Flexibly-designed adjustable robot clamping jaw structure

Abstract

The utility model relates to a flexibly-designed adjustable robot clamping jaw structure, and belongs to the technical field of robot clamping jaws. The flexible clamping device comprises a power mechanism, a transmission mechanism and a flexible clamping mechanism connected with the transmission mechanism, the power mechanism is mechanically connected with the transmission mechanism and comprises an air cylinder connecting sealing plate, an air cylinder and an air cylinder mounting seat, the air cylinder is connected with the air cylinder mounting seat, and the air cylinder connecting sealing plate is arranged at the tail of the air cylinder mounting seat. The flexible clamping mechanism comprises a clamping jaw sliding groove, a flexible clamping jaw and a rubber chuck, the clamping jaw sliding groove is mechanically connected with the air cylinder installation base, the flexible clamping jaw is installed in a sliding groove body of the clamping jaw sliding groove, and the rubber chuck is connected with the flexible clamping jaw. The automatic feeding and discharging device is reasonable in structural design, safe, reliable, capable of meeting the requirement for rapid line changing, suitable for automatic feeding and discharging of various workpieces and capable of meeting the use requirement.

Description

Technical Field

[0001] The utility model relates to a clamping claw structure, in particular to an adjustable robot clamping claw structure with a flexible design, and belongs to the technical field of robot clamping claws. Background Art

[0002] With the rapid development of automated production line technology, industrial robots are widely used in the automatic loading and unloading of parts. To meet the needs of automatic loading and unloading of industrial robots, robot grippers are usually used as their end effectors to clamp and release workpieces.

[0003] The grippers of existing automatic loading and unloading robots are mostly designed with parallel air grippers combined with customized chucks. However, with the update and iteration of the same products, a set of automated production lines often need to adapt to the automated production of multiple similar models of products, and the demand for rapid line change of automated production lines has become increasingly significant. Due to the differences in the clamping sizes of different models of products, the existing robot grippers need to disassemble and replace the customized chucks during the line change process, which is difficult to meet the rapid line change requirements of automated production lines. Utility Model Content

[0004] The purpose of the utility model is to overcome the above-mentioned deficiencies in the prior art and to provide an adjustable robot gripper structure with reasonable structural design, safety and reliability, which can meet the needs of rapid line change and adapt to the automatic loading and unloading of various workpieces.

[0005] The technical solution adopted by the utility model to solve the above-mentioned problem is: the flexibly designed adjustable robot gripper structure includes a power mechanism and a transmission mechanism, the power mechanism is mechanically connected to the transmission mechanism, the power mechanism includes a cylinder connection sealing plate, a cylinder and a cylinder mounting seat, the cylinder is connected to the cylinder mounting seat, the cylinder connection sealing plate is arranged at the tail of the cylinder mounting seat, and is characterized in that: it also includes a flexible clamping mechanism connected to the transmission mechanism, the flexible clamping mechanism includes a clamping claw slide groove, a flexible clamping claw and a rubber chuck, the clamping claw slide groove is mechanically connected to the cylinder mounting seat, the flexible clamping claw is installed in the slide groove of the clamping claw slide groove, and the rubber chuck is connected to the flexible clamping claw.

[0006] Preferably, the transmission mechanism of the utility model includes a cylinder connecting rod, a paddle push rod, a paddle, a paddle push rod mounting plate, a paddle thin side mounting block and a paddle thick side mounting block. The cylinder connecting rod is connected to the piston rod of the cylinder, the paddle push rod is connected to the cylinder connecting rod through a through hole at the front end thereof, the paddle is connected to the paddle push rod through a tail slide groove thereof, and the piston rod of the cylinder is extended and retracted to make the paddle push rod move in the same direction, thereby driving the paddle to open or close.

[0007] Preferably, the flexible clamping claw of the utility model is connected to a plectrum, and the opening or closing of the plectrum drives the flexible clamping claw to relax or clamp it.

[0008] Preferably, the paddle push rod mounting plate of the utility model is provided with a slide groove, and the paddle push rod can move in the slide groove.

[0009] Preferably, the paddle thin-side mounting block and the paddle thick-side mounting block of the utility model are provided with countersunk holes, and the rotating shaft of the paddle can rotate in the countersunk holes.

[0010] Preferably, the paddle, paddle push rod mounting plate, paddle thin side mounting block and paddle thick side mounting block of the utility model are distributed centrally and symmetrically, and the paddle push rod mounting plate, paddle thin side mounting block and paddle thick side mounting block are installed between the clamping claw slide groove and the cylinder mounting seat.

[0011] Preferably, the transmission mechanism of the utility model further comprises a rubber gasket, which is installed between the cylinder mounting seat and the paddle thin side mounting block and the paddle thick side mounting block.

