the mounting block is fixedly connected to the base plate and is arranged above the base plate, the first motor is arranged above the base plate, the first gear is fixedly connected to the first motor and is arranged at the output end of the first motor, the turntable is fixedly connected to the mounting block and is arranged above the mounting block, the turntable is movably connected to the turntable and is arranged above the turntable and cooperates with the first gear, the slide groove is fixedly connected to the mounting plate and is arranged above the mounting plate, and both cooperate with the two groups of the fixed assemblies.

[0007] Among them, each group of the fixed components includes an adjusting component, a rotating component and a clamping component, and the adjusting component includes two fixing rings, a pushing rod, an adjusting plate and a sliding block. The two fixing rings are fixedly connected to the mounting plate and are evenly arranged above the mounting plate. The pushing rods are fixedly connected to the two fixing rings and are arranged in the middle of the two fixing rings. The sliding block is fixedly connected to the adjusting plate and is arranged on the outer side of the adjusting plate and cooperates with the sliding groove. The adjusting plate is fixedly connected to the pushing rod and is arranged at the output end of the pushing rod.

[0008] Among them, the rotating assembly includes a support plate, a second motor, a second gear, a toothed disc and a rotating shaft, the rotating shaft is arranged in the middle of the adjusting plate, the toothed disc is fixedly connected to the rotating shaft and is arranged at one end of the rotating shaft, the clamping assembly is arranged at the other end of the rotating shaft, the support plate is fixedly connected to the adjusting plate and is arranged on the outside of the adjusting plate, the second motor is arranged above the support plate, and the second gear is arranged at the output end of the motor and cooperates with the toothed disc.

[0009] Among them, the clamping assembly includes a mounting frame, a bidirectional screw, two clamping members, a third motor, a third gear and a driving plate. The mounting frame is connected to the rotating shaft and is arranged at one end of the rotating shaft. The bidirectional screw is arranged in the middle of the mounting frame, and one end of the bidirectional screw passes through the mounting frame. The two clamping members are both sleeved on the outside of the bidirectional screw. The third motor is arranged above the mounting frame, and the third gear is arranged at the output end of the third motor. The driving plate is arranged at one end of the bidirectional screw and cooperates with the third gear.

[0010] Among them, the gripper structure also includes two groups of protection components, each group of the protection components includes a movable groove, a plurality of movable blocks and an elastic cover, the two groups of the protection components are arranged above the slide groove, and respectively cooperate with each group of the adjustment components, the movable groove is fixedly connected to the slide groove and is arranged above the slide groove, the plurality of movable blocks are arranged inside the movable groove, and cooperate with the elastic cover, one end of the elastic cover is arranged on one side of the adjustment plate, and the other end of the elastic cover is connected to the movable groove.

[0011] The utility model provides a gripper structure, through the arrangement of multiple supporting feet, the multiple supporting feet play a role of supporting the base plate, so that the base plate can be away from the ground, the arrangement of the welding robot plays a role of welding the workpiece, the arrangement of the welding mechanism plays a role of fixing the workpiece and driving the workpiece to rotate, and cooperates with the welding robot to achieve the function of welding the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a side structural schematic diagram of the first embodiment of the utility model.

[0014] Figure 2 It is a three-dimensional structural diagram of the first embodiment of the utility model.

[0015] Figure 3 It is a structural schematic diagram of the first embodiment of the utility model.

[0016] Figure 4 It is a three-dimensional structural diagram of the second embodiment of the utility model.

[0017] Figure 5 This utility model Figure 4 A magnified view of the structure at center.

