Throwing robot gripper

Abstract

The utility model relates to a throwing robot gripper, and belongs to the technical field of throwing robot grippers, the throwing robot gripper comprises a gripper base, a mechanical large arm is arranged on the gripper base, a mechanical small wall is arranged on the mechanical large arm, and an adjusting structure and a grabbing structure are arranged on the mechanical small wall; the adjusting structure comprises a connecting column rotationally installed on the small mechanical wall. According to the throwing robot gripper, by arranging the adjusting structure and the grabbing structure, the feeding assembly is used for controlling the two clamping plates to move towards the opposite sides, so that an object is rapidly grabbed and clamped, an electric push rod in the control assembly can be used for controlling a rack to move, the moving rack is used for driving a gear ring meshed with the rack to rotate, and therefore the object can be rapidly grabbed and clamped. And then the connecting column is controlled to drive the clamping frame to rotate, so that the angle of a clamped object is adjusted in situ, the object is conveniently clamped and operated in a narrow space, and the throwing angle is adjusted in a small range.

Description

Technical Field

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

[0002] The throwing robot gripper is an important component of robotics technology. It is specially designed for grabbing and throwing objects. The throwing robot gripper is usually directly mounted on a support rod or support arm. The height of the support rod corresponds to the height of the initial placement table of the object to ensure that when the robot moves to the placement table, the gripping manipulator can open and accurately grasp the object. The main functions of the throwing robot gripper include clamping and releasing objects, moving and positioning objects, rotating and flipping objects, and performing precise operations. During the throwing process, the throwing robot gripper uses the principle of lever, with the cylinder as the power and the elevated frame on the top of the vehicle as the fulcrum. When the cylinder contracts inward, it drives the push rod forward, thereby driving the throwing rod to flip upward quickly and throw the object out.

[0003] In the current existing technology, the throwing robot gripper can grasp and release objects, and control the throwing operation of the object through the movement of the robotic arm. However, in actual use, due to the large movement range of the robotic arm, a large operating space is required to control the throwing robot gripper to achieve the clamping action, which is extremely inconvenient to use in some narrow locations. Therefore, a throwing robot gripper is proposed to solve the above problem. Utility Model Content

[0004] In view of the shortcomings of the prior art, the utility model provides a throwing robot gripper, which has the advantage of micro-motion adjustment of clamping, and solves the problem that in actual use, due to the large moving range of the mechanical arm, a large operating space is required to control the throwing robot gripper to achieve clamping action, which is extremely inconvenient to use in some narrow locations.

[0005] To achieve the above object, the utility model provides the following technical solutions: a throwing robot gripper, comprising a gripper base, a mechanical arm is arranged on the gripper base, a mechanical small wall is arranged on the mechanical arm, and an adjustment structure and a grasping structure are arranged on the mechanical small wall;

[0006] The adjustment structure includes a connecting column rotatably mounted on a small mechanical wall, a supporting assembly for supporting the rotation of the connecting column is arranged on the small mechanical wall, a mounting frame is fixedly mounted on the small mechanical wall, a gear ring is fixedly mounted on the outer surface of the connecting column, a rack meshing with the outer surface of the gear ring is slidably mounted on the rear side wall of the inner cavity of the mounting frame, a connecting piece with one end penetrating through and extending to the outside of the mounting frame is fixedly mounted on the top of the rack, and a control assembly for controlling the left and right movement of the connecting piece is arranged on the top of the mounting frame.

[0007] Furthermore, the gripping structure includes a clamping frame, the top of which is fixedly connected to one end of a connecting column, two clamping plates for gripping objects are slidably mounted inside the clamping frame, and a feeding assembly for controlling the movement of the two clamping plates is provided on the clamping frame.

[0008] Furthermore, the mechanical arm is hinged to one end of the gripper base, the mechanical arm is hinged to one end of the mechanical small wall, a progressive motor for driving the mechanical arm to rotate is fixedly installed on the gripper base, and an asynchronous motor for controlling the rotation of the mechanical small wall is fixedly installed on the mechanical arm.

[0009] Furthermore, the support assembly includes two bearings, and circular grooves are provided on the top and bottom of the mechanical small wall. The two bearings are fixedly installed inside the two circular grooves respectively, and the inner walls of the two bearings are fixedly connected to the outer surface of the connecting column.

[0010] Furthermore, the installation frame includes a rectangular frame and a limit bar, the limit bar is fixedly installed on the rear side wall of the inner cavity of the rectangular frame, the rectangular frame is fixedly installed on the top of the mechanical small wall, and a limit groove is opened on the back side of the rack, and the inner wall of the limit groove is slidably connected to the outer surface of the limit bar.

[0011] Furthermore, the control component includes a mounting frame and an electric push rod, the electric push rod is fixedly mounted on the mounting frame, a displacement sensor electrically connected to the electric push rod is fixedly mounted on the mounting frame, and the telescopic end of the electric push rod is fixedly connected to the connecting piece.

[0012] Furthermore, a guide rod is fixedly installed between the left and right side walls of the inner cavity of the clamping frame, and connecting grooves are opened inside the two clamping plates. One end of the guide rod passes through the two connecting grooves, and the two clamping plates are slidably installed on the outer surface of the guide rod.

