Truss robot grabbing mechanism

Abstract

The utility model belongs to the technical field of truss robots, and particularly relates to a truss robot grabbing mechanism which comprises a clamping top plate, the lower portion of the clamping top plate is connected with two clamping pieces in a sliding mode, the two clamping pieces are symmetrically arranged, at least one limiting rod is fixed to the bottom of the clamping top plate, the limiting rod is connected with the two clamping pieces in a sliding mode, and the limiting rod is fixed to the clamping top plate. A reverse screw rod is further installed on the lower portion of the clamping top plate, the outer sides of the two ends of the reverse screw rod are in threaded connection with the two clamping pieces correspondingly, a motor is fixed to one end of the clamping top plate, the output end of the motor penetrates through the clamping top plate and is connected with the reverse screw rod, and clamping adjusting assemblies are installed on the two clamping pieces correspondingly; the clamping adjusting assemblies are used for clamping workpieces, each clamping adjusting assembly comprises a mounting bin, and the mounting bins are fixed to the sides, away from each other, of the two clamping pieces. According to the utility model, the shape and the clamping force can be adjusted to adapt to various workpiece shapes, so that the damage to the workpiece is reduced, and the clamping stability is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of truss robots, and in particular relates to a truss robot grasping mechanism. Background Art

[0002] A truss robot is a robot that can move and operate in three-dimensional space. It is usually used for tasks such as material handling, assembly, and inspection in industrial production. The main components of a truss robot include a truss machine frame, a walking mechanism, a gripping mechanism, etc. Among them, the gripping mechanism is an important actuator of the truss robot, which is used to clamp, carry, and place materials or workpieces.

[0003] At present, there are many patents for truss robot grasping mechanisms, such as:

[0004] The patent with publication number CN115229769A discloses an adjustable truss robot, whose grasping mechanism includes a support beam, a connecting rod, a first slide seat, a second slide seat, etc., and realizes grasping and moving of objects through an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly;

[0005] The patent with publication number CN115872087A discloses a control system of an unmanned warehouse truss robot based on the Internet of Things, wherein the gripping mechanism includes a truss housing, a fixed plate seat, a first electric hydraulic rod, a fixed frame, a guide rod, a movable slide seat, two electric clamps, etc., and the first electric hydraulic rod and the second electric hydraulic rod are used to grip and lift objects;

[0006] However, the truss robot grasping mechanisms disclosed in the above patents all have certain defects, which are mainly manifested in:

[0007] It is not possible to clamp objects of different shapes, so as to prevent conventional clamping devices from causing damage to irregular workpieces. For example, for irregular-shaped workpieces such as cylindrical, spherical, and conical shapes, conventional clamping devices may cause scratches, deformation, fractures, and other damages to their surfaces or structures, affecting the quality and service life of the workpieces.

[0008] Therefore, in order to solve the above problems, the present invention proposes a utility model patent for a truss robot grasping mechanism, which improves the existing patent. Utility Model Content

[0009] The utility model aims to provide a truss robot grasping mechanism, which can adjust its shape and clamping force to adapt to various workpiece shapes, thereby reducing damage to the workpiece and improving the stability of clamping.

[0010] The technical solution adopted by the utility model is as follows:

[0011] A truss robot grasping mechanism, comprising a clamping top plate, the lower part of which is slidably connected to two clamping plates, and the two clamping plates are symmetrically arranged, at least one limit rod is fixed to the bottom of the clamping top plate, and the limit rod is slidably connected to the two clamping plates, a reverse screw is also installed at the lower part of the clamping top plate, and the outer sides of the two ends of the reverse screw are respectively threadedly connected to the two clamping plates, a motor is fixed to one end of the clamping top plate, and the output end of the motor passes through the clamping top plate and is connected to the reverse screw;

[0012] A clamping adjustment component is installed on each of the two clamping plates, and the clamping adjustment component is used for clamping a workpiece.

[0013] Each of the clamping and adjusting components includes an installation bin, and the installation bin is fixed on a side of the two clamping plates that are away from each other, and a plurality of adjustment rods are slidably connected to the inner side of the clamping plates, and the adjustment rods are also slidably connected to the installation bin;

[0014] A plurality of reset components corresponding to the adjusting rod are arranged on the inner side of the installation bin, and the reset components are used to drive the adjusting rod to reset.