[0018] 101-supporting foot, 102-bottom plate, 103-mounting plate, 104-slide groove, 105-first motor, 106-first gear, 107-mounting block, 108-turntable, 109-turntable, 110-fixing ring, 12011-pushing rod, 112-adjusting plate, 113-slider, 114-supporting plate, 115-second motor, 116-second gear, 117-toothed disc, 118-rotating shaft, 119-mounting frame, 120-bidirectional screw, 121-clamping member, 122-third motor, 123-third gear, 124-driving disc, 201-moving groove, 202-moving block, 203-elastic cover. DETAILED DESCRIPTION

[0019] The first embodiment is:

[0020] See also Figure 1 to Figure 3 ,in Figure 1 This is a side structural diagram of the first embodiment of the utility model. Figure 2 It is a three-dimensional structural diagram of the first embodiment of the utility model. Figure 3 It is a structural schematic diagram of the first embodiment of the utility model.

[0021] The utility model provides a gripper structure, including a support foot 101, a base plate 102 and a welding mechanism, wherein the welding mechanism includes a rotating assembly, a mounting plate 103, a slide groove 104 and two groups of fixed assemblies, wherein the rotating assembly includes a first motor 105, a first gear 106, a mounting block 107, a turntable 108 and a turntable 109; each group of the fixed assemblies includes an adjustment assembly, a rotating assembly and a clamping assembly, wherein the adjustment assembly includes two fixing rings 110, a push rod 12011, an adjustment plate 112 and a slider 113; the rotating assembly includes a support plate 114, a second motor 11 5. A second gear 116, a toothed disc 117 and a rotating shaft 118; the clamping assembly includes a mounting frame 119, a bidirectional screw 120, two clamping members 121, a third motor 122, a third gear 123 and a driving disc 124. The above arrangement solves the problem that when welding a workpiece, the welded workpiece is usually irregular, and the workpiece needs to be welded at multiple angles during the welding process. When the workpiece is fixed for welding in the above arrangement, the workpiece can only be moved and adjusted in a small range, and cannot be adjusted at a large angle, which may result in a welding dead angle. The above arrangement improves the welding effect.

[0022] According to the present specific embodiment, the plurality of supporting legs 101 are fixedly connected to the bottom plate 102 and are evenly arranged below the bottom plate 102. The rotating assembly is arranged above the bottom plate 102. The mounting plate 103 is arranged above the rotating assembly. Two groups of the fixed assemblies are symmetrically arranged above the mounting plate 103. The mounting block 107 is fixedly connected to the bottom plate 102 and is arranged above the bottom plate 102. The first motor 105 is arranged above the bottom plate 102. The first gear 106 is fixedly connected to the first motor 105 and is arranged at the output end of the first motor 105. The turntable 109 is fixedly connected to the mounting block 107 and is arranged above the mounting block 107. The turntable 108 is fixedly connected to the turntable 109 is movably connected and arranged above the turntable 109, and cooperates with the first gear 106. The slide groove 104 is fixedly connected to the mounting plate 103 and arranged above the mounting plate 103, and cooperates with the two groups of the fixed components. Through the setting of the mounting plate 103 and the setting of the mounting block 107, the setting of the mounting block 107 plays a role in supporting the turntable 109, so that the turntable 109 can rotate on the mounting block 107. The setting of the first motor 105 plays a role in driving the first gear 106 to rotate, so that the first gear 106 cooperates with the turntable 108, and realizes the role of driving the mounting plate 103 arranged above the turntable 108 to rotate at the same time.

[0023] First, the two fixing rings 110 are fixedly connected to the mounting plate 103 and are evenly arranged above the mounting plate 103; the pushing rod 12011 is fixedly connected to the two fixing rings 110 and is arranged in the middle of the two fixing rings 110; the sliding block 113 is fixedly connected to the adjusting plate 112 and is arranged on the outer side of the adjusting plate 112 and cooperates with the sliding groove 104; the adjusting plate 112 is fixedly connected to the pushing rod 12011 and is arranged at the output end of the pushing rod 12011; through the setting of the two fixing rings 110, the two fixing rings 110 play a role in fixing the pushing rod 12011, so that the pushing rod 12011 can cooperate with the sliding block 113 and realize the role of mobilizing the adjusting plate 112 to move on the mounting plate 103.

