Truss manipulator gripper

Abstract

The utility model discloses a truss manipulator gripper, which belongs to the technical field of manipulators, and comprises a truss main body and a mechanical gripper mounted on the truss main body, the mechanical gripper comprises a mounting frame and a fixing frame fixed at the bottom end of the mounting frame, a hydraulic rod is embedded in the mounting frame, and the hydraulic rod is connected with the truss main body. The device comprises a mounting frame, the two ends of the mounting frame are rotationally connected with moving frames, clamping plates are fixed to the opposite side faces of the two moving frames, connecting grooves are formed in the side walls of the clamping plates, rubber anti-skid pads are detachably fixed to the clamping plates through the connecting grooves, and connecting parts inserted into the connecting grooves in a matched mode are arranged on the rubber anti-skid pads. According to the truss manipulator gripper, the stability when a manipulator grabs objects is improved, the abraded rubber non-slip mats can be conveniently detached and replaced, and the friction force when the manipulator grabs the objects is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a truss manipulator claw. Background Art

[0002] The truss manipulator is a fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, which can adjust the workpiece position or realize the trajectory movement of the workpiece. Its control core is realized through an industrial controller (such as: PLC, motion control, single-chip microcomputer, etc.). After the controller analyzes and processes various input (various sensors, buttons, etc.) signals and makes certain logical judgments, it issues execution commands to various output components (relays, motor drivers, indicator lights, etc.) to complete the joint movement between the X, Y, and Z axes.

[0003] The patent application number CN202222973822.0 discloses a truss manipulator gripper, which relates to the field of manipulator gripper technology, including a truss body, a manipulator arm is installed on the truss body, a manipulator arm is installed on the manipulator, five manipulator grippers are installed on the manipulator, a detachable end is installed at the end of the manipulator gripper, an anti-rotation structure is installed on the detachable end, the anti-rotation structure consists of a base block, an insert block, a stop block and a spring, the insert block is installed at the inner end of the base block, there are two stop blocks and they are symmetrically installed at the left and right ends of the base block, and by arranging a detachable end at the end of the manipulator gripper, when the detachable end is worn, the anti-slip groove thereon is smoothed.

[0004] Although the mechanical claw in the above technical solution can improve the stability of the connection between the detachable end and the mechanical claw, a gap remains after the claw is merged. Therefore, when grabbing and fixing objects with small diameters, the objects may fall out of the gap and cause damage to the objects. Utility Model Content

[0005] In view of the deficiencies in the prior art, the purpose of the present utility model is to provide a truss manipulator gripper, which is intended to solve the technical problem in the prior art that gaps are left after the grippers are merged, so that when grasping and fixing objects with small diameters, the objects will fall out of the gaps and cause damage to the objects.

[0006] In order to solve the above technical problems, the utility model provides a truss manipulator gripper, which comprises a truss body and a mechanical gripper installed on the truss body, the mechanical gripper comprising a mounting frame and a fixed frame fixed to the bottom end of the mounting frame, the mounting frame is embedded with a hydraulic rod, and both ends of the mounting frame are rotatably connected to a movable frame, and two side surfaces of the two movable frames facing each other are fixed with clamps, the side walls of the clamps are provided with connecting grooves, and the clamps are detachably fixed with rubber anti-slip pads through the connecting grooves, the rubber anti-slip pads are provided with a connecting portion that fits in the connecting groove, and the side walls of the connecting portion are elastically provided with a positioning block for fixing the rubber anti-slip pads.

[0007] When the truss manipulator gripper of the technical solution is used, a fixed frame is arranged at the bottom end of the mounting frame, and the hydraulic rod in the mounting frame drives the telescopic frame to move upward, and during the movement, the two moving frames and the clamping plate are driven to move horizontally through the positioning rod, the first connecting rod and the second connecting rod, and during the movement, the rubber anti-skid pad on the clamping plate abuts against the side wall of the object, and the contact area between the manipulator and the surface of the object is increased through the rubber anti-skid pad, thereby improving the stability of the manipulator when grasping the object; a connecting groove is provided on the side wall of the clamping plate, and a connecting part that is matched and inserted in the connecting groove is provided on the rubber anti-skid pad, when the rubber anti-skid pad is worn, a button is pushed from the side wall of the clamping plate to squeeze the positioning block out of the positioning groove, so that the connecting part slides and is removed from the connecting groove, and after the rubber anti-skid pad is replaced, the connecting part is inserted into the connecting groove, and the elastic plate in the telescopic groove of the side wall of the connecting part pushes the positioning block to match and be inserted in the positioning groove, so that the rubber anti-skid pad is kept fixed on the side wall of the clamping plate, which is convenient for disassembly and replacement of the worn rubber anti-skid pad, thereby improving the friction of the manipulator grasping the object.

[0008] Preferably, a cross bar is slidably sleeved on the truss body, and the top end of the mounting frame is slidably sleeved on the cross bar.

[0009] Furthermore, a telescopic frame connected to the hydraulic rod is slidably arranged in the fixed frame, and a first connecting rod and a second connecting rod are symmetrically rotatably installed at both ends of the telescopic frame.