[0015] Each of the reset components includes a sliding groove arranged inside the installation bin, the adjustment rod is slidably connected to the inner side of the sliding groove, a spring is also arranged in the sliding groove, and the spring is connected to the adjustment rod and the installation bin.

[0016] A plurality of support frames are fixed to one side of the clamping piece away from the installation bin, and the upper and lower parts of the support frames are both provided with support grooves corresponding to the adjustment rods.

[0017] A soft head is fixed on one end of the adjusting rod away from the installation bin.

[0018] The adjusting rod is made of metal.

[0019] The technical effects achieved by the utility model are:

[0020] When the utility model clamps a workpiece, the workpiece can be clamped by a plurality of different adjusting rods, and the shape and clamping force thereof can be adjusted to adapt to various workpiece shapes, thereby reducing damage to the workpiece and improving the stability of clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model;

[0022] Figure 2 It is a schematic diagram of the structure between the limit rod, the reverse screw rod and the motor in the utility model;

[0023] Figure 3 It is a schematic diagram of the structure between the clamping piece, the adjusting rod and the supporting frame in the utility model;

[0024] Figure 4 It is a cross-sectional view of the installation bin in the utility model.

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0026] 1. Clamping top plate; 2. Clamping plate; 3. Limit rod; 4. Reverse screw; 5. Motor; 6. Mounting bin; 7. Adjusting rod; 8. Sliding groove; 9. Spring; 10. Soft head; 11. Support frame. DETAILED DESCRIPTION

[0027] In order to make the purpose and advantages of the utility model more clear, the utility model is specifically described in combination with the following embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the utility model, and does not strictly limit the protection scope of the specific request of the utility model.

[0028] like Figure 1-4 As shown, a truss robot grasping mechanism includes a clamping top plate 1, which can clamp or hang goods using clamping devices such as arc-shaped grippers, clamps, hooks, etc., and then move the goods to a target position through a lifting mechanism and a rotating mechanism. This gripping mechanism is suitable for goods with rough, uneven surfaces and holes, such as wooden boxes, plastic boxes, etc. The lower part of the clamping top plate 1 is slidably connected to two clamping plates 2, and the clamping plates 2 are made of metal, which can have a certain toughness and firmness when clamping the workpiece, wherein the material of the clamping plates 2 can be steel, iron, etc., and the two clamping plates 2 are symmetrically arranged with each other, at least one limiting rod 3 is fixed to the bottom of the clamping top plate 1, and the limiting rod 3 is slidably connected to the two clamping plates 2, and a reverse screw 4 is also installed at the lower part of the clamping top plate 1, and the outer sides of the two ends of the reverse screw 4 are respectively threadedly connected to the two clamping plates 2, and a motor 5 is fixed to one end of the clamping top plate 1, and the output end of the motor 5 passes through the clamping top plate 1 and is connected to the reverse screw 4;

[0029] According to the above description, when the workpiece needs to be clamped, the motor 5 can be started, so that the output end of the motor 5 drives the reverse screw 4 to rotate, and through the rotation of the reverse screw 4, the two clamping pieces 2 are respectively threadedly connected to the two ends of the outer side of the reverse screw 4, and then the two clamping pieces 2 are restricted by the limit rod 3 to move in opposite directions, so that the two clamping pieces 2 are close to each other to clamp the workpiece;

[0030] The two clamping plates 2 are both equipped with clamping adjustment components, which are used to clamp the workpiece.

[0031] See attached Figure 3 Each clamping and adjusting assembly includes a mounting bin 6, and the mounting bin 6 is fixed on the side where the two clamping pieces 2 are away from each other, and a plurality of adjusting rods 7 are slidably connected to the inner side of the clamping piece 2. Furthermore, a soft head 10 is fixed to the end of the adjusting rod 7 away from the mounting bin 6. By setting the soft head 10, when the adjusting rod 7 clamps the workpiece, the friction between the adjusting rod 7 and the workpiece can be reduced, thereby ensuring the degree of damage to the surface of the workpiece, and the material of the soft head 10 can be rubber, etc., and the adjusting rod 7 is made of metal, so that the adjusting rod 7 can be relatively strong when supporting the workpiece, and its material can be steel, iron, etc., and the adjusting rod 7 is also slidably connected to the mounting bin 6;

[0032] When the clamping piece 2 clamps the workpiece, the workpiece may be of different shapes. In this case, the workpiece may be clamped by a plurality of different adjusting rods 7.