[0012] Preferably, the flexible clamp of the utility model comprises a first clamp block, a second clamp block, a third clamp block and a damping hinge, wherein the first clamp block, the second clamp block and the third clamp block are connected via a damping hinge; the relative positions of the clamp blocks of the flexible clamp can be quickly adjusted according to the outer end surface size of the workpiece to be clamped.

[0013] Compared with the prior art, the utility model has the following advantages and effects: the overall structural design is reasonable, safe and reliable, the flexible clamping jaws are composed of a first clamping block, a second clamping block, a third clamping block and a damping hinge, and the relative positions between the clamping blocks can be quickly adjusted through the damping hinge. For workpieces with different clamping sizes, the flexible clamping jaws can quickly adjust the clamping jaw spacing by adjusting the relative positions of the clamping blocks, thereby meeting the rapid line change requirements of the automated production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the power mechanism in the embodiment of the utility model.

[0016] Figure 3 It is a structural schematic diagram of the transmission mechanism in the embodiment of the utility model.

[0017] Figure 4 It is a structural schematic diagram of the flexible clamping mechanism in the embodiment of the utility model.

[0018] Figure 5 It is a schematic diagram of the structure of the flexible clamping claw in the embodiment of the utility model.

[0019] In the figure: power mechanism 1, cylinder connection cover plate 10, cylinder 11, cylinder mounting seat 12;

[0020] Transmission mechanism 2, cylinder connecting rod 20, paddle push rod 21, paddle 22, paddle push rod mounting plate 23, paddle thin side mounting block 24, paddle thick side mounting block 25, rubber gasket 26;

[0021] Flexible clamping mechanism 3 , clamping jaw slide slot 30 , flexible clamping jaw 31 , first clamping block 310 , second clamping block 311 , third clamping block 312 , damping hinge 313 , rubber clamp 32 . DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and through examples. The following examples are provided to explain the present invention, but the present invention is not limited to the following examples.

[0023] Example

[0024] See also Figures 1 to 5 The flexibly designed adjustable robot gripper structure of this embodiment includes a power mechanism 1, a transmission mechanism 2 mechanically connected to the power mechanism, and a flexible clamping mechanism 3 connected to the transmission mechanism.

[0025] See also Figure 2 As shown, the power mechanism 1 includes a cylinder connection sealing plate 10, a cylinder 11 and a cylinder mounting seat 12, the cylinder 11 is mechanically connected to the cylinder mounting seat 12, and the cylinder connection sealing plate 10 is mechanically connected to the rear of the cylinder mounting seat 12;

[0026] See also Figure 3 As shown, the transmission mechanism 2 includes a cylinder connecting rod 20, a paddle push rod 21, a paddle 22, a paddle push rod mounting plate 23, a paddle thin side mounting block 24, a paddle thick side mounting block 25 and a rubber gasket 26. The paddle 22, the paddle push rod mounting plate 23, the paddle thin side mounting block 24 and the paddle thick side mounting block 25 are centrally symmetrically distributed. The cylinder connecting rod 20 is mechanically connected to the piston rod of the cylinder 11, the paddle push rod 21 is connected to the cylinder connecting rod 20 through a through hole at the front end thereof, and the paddle 22 is connected to the paddle push rod 21 through its tail slide groove.

[0027] The paddle push rod mounting plate 23 is provided with a slide groove, and both ends of the paddle push rod 21 can move linearly in the slide groove along with the cylinder connecting rod 20; the paddle thin side mounting block 24 and the paddle thick side mounting block 25 are provided with countersunk holes, and the rotating shaft of the paddle 22 is installed in the countersunk holes; the tail of the paddle 22 is provided with a slide groove, and the paddle push rod 21 is connected to the slide groove at the tail of the paddle 22, and the linear motion of the paddle push rod 21 is converted into the rotational motion of the paddle 22 through the tail slide groove and the rotating shaft of the paddle 22.

[0028] See also Figure 4As shown, the flexible clamping mechanism 3 includes a clamping jaw slot 30, a flexible clamping jaw 31 and a rubber clamp 32. The clamping jaw slot 30 is mechanically connected to the cylinder mounting seat 12. The flexible clamping jaw 31 is installed in the slot of the clamping jaw slot 30 and is connected to the paddle 22.

[0029] See also Figure 5 As shown, the flexible clamp 31 includes a first clamp block 310, a second clamp block 311, a third clamp block 312 and a damping hinge 313. The first clamp block 310, the second clamp block 311 and the third clamp block 312 are connected by the damping hinge 313, and the relative positions between the clamp blocks are adjustable.