[0024] Among them, the rotating shaft 118 is arranged in the middle of the adjusting plate 112, the toothed disc 117 is fixedly connected to the rotating shaft 118 and is arranged at one end of the rotating shaft 118, the clamping assembly is arranged at the other end of the rotating shaft 118, the supporting plate 114 is fixedly connected to the adjusting plate 112 and is arranged on the outer side of the adjusting plate 112, the second motor 115 is arranged above the supporting plate 114, the second gear 116 is arranged at the output end of the motor and cooperates with the toothed disc 117. Through the setting of the supporting plate 114, the supporting plate 114 plays a role of supporting the second motor 115, so that the second motor 115 can drive the second gear 116 to rotate in and out, and at the same time, the second gear 116 is engaged with the toothed disc 117 arranged at one end of the rotating shaft 118, thereby realizing the function of driving the clamping assembly to rotate.

[0025] Secondly, the mounting frame 119 is connected to the rotating shaft 118 and is arranged at one end of the rotating shaft 118, the bidirectional screw 120 is arranged in the middle of the mounting frame 119, one end of the bidirectional screw 120 passes through the mounting frame 119, the two clamping members 121 are both sleeved on the outside of the bidirectional screw 120, the third motor 122 is arranged above the mounting frame 119, the third gear 123 is arranged at the output end of the third motor 122, the driving plate 124 is arranged at one end of the bidirectional screw 120, and Cooperating with the third gear 123, through the setting of the mounting frame 119, the mounting frame 119 plays a role in installing the bidirectional screw 120, and the setting of the third motor 122 drives the third gear 123 to rotate, so that the third gear 123 cooperates with the adjusting disk arranged at one end of the bidirectional screw 120, thereby driving the bidirectional screw 120 to rotate, and driving the two clamping members 121 to move closer to and away from each other, thereby fixing the workpiece.

[0026] A gripper structure of the present embodiment is used. Through the setting of the welding mechanism, when the workpiece needs to be fixed and welded, the workpiece is placed in the two clamping members 121 in each group of the fixing components, and the third motor 122 is started. The third motor 122 drives the bidirectional screw 120 to rotate through the third gear 123 and the driving plate 124, so as to drive the two clamping members 121 to approach each other and fix the workpiece. At the same time, when a welding dead angle occurs, the first motor 105 is started. The first motor 105 drives the first gear 106 to rotate, so that the first gear 106 cooperates with the turntable 108 arranged on the turntable 109, so as to achieve the effect of driving the mounting plate 103 arranged above the turntable 108 to rotate at the same time, thereby improving the welding angle and also improving the welding effect of the welding workpiece.

[0027] The second embodiment is:

[0028] Based on the first embodiment, please refer to Figure 4-5 ,in Figure 4 It is a three-dimensional structural diagram of the second embodiment of the utility model. Figure 5 This utility model Figure 4 A magnified view of the structure at center.

[0029] The utility model provides a gripper structure which also includes two groups of protection components, each group of the protection components includes a movable groove 201, a plurality of movable blocks 202 and an elastic cover 203. Through the arrangement of the two groups of the protection components, the two groups of the protection components play a role in protecting each group of the adjustment components, so that each group of the adjustment components can be prevented from contacting with the welding slag generated during the welding process.

[0030] According to this specific embodiment, the two groups of protection components are arranged above the slide groove 104 and cooperate with each group of adjustment components respectively. The movable groove 201 is fixedly connected to the slide groove 104 and is arranged above the slide groove 104. The plurality of movable blocks 202 are arranged inside the movable groove 201 and cooperate with the elastic cover 203. One end of the elastic cover 203 is arranged on one side of the adjustment plate 112, and the other end of the elastic cover 203 is connected to the movable groove 201. Through the setting of the movable groove 201, the movable groove 201 plays a role of supporting the plurality of movable blocks 202, so that the plurality of movable blocks 202 can be connected to the elastic cover 203 and support the elastic cover 203. The setting of the elastic cover 203 plays a role of moving simultaneously with the adjustment plate 112, thereby realizing the protection of the adjustment component.