[0033] For example, when clamping a spherical workpiece, the clamping sheet 2 clamps the workpiece through the adjusting rod 7, and the part of the sphere whose diameter is in a straight line with the clamping sheet 2 abuts against the adjusting rod 7, so that the adjusting rod 7 of this part is retracted to the inner side of the mounting bin 6, while the other adjusting rods 7 that are not in contact with the spherical workpiece remain stationary. At this time, the spherical workpiece can be clamped by the adjusting rod 7 in contact with it, and the workpiece is supported by the adjusting rod 7 at the bottom of the spherical workpiece, so that workpieces of different shapes can be clamped;

[0034] A plurality of reset components corresponding to the adjusting rod 7 are arranged on the inner side of the installation compartment 6 , and the reset components are used to drive the adjusting rod 7 to reset.

[0035] See attached Figure 4 Each reset assembly includes a sliding groove 8 arranged inside the mounting chamber 6, and the adjusting rod 7 is slidably connected to the inner side of the sliding groove 8. A spring 9 is also arranged in the sliding groove 8. The spring 9 can be made of spring steel, thereby enhancing the service life of the spring 9, and the spring 9 is connected to the adjusting rod 7 and the mounting chamber 6;

[0036] According to the above description, when clamping the workpiece, it can be clamped by the adjusting rod 7, and after the clamping is completed, the clamping plate 2 and the adjusting rod 7 remove the workpiece. At this time, the adjusting rod 7 is reset by the setting of the spring 9, thereby preparing for the next workpiece clamping.

[0037] Please see attached Figure 3As shown, a plurality of support frames 11 are fixed to the side of the clamping plate 2 away from the mounting bin 6, and the upper and lower parts of the support frames 11 are provided with support grooves corresponding to the adjusting rod 7. Through the arrangement of the support frames 11, the support frames 11 can support the adjusting rod 7, and when the adjusting rod 7 at the bottom of the workpiece supports the workpiece, the adjusting rod 7 can be supported by the support frames 11, thereby increasing the service life of the adjusting rod 7.

[0038] The above is only a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in the technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A truss robot grasping mechanism, comprising a clamping top plate (1), characterized in that: The lower part of the clamping top plate (1) is slidably connected to two clamping plates (2), and the two clamping plates (2) are symmetrically arranged. At least one limiting rod (3) is fixed to the bottom of the clamping top plate (1), and the limiting rod (3) is slidably connected to the two clamping plates (2). A reverse screw (4) is also installed at the lower part of the clamping top plate (1), and the outer sides of both ends of the reverse screw (4) are respectively threadedly connected to the two clamping plates (2). A motor (5) is fixed to one end of the clamping top plate (1), and the output end of the motor (5) passes through the clamping top plate (1) and is connected to the reverse screw (4); A clamping adjustment component is installed on each of the two clamping plates (2), and the clamping adjustment component is used for clamping a workpiece.

2. A truss robot grasping mechanism according to claim 1, characterized in that: Each of the clamping and adjusting components comprises an installation bin (6), and the installation bin (6) is fixed on a side of the two clamping plates (2) that is away from each other, and a plurality of adjustment rods (7) are slidably connected to the inner side of the clamping plates (2), and the adjustment rods (7) are also slidably connected to the installation bin (6); A plurality of reset components corresponding to the adjustment rod (7) are arranged on the inner side of the installation bin (6), and the reset components are used to drive the adjustment rod (7) to reset.

3. The truss robot grasping mechanism according to claim 2, characterized in that: Each of the reset components comprises a sliding groove (8) arranged inside the installation bin (6), the adjusting rod (7) is slidably connected to the inner side of the sliding groove (8), a spring (9) is also arranged in the sliding groove (8), and the spring (9) is connected to the adjusting rod (7) and the installation bin (6).

4. The truss robot grasping mechanism according to claim 2, characterized in that: A plurality of support frames (11) are fixed to a side of the clamping piece (2) away from the installation bin (6), and the upper and lower parts of the support frames (11) are both provided with support grooves corresponding to the adjustment rods (7).

5. The truss robot grasping mechanism according to claim 2, characterized in that: A soft head (10) is fixed to one end of the adjusting rod (7) away from the installation bin (6).

6. The truss robot grasping mechanism according to claim 2, characterized in that: The adjusting rod (7) is made of metal.

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