Clamping structure of robot clamping jaw

Abstract

The utility model relates to the technical field of robot clamping, in particular to a clamping structure of a robot clamping jaw, which comprises a clamping jaw shell, a clamping jaw is arranged on the clamping jaw shell, a connecting piece is mounted on one side of the clamping jaw, an adjusting rod is arranged at one end of the connecting piece, a support pipe is further mounted on the clamping jaw shell, and the support pipe is connected with the clamping jaw shell. A suction cup is movably connected to one side of the support pipe, an air cylinder rod is movably connected into the clamping jaw shell, a push frame is arranged at one end of the air cylinder rod, a movable plate is connected to the outer side of the push frame, and a connecting piece is installed at one end of the movable plate. According to the scheme, the difficulty of the clamping jaw in the process of clamping a spherical object is reduced, the possibility that the object slides off and is damaged due to unstable clamping is reduced, the more stable effect of the device in the clamping process is improved, the possibility that the clamping jaw is separately adjusted is also improved, and therefore the clamping jaw can conveniently clamp objects of different shapes.

Description

Technical Field

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

[0002] Robotic gripping technology is an important branch of modern robotics, which mainly involves how robots can stably and accurately grasp and move objects. Robotic gripping can be regarded as the arm part of the robot, which is usually designed to imitate the movement of human fingers and can clamp and release objects. According to different working principles, there are many types of grippers, including mechanical grippers, pneumatic grippers, etc.

[0003] At present, most of the clamping structures used by robots are mechanical parallel claw clamping. This clamping method has a simple structure and is easy to use. However, this structure is prone to clamping difficulties when clamping some spherical objects or cylindrical objects, and after clamping, the objects are prone to slipping due to the small contact area between the clamp and the object. Therefore, a clamping structure of a robot clamp is proposed. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a clamping structure of a robot clamp.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A clamping structure of a robot gripper, comprising a gripper shell, a gripper shell provided with a gripper, a connecting plate installed on one side of the gripper, an adjusting rod installed on one end of the connecting plate, a bracket tube installed on the gripper shell, a suction cup movably connected to one side of the bracket tube, a cylinder rod movably connected inside the gripper shell, a push frame installed on one end of the cylinder rod, a movable plate connected to the outer side of the push frame, and a connecting piece installed on one end of the movable plate.

[0007] Preferably, the clamping claw includes a fixed block and a clamping claw head, the fixed block is welded and mounted on the top surface of the clamping claw housing, the clamping claw head is movably connected to the top end of the fixed block, the connecting piece is divided into a long axis piece and a short axis piece, and the long axis piece is connected between the clamping claw head and the fixed block.

[0008] Preferably, a movable groove is provided on the top surface of the clamping jaw housing, the adjusting rod is movably connected in the movable groove, one end of the adjusting rod passes through the movable groove and extends to the outside of the clamping jaw housing, the short shaft piece is connected between the clamping jaw and the adjusting rod, and the clamping jaw, the connecting piece and the adjusting rod are all movably connected.

[0009] Preferably, the clamping claws are provided in plurality, and the plurality of clamping claws are arranged in a ring and mounted on the top surface of the clamping claw housing, and the clamping claws are mounted in a cross-symmetrical manner, and the bottom sides of the clamping claws are all mounted with adjustment rods.

[0010] Preferably, the bracket tube is installed at the center position of the top surface of the clamp shell, a gas rod is movably connected inside the bracket tube, the suction cup is installed on the top of the gas rod, a first spring is connected between the bottom end of the gas rod and the top end of the bracket tube, the bottom tube of the bracket tube passes through the top surface of the clamp shell and extends to the inner side of the clamp shell, the bottom end of the bracket tube is connected to an air pipe through a pipe, and the other end of the air pipe passes through the outside of the clamp shell.

[0011] Preferably, a base is installed on the bottom side of the jaw housing, a telescopic cylinder is arranged in the base, and the other end of the cylinder rod is connected to the telescopic end of the telescopic cylinder.

[0012] Preferably, the push rack includes a fixed plate, a support plate and a fixed short plate, the fixed plate is installed on the top end of the cylinder rod, two support plates are provided, the two support plates are longitudinally installed on both sides of the fixed plate, and the bottom ends of the longitudinally arranged adjusting rods are connected to the top surface of the support plate, and two fixed short plates are also provided, the two fixed short plates are transversely installed on both sides of the fixed plate, and the bottom ends of the transversely arranged adjusting rods are connected to the top surface of the movable plate.