[0013] Furthermore, the feed assembly includes two feed cylinders, and mounting grooves are provided on both sides of the clamping frame. The feed cylinders are fixedly installed inside the mounting grooves, and the telescopic ends of the feed cylinders are fixedly connected to one side of the clamping plate.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] The throwing robot gripper is provided with an adjustment structure and a grasping structure, and realizes the use of a feed component to control the movement of two clamping plates to opposite sides, thereby realizing rapid grasping and clamping of objects, and the rack movement can be controlled by an electric push rod in the control component, and the moving rack is used to drive the gear ring meshing with it to rotate, thereby controlling the connecting column to drive the clamping frame to rotate, thereby achieving situ adjustment of the angle of the gripped object, thereby facilitating the clamping and operation of the driven object in a small space, and realizing a small adjustment of the throwing angle, thereby enhancing the practicality of the throwing robot gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the utility model Figure 1 A in the enlarged view;

[0018] Figure 3 This is a schematic diagram of the structure of the utility model Figure 1 The enlarged view of point B in the figure;

[0019] Figure 4 It is a three-dimensional schematic diagram of the clamping frame and the clamping plate of the utility model structure.

[0020] In the figure: 1. gripper base; 2. mechanical arm; 3. mechanical small wall; 41. connecting column; 42. supporting assembly; 43. mounting frame; 44. gear ring; 45. rack; 46. connecting piece; 47. control assembly; 48. clamping frame; 49. splint; 50. feeding assembly. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-4 A throwing robot gripper in this embodiment includes a gripper base 1, a mechanical arm 2 is arranged on the gripper base 1, a mechanical small wall 3 is arranged on the mechanical arm 2, an adjustment structure and a grasping structure are arranged on the mechanical small wall 3, the mechanical arm 2 and one end of the gripper base 1 are hinged, the mechanical arm 2 and one end of the mechanical small wall 3 are hinged, a progressive motor for driving the mechanical arm 2 to rotate is fixedly installed on the gripper base 1, and an asynchronous motor for controlling the rotation of the mechanical small wall 3 is fixedly installed on the mechanical arm 2.

[0023] In the implementation of this example, the adjustment structure includes a connecting column 41 rotatably mounted on the mechanical small wall 3, and a support assembly 42 for supporting the rotation of the connecting column 41 is arranged on the mechanical small wall 3. The support assembly 42 includes two bearings. The top and bottom of the mechanical small wall 3 are provided with circular grooves, and the two bearings are fixedly installed inside the two circular grooves respectively. The inner circumferential walls of the two bearings are fixedly connected to the outer surface of the connecting column 41, so as to facilitate the use of the bearings to support the rotation of the connecting column 41. A mounting frame 43 is fixedly mounted on the mechanical small wall 3, and a gear ring 44 is fixedly mounted on the outer surface of the connecting column 41. The rear side wall of the inner cavity of the mounting frame 43 is slidably mounted with a gear ring 44. The rack 45 meshes with the outer surface of the gear ring 44, and the mounting frame 43 includes a rectangular frame and a limit bar. The limit bar is fixedly installed on the rear side wall of the inner cavity of the rectangular frame, and the rectangular frame is fixedly installed on the top of the mechanical small wall 3. A limit groove is provided on the back of the rack 45, and the inner wall of the limit groove is slidably connected to the outer surface of the limit bar to limit and support the left and right sliding of the rack 45. A connecting piece 46 with one end passing through and extending to the outside of the mounting frame 43 is fixedly installed on the top of the rack 45. A control component 47 for controlling the left and right movement of the connecting piece 46 is provided on the top of the mounting frame 43, which is convenient for controlling the connecting piece 46 and driving the rack 45 to move.

[0024] Among them, the control component 47 includes a mounting frame and an electric push rod, the electric push rod is fixedly mounted on the mounting frame, a displacement sensor electrically connected to the electric push rod is fixedly mounted on the mounting frame, and the telescopic end of the electric push rod is fixedly connected to the connecting piece 46, so that the displacement sensor can be used to control the telescopic length of the electric push rod, thereby controlling the displacement distance of the rack 45.

[0025] By adopting the above technical solution, it is possible to use the control component 47 to control the electric push rod to control the connecting member 46 to move to one side, so that the moving connecting member 46 drives the rack 45 to slide on the outer surface of the limit bar, and the sliding rack 45 drives the gear ring 44 engaged with it to rotate, thereby controlling the connecting column 41 and driving the supported object to rotate.

[0026] In the implementation of this example, the grasping structure includes a clamping frame 48, the top of the clamping frame 48 is fixedly connected to one end of the connecting column 41, and two clamping plates 49 for grasping objects are slidably installed inside the clamping frame 48, so that the two clamping plates 49 can be used to clamp the grasped objects. A feeding assembly 50 for controlling the movement of the two clamping plates 49 is provided on the clamping frame 48, and the feeding assembly 50 includes two feeding cylinders. Installation grooves are provided on the left and right sides of the clamping frame 48, and the feeding cylinder is fixedly installed inside the installation groove. The telescopic end of the feeding cylinder is fixedly connected to one side of the clamping plate 49, so that the movement of the clamping plate 49 can be controlled by the telescopic movement of the feeding cylinder.