[0031] A gripper structure of the present embodiment is used, through the provision of two groups of the protection components. When each group of the protection components is in use, the adjustment plate 112 moves and drives the elastic cover 203 to retract and contract. At the same time, the multiple moving blocks 202 connected to the elastic cover 203 are all moved to one side in the moving groove 201, so as to assist the elastic cover 203 in stretching and contracting, thereby realizing the protection of the adjustment component.

[0032] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. A gripper structure, comprising a plurality of supporting legs and a bottom plate, wherein the plurality of supporting legs are fixedly connected to the bottom plate and are evenly arranged below the bottom plate. It is characterized in that It also includes welding mechanisms; The welding mechanism includes a rotating assembly, a mounting plate, a slide groove and two groups of fixed assemblies, the rotating assembly includes a first motor, a first gear, a mounting block, a turntable and a turntable, the rotating assembly is arranged above the base plate, the mounting plate is arranged above the rotating assembly, two groups of the fixed assemblies are symmetrically arranged above the mounting plate, the mounting block is fixedly connected to the base plate and arranged above the base plate, the first motor is arranged above the base plate, the first gear is fixedly connected to the first motor and arranged at the output end of the first motor, the turntable is fixedly connected to the mounting block and arranged above the mounting block, the turntable is movably connected to the turntable and arranged above the turntable, and cooperates with the first gear, the slide groove is fixedly connected to the mounting plate and arranged above the mounting plate, and both cooperate with the two groups of the fixed assemblies.

2. The gripper structure according to claim 1, It is characterized in that Each group of the fixed components includes an adjusting component, a rotating component and a clamping component. The adjusting component includes two fixed rings, a pushing rod, an adjusting plate and a sliding block. The two fixed rings are fixedly connected to the mounting plate and are evenly arranged above the mounting plate. The pushing rods are fixedly connected to the two fixed rings and are arranged in the middle of the two fixed rings. The sliding block is fixedly connected to the adjusting plate and is arranged on the outer side of the adjusting plate and cooperates with the sliding groove. The adjusting plate is fixedly connected to the pushing rod and is arranged at the output end of the pushing rod.

3. The gripper structure according to claim 2, It is characterized in that The rotating assembly includes a support plate, a second motor, a second gear, a toothed disc and a rotating shaft. The rotating shaft is arranged in the middle of the adjusting plate. The toothed disc is fixedly connected to the rotating shaft and arranged at one end of the rotating shaft. The clamping assembly is arranged at the other end of the rotating shaft. The support plate is fixedly connected to the adjusting plate and arranged at the outer side of the adjusting plate. The second motor is arranged above the support plate. The second gear is arranged at the output end of the motor and cooperates with the toothed disc.

4. The gripper structure according to claim 3, It is characterized in that The clamping assembly includes a mounting frame, a bidirectional screw, two clamping members, a third motor, a third gear and a driving plate. The mounting frame is connected to the rotating shaft and is arranged at one end of the rotating shaft. The bidirectional screw is arranged in the middle of the mounting frame, and one end of the bidirectional screw passes through the mounting frame. The two clamping members are both sleeved on the outside of the bidirectional screw. The third motor is arranged above the mounting frame, and the third gear is arranged at the output end of the third motor. The driving plate is arranged at one end of the bidirectional screw and cooperates with the third gear.

5. The gripper structure according to claim 4, It is characterized in that The gripper structure also includes two groups of protection components, each group of protection components includes a movable groove, a plurality of movable blocks and an elastic cover, the two groups of protection components are arranged above the slide groove, and respectively cooperate with each group of adjustment components, the movable groove is fixedly connected to the slide groove and is arranged above the slide groove, the plurality of movable blocks are arranged inside the movable groove, and cooperate with the elastic cover, one end of the elastic cover is arranged on one side of the adjustment plate, and the other end of the elastic cover is connected to the movable groove.

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