[0030] When in use, first install the cylinder connecting sealing plate 10 on the robot's end shaft, and connect the left and right air holes of the cylinder 11 to the pneumatic circuit; by controlling the air intake through the left air hole of the cylinder 11 and the exhaust through the right air hole, its piston rod retracts, driving the cylinder connecting rod 20 and the paddle push rod 21 to retract, driving the paddles 22 on both sides to close inward, and driving the flexible clamps 31 on both sides to clamp, thereby completing the clamping of the workpiece; by controlling the air intake through the right air hole of the cylinder 11 and the exhaust through the left air hole, its piston rod extends, driving the cylinder connecting rod 20 and the paddle push rod 21 to extend, driving the paddles 22 on both sides to open outward, and driving the flexible clamps 31 on both sides to relax, thereby completing the unloading of the workpiece.

[0031] When the flexible clamping jaws 31 are in use, the automatic loading and unloading robot can manually adjust the relative positions of the first clamping block 310, the second clamping block 311 and the third clamping block 312 during the line change process to meet the demand for rapid adjustment of the clamping jaws of workpieces with different outer end surface sizes.

[0032] Through the above description, those skilled in the art can already implement it.

[0033] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the utility model. All equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the utility model are included in the protection scope of the utility model patent. Technicians in the technical field of the utility model can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the protection scope of the utility model.

Claims

1. A flexible and adjustable robot gripper structure, comprising a power mechanism (1) and a transmission mechanism (2), wherein the power mechanism (1) is mechanically connected to the transmission mechanism (2), the power mechanism (1) comprises a cylinder connection sealing plate (10), a cylinder (11) and a cylinder mounting seat (12), the cylinder (11) is connected to the cylinder mounting seat (12), and the cylinder connection sealing plate (10) is arranged at the rear of the cylinder mounting seat (12), characterized in that: It also includes a flexible clamping mechanism (3) connected to the transmission mechanism (2), the flexible clamping mechanism (3) including a clamping claw slide groove (30), a flexible clamping claw (31) and a rubber clamping head (32), the clamping claw slide groove (30) is mechanically connected to the cylinder mounting seat (12), the flexible clamping claw (31) is installed in the slide groove of the clamping claw slide groove (30), and the rubber clamping head (32) is connected to the flexible clamping claw (31).

2. The flexible and adjustable robot gripper structure according to claim 1 is characterized in that: The transmission mechanism (2) comprises a cylinder connecting rod (20), a paddle push rod (21), a paddle (22), a paddle push rod mounting plate (23), a paddle thin side mounting block (24) and a paddle thick side mounting block (25); the cylinder connecting rod (20) is connected to a piston rod of a cylinder (11); the paddle push rod (21) is connected to the cylinder connecting rod (20) via a through hole at the front end thereof; the paddle (22) is connected to the paddle push rod (21) via a rear sliding groove; the piston rod of the cylinder (11) is extended and retracted to cause the paddle push rod (21) to move in the same direction, thereby driving the paddle (22) to open or close.

3. The flexible and adjustable robot gripper structure according to claim 2 is characterized in that: The flexible clamping claw (31) is connected to the paddle (22), and the opening or closing of the paddle (22) drives the flexible clamping claw (31) to relax or clamp.

4. The flexible and adjustable robot gripper structure according to claim 2 is characterized in that: The paddle push rod mounting plate (23) is provided with a slide groove, and the paddle push rod (21) can move in the slide groove.

5. The flexible and adjustable robot gripper structure according to claim 2 is characterized in that: The paddle thin side mounting block (24) and the paddle thick side mounting block (25) are provided with countersunk holes, and the rotating shaft of the paddle (22) can rotate in the countersunk holes.

6. The flexible and adjustable robot gripper structure according to claim 2 is characterized in that: The paddle (22), the paddle push rod mounting plate (23), the paddle thin side mounting block (24) and the paddle thick side mounting block (25) are centrally symmetrically distributed, and the paddle push rod mounting plate (23), the paddle thin side mounting block (24) and the paddle thick side mounting block (25) are mounted between the clamping claw slide groove (30) and the cylinder mounting seat (12).

7. The flexible and adjustable robot gripper structure according to claim 2 is characterized in that: The transmission mechanism (2) further comprises a rubber gasket (26), which is mounted between the cylinder mounting seat (12) and the paddle thin-side mounting block (24) and the paddle thick-side mounting block (25).

8. The flexible and adjustable robot gripper structure according to claim 1 is characterized in that: The flexible clamping claw (31) comprises a first clamping block (310), a second clamping block (311), a third clamping block (312) and a damping hinge (313); the first clamping block (310), the second clamping block (311) and the third clamping block (312) are connected via the damping hinge (313).

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