[0027] Among them, a guide rod is fixedly installed between the left and right side walls of the inner cavity of the clamping frame 48, and connecting grooves are opened inside the two clamps 49. One end of the guide rod passes through the two connecting grooves, and the two clamps 49 are slidably installed on the outer surface of the guide rod to limit the clamps 49 to move left and right only on the outer surface of the guide rod.

[0028] By adopting the above technical solution, it is possible to start the two feeding cylinders in the feeding assembly 50, so that the feeding cylinders control the movement of the clamping plates 49, thereby controlling the two clamping plates 49 to move to opposite sides, thereby achieving the goal of grabbing and clamping the object.

[0029] The working principle of the above embodiment is:

[0030] When the throwing robot gripper is in use, the two feeding cylinders in the feeding assembly 50 are started, so that the feeding cylinders control the movement of the clamping plates 49, thereby controlling the two clamping plates 49 to move to the opposite side, so as to grasp and clamp the object, and then the control assembly 47 is used to control the electric push rod to control the connecting member 46 to move to one side, so that the moving connecting member 46 drives the rack 45 to slide on the outer surface of the limit bar, and the sliding rack 45 is used to drive the gear ring 44 engaged with it to rotate, thereby controlling the connecting column 41 and driving the clamping frame 48 to rotate, thereby adjusting the angle of the grasped object without moving the mechanical arm 2 and the mechanical small wall 3.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A throwing robot gripper, comprising a gripper base (1), characterized in that: A mechanical arm (2) is provided on the gripper base (1), a mechanical small wall (3) is provided on the mechanical arm (2), and an adjustment structure and a gripping structure are provided on the mechanical small wall (3); The regulating structure comprises a connecting column (41) rotatably mounted on a mechanical small wall (3); a supporting assembly (42) for supporting the connecting column (41) to rotate is provided on the mechanical small wall (3); a mounting frame (43) is fixedly mounted on the mechanical small wall (3); a gear ring (44) is fixedly mounted on the outer surface of the connecting column (41); a rack (45) meshing with the outer surface of the gear ring (44) is slidably mounted on the rear side wall of the inner cavity of the mounting frame (43); a connecting piece (46) having one end penetrating and extending to the outside of the mounting frame (43) is fixedly mounted on the top of the rack (45); and a control assembly (47) for controlling the left and right movement of the connecting piece (46) is provided on the top of the mounting frame (43).

2. The throwing robot gripper according to claim 1, characterized in that: The gripping structure includes a clamping frame (48), the top of the clamping frame (48) is fixedly connected to one end of the connecting column (41), two clamping plates (49) for gripping objects are slidably installed inside the clamping frame (48), and a feeding assembly (50) for controlling the movement of the two clamping plates (49) is provided on the clamping frame (48).

3. The throwing robot gripper according to claim 1, characterized in that: The mechanical arm (2) is hinged to one end of the gripper base (1), and the mechanical arm (2) is hinged to one end of the mechanical small wall (3). A progressive motor for driving the mechanical arm (2) to rotate is fixedly mounted on the gripper base (1), and an asynchronous motor for controlling the rotation of the mechanical small wall (3) is fixedly mounted on the mechanical arm (2).

4. The throwing robot gripper according to claim 1, characterized in that: The support assembly (42) includes two bearings. Circular grooves are provided on the top and bottom of the mechanical small wall (3). The two bearings are fixedly installed inside the two circular grooves respectively. The inner peripheral walls of the two bearings are fixedly connected to the outer surface of the connecting column (41).

5. The throwing robot gripper according to claim 1, characterized in that: The installation frame (43) includes a rectangular frame and a limiting bar, wherein the limiting bar is fixedly installed on the rear side wall of the inner cavity of the rectangular frame, and the rectangular frame is fixedly installed on the top of the mechanical small wall (3). A limiting groove is provided on the back side of the rack (45), and the inner wall of the limiting groove is slidably connected to the outer surface of the limiting bar.

6. The throwing robot gripper according to claim 1, characterized in that: The control assembly (47) includes a mounting frame and an electric push rod, wherein the electric push rod is fixedly mounted on the mounting frame, a displacement sensor electrically connected to the electric push rod is fixedly mounted on the mounting frame, and the telescopic end of the electric push rod is fixedly connected to the connecting piece (46).

7. The throwing robot gripper according to claim 2, characterized in that: A guide rod is fixedly installed between the left and right side walls of the inner cavity of the clamping frame (48), and a connecting groove is opened inside the two clamping plates (49). One end of the guide rod passes through the two connecting grooves, and the two clamping plates (49) are slidably installed on the outer surface of the guide rod.

8. The throwing robot gripper according to claim 2, characterized in that: The feeding assembly (50) includes two feeding cylinders. The left and right sides of the clamping frame (48) are both provided with mounting grooves. The feeding cylinders are fixedly installed inside the mounting grooves. The telescopic ends of the feeding cylinders are fixedly connected to one side of the clamping plate (49).

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