[0010] Furthermore, positioning rods are rotatably mounted on both sides of the bottom end surface of the mounting frame, and the bottom ends of the positioning rods are rotatably connected to the second connecting plate via pins.

[0011] Furthermore, one end of the first connecting rod and the second connecting rod away from the fixed frame are both rotatably inserted in the movable frame, and the side wall of the clamping plate is embedded with a bolt threadedly inserted in the movable frame.

[0012] Furthermore, positioning grooves are provided on both sides of the inner wall of the connecting groove, and buttons which are slidably inserted in the positioning grooves are protruded from the outer wall of the clamping plate.

[0013] Furthermore, both ends of the connection part are provided with expansion slots, and elastic plates connected to the positioning blocks are embedded and fixed in the expansion slots, and the positioning blocks are inserted in the positioning slots.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model provides a fixed frame at the bottom end of the mounting frame, and a hydraulic rod in the mounting frame drives the telescopic frame to move upward, and in the process of movement, the two moving frames and the clamping plate are driven to move horizontally through the positioning rod, the first connecting rod and the second connecting rod, and in the process of movement, the rubber anti-skid pad on the clamping plate abuts against the side wall of the object, and the contact area between the manipulator and the surface of the object is increased by the rubber anti-skid pad, thereby improving the stability of the manipulator when grasping the object;

[0016] By opening a connecting groove on the side wall of the splint, a connecting part that fits in the connecting groove is provided on the rubber anti-skid pad. When the rubber anti-skid pad is worn, a button is pushed from the side wall of the splint to squeeze the positioning block out of the positioning groove, so that the connecting part is slid and removed from the connecting groove, and after the rubber anti-skid pad is replaced, the connecting part is inserted into the connecting groove, and the elastic plate in the telescopic groove on the side wall of the connecting part pushes the positioning block to fit in the positioning groove, so that the rubber anti-skid pad is kept fixed on the side wall of the splint, which is convenient for disassembly and replacement of the worn rubber anti-skid pad, thereby improving the friction of the robot arm to grasp objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application 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 present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the mechanical claw structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of the mechanical claw of the utility model;

[0021] Figure 4 This is a schematic diagram of the splint splitting structure of the utility model;

[0022] Figure 5 For the utility model Figure 4 A schematic diagram of the enlarged structure in the middle.

[0023] The markings in the attached drawings are: 1. Truss body; 2. Cross bar; 3. Mechanical claw; 4. Mounting frame; 5. Fixed frame; 6. First connecting rod; 7. Clamp; 8. Moving frame; 9. Second connecting plate; 10. Positioning rod; 11. Rubber anti-slip pad; 12. Telescopic frame; 13. Hydraulic rod; 14. Button; 15. Connecting groove; 16. Positioning groove; 17. Bolt; 18. Positioning block; 19. Telescopic groove; 20. Connecting part; 21. Elastic plate. DETAILED DESCRIPTION

[0024] 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.

[0025] This specific implementation is a truss manipulator gripper, and its structural schematic diagram is as follows Figure 1 and Figure 2 As shown, the truss manipulator gripper includes a truss body 1 and a mechanical gripper 3 installed on the truss body 1, the mechanical gripper 3 includes a mounting frame 4 and a fixed frame 5 fixed to the bottom end of the mounting frame 4, a hydraulic rod 13 is embedded in the mounting frame 4, and both ends of the mounting frame 4 are rotatably connected to a mobile frame 8, and the two mobile frames 8 are fixed with a clamping plate 7 on the side facing each other, a connecting groove 15 is provided on the side wall of the clamping plate 7, and a rubber anti-skid pad 11 is detachably fixed to the clamping plate 7 through the connecting groove 15, and a connecting portion 20 that fits in the connecting groove 15 is provided on the rubber anti-skid pad 11, and a positioning block 18 for fixing the rubber anti-skid pad 11 is elastically provided on the side wall of the connecting portion 20.

[0026] A cross bar 2 is slidably sleeved on the truss body 1, and the top end of the mounting frame 4 is slidably sleeved on the cross bar 2. A telescopic frame 12 connected to the hydraulic rod 13 is slidably arranged in the fixed frame 5. The two ends of the telescopic frame 12 are symmetrically and rotatably installed with a first connecting rod 6 and a second connecting rod. Positioning rods 10 are rotatably installed on both sides of the bottom end surface of the mounting frame 4. The bottom end of the positioning rod 10 is rotatably connected to the second connecting plate 9 through a pin shaft. The first connecting rod 6 and the second connecting rod are rotatably inserted into the moving frame 8 at one end away from the fixed frame 5. Bolts 17 threadedly inserted into the moving frame 8 are embedded in the side wall of the splint 7. The hydraulic rod 13 drives the telescopic frame 12 to move upward, and in the process of moving, the two moving frames 8 and the splint 7 are driven to move horizontally through the positioning rod 10, the first connecting rod 6 and the second connecting rod, and in the process of moving, the rubber anti-skid pad 11 on the splint 7 is abutted against the side wall of the object, and the rubber anti-skid pad 11 increases the contact area between the manipulator and the surface of the object.

[0027] like Figure 3and Figure 4 As shown, positioning grooves 16 are provided on both sides of the inner wall of the connecting groove 15, and a button 14 slidably inserted in the positioning groove 16 is protruded from the outer wall of the splint 7. Telescopic grooves 19 are provided at both ends of the connecting part 20, and an elastic plate 21 connected to the positioning block 18 is embedded and fixed in the telescopic groove 19. The positioning block 18 is fitted and inserted in the positioning groove 16. The button 14 is pushed from the side wall of the splint 7 to squeeze the positioning block 18 out of the positioning groove 16, so that the connecting part 20 is slidably removed from the connecting groove 15, and the connecting part 20 is inserted into the connecting groove 15 after the rubber anti-skid pad 11 is replaced. The elastic plate 21 in the telescopic groove 19 on the side wall of the connecting part 20 pushes the positioning block 18 to fit and insert into the positioning groove 16, so that the rubber anti-skid pad 11 is kept fixed on the side wall of the splint 7.

[0028] The schematic diagram of the structure of the mechanical claw 3 of the truss manipulator is as follows Figure 2 As shown, the cross-sectional structure diagram of the mechanical claw 3 is as follows Figure 3 As shown, the schematic diagram of the split structure of the clamping plate 7 is as follows Figure 4 As shown, its Figure 4 The enlarged schematic diagram of the structure at A is as follows Figure 5 shown.

[0029] When the truss manipulator gripper of the present technical solution is used, the hydraulic rod 13 in the mounting frame 4 is started to drive the telescopic frame 12 to move upward, and during the movement, the two moving frames 8 and the clamping plate 7 are driven to move horizontally through the positioning rod 10, the first connecting rod 6 and the second connecting rod, and during the movement, the rubber anti-skid pad 11 on the clamping plate 7 is abutted against the side wall of the object, so that the rubber anti-skid pad 11 increases the contact area between the manipulator and the surface of the object. When the rubber anti-skid pad 11 is worn, the button 14 is pushed from the side wall of the clamping plate 7 to squeeze the positioning block 18 out of the positioning groove 16, so that the connecting part 20 is slid and removed from the connecting groove 15, and after the rubber anti-skid pad 11 is replaced, the connecting part 20 is inserted into the connecting groove 15, and the elastic plate 21 in the telescopic groove 19 on the side wall of the connecting part 20 pushes the positioning block 18 to fit and be inserted into the positioning groove 16, so that the rubber anti-skid pad 11 is kept fixed on the side wall of the clamping plate 7, which is convenient for disassembly and replacement of the worn rubber anti-skid pad 11, thereby improving the friction of the manipulator to grasp the object.

[0030] All technical features in this embodiment can be freely combined according to actual needs.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A truss manipulator gripper, comprising a truss body (1) and a mechanical gripper (3) mounted on the truss body (1), characterized in that: The mechanical claw (3) comprises a mounting frame (4) and a fixed frame (5) fixed at the bottom end of the mounting frame (4), a hydraulic rod (13) is embedded in the mounting frame (4), and both ends of the mounting frame (4) are rotatably connected to a mobile frame (8), and a clamping plate (7) is fixed on the side faces of the two mobile frames (8), a connecting groove (15) is provided on the side wall of the clamping plate (7), and a rubber anti-skid pad (11) is detachably fixed to the clamping plate (7) through the connecting groove (15), and a connecting portion (20) is provided on the rubber anti-skid pad (11) that is inserted into the connecting groove (15), and a positioning block (18) for fixing the rubber anti-skid pad (11) is elastically provided on the side wall of the connecting portion (20).

2. A truss manipulator gripper according to claim 1, characterized in that: A cross bar (2) is slidably sleeved on the truss body (1), and a top end of the mounting frame (4) is slidably sleeved on the cross bar (2).

3. The truss manipulator gripper according to claim 1, characterized in that: A telescopic frame (12) connected to a hydraulic rod (13) is slidably disposed in the fixed frame (5), and a first connecting rod (6) and a second connecting rod are symmetrically rotatably mounted at both ends of the telescopic frame (12).

4. A truss manipulator gripper according to claim 3, characterized in that: Positioning rods (10) are rotatably mounted on both sides of the bottom end surface of the mounting frame (4), and the bottom ends of the positioning rods (10) are rotatably connected to the second connecting plate (9) via pins.

5. The truss manipulator gripper according to claim 4, characterized in that: The ends of the first connecting rod (6) and the second connecting rod away from the fixed frame (5) are both rotatably inserted into the movable frame (8), and the side wall of the clamping plate (7) is embedded with a bolt (17) threadedly inserted into the movable frame (8).

6. The truss manipulator gripper according to claim 1, characterized in that: Positioning grooves (16) are provided on both sides of the inner wall of the connection groove (15), and a button (14) protruding from the outer wall of the clamping plate (7) is slidably inserted into the positioning groove (16).

7. The truss manipulator gripper according to claim 6, characterized in that: Both ends of the connecting portion (20) are provided with telescopic grooves (19), and an elastic plate (21) connected to a positioning block (18) is embedded and fixed in the telescopic groove (19), and the positioning block (18) is inserted into the positioning groove (16).

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