[0013] Preferably, grooves are provided on the bottom surface of the fixed short plate, and movement grooves are symmetrically provided on the inner walls on both sides of the grooves. Piston rods are movably connected in the movement grooves, a second spring is connected between the piston rod and the groove, and a clamping block is installed on one end of the piston rod.

[0014] Preferably, a limit shell is installed on the inner wall of the clamping jaw shell, and a bottom plate is fixedly provided at the bottom end of the limit shell, the movable plate is placed on the top surface of the bottom plate, and the other end of the movable plate is movably connected to the limit shell, and it is limited in the limit shell, the connecting member includes a bottom block, a fixed arc block and a movable arc block, one end of the movable plate is a lower recess, the lower recess is adapted to the fixed short plate, the bottom block is fixed in the lower recess, the fixed arc block is welded and installed on the top surface of the bottom block, the movable arc block is slidably connected to the outer surface of the fixed arc block, and it is limited between the bottom block and the fixed arc block, and the clamping block is clamped on one side of the fixed arc block.

[0015] The beneficial effects of the utility model are:

[0016] The utility model can simply position some round objects through the suction cup and the air pipe, can make the longitudinal clamping claws clamp separately through the cooperation of the telescopic cylinder and the support frame, can realize the connection between the fixed short plate and the movable plate by the cooperation of the connecting piece and the clamping block, and can realize the simultaneous clamping of the cross-shaped clamping claws by cooperating with the telescopic cylinder.

[0017] This solution reduces the difficulty of the clamping claws in clamping spherical objects, reduces the possibility of objects slipping and being damaged due to unstable clamping, improves the stability of the device during clamping, and also increases the possibility of the clamping claws being able to be adjusted separately, thereby facilitating the clamping of objects of various shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the outer structure of a clamping structure of a robot gripper proposed in the utility model;

[0019] Figure 2 This is a schematic diagram of the internal structure of a clamping structure of a robot gripper proposed in the utility model;

[0020] Figure 3 This is a schematic diagram of the main structure of a clamping structure of a robot gripper proposed in the utility model;

[0021] Figure 4 It is a schematic diagram of the structure after the fixed short plate and the movable plate are connected;

[0022] Figure 5 It is a schematic diagram of the structure after the fixed short plate and the movable plate are disconnected;

[0023] Figure 6 for Figure 4 A schematic diagram of the main view of the part;

[0024] Figure 7 for Figure 6 Schematic diagram of the structure of part A.

[0025] In the figure: 1. jaw housing; 2. base; 3. clamping jaw; 4. connecting plate; 5. adjusting rod; 6. air pipe; 7. suction cup; 8. bracket tube; 9. fixed short plate; 10. support plate; 11. telescopic cylinder; 12. cylinder rod; 13. movable plate; 14. limiting shell; 15. clamping block; 16. connecting piece; 161. fixed arc block; 162. movable arc block; 17. bottom plate; 18. piston rod; 19. second spring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0027] Example: Refer to Figure 1-7 A clamping structure of a robot gripper comprises a gripper housing 1, a gripper housing 1 is provided with a gripper 3, the gripper 3 comprises a fixed block and a gripper head, the fixed block is welded and installed on the top surface of the gripper housing 1, the gripper head is movably connected to the top of the fixed block, a connecting piece 4 is divided into a long axis piece and a short axis piece, the long axis piece is connected between the gripper head and the fixed block to act on the movement and limit of the gripper head, a connecting piece 4 is installed on one side of the gripper 3, an adjusting rod 5 is arranged at one end of the connecting piece 4, a bracket tube 8 is also installed on the gripper housing 1, and the bracket tube 8 is installed in the middle of the top surface of the gripper housing 1 The support tube 8 is at the center position, and a gas rod is movably connected in the support tube 8. The suction cup 7 is installed on the top of the gas rod to position the arc-shaped object and prevent it from rotating during the clamping process. A first spring is connected between the bottom end of the gas rod and the top end of the support tube 8 to act on objects of different sizes for expansion and contraction. The bottom tube of the support tube 8 passes through the top surface of the clamp housing 1 and extends to the inner side of the clamp housing 1. The pipeline on the bottom end of the support tube 8 is connected to an air pipe 6 to facilitate the output of gas. The other end of the air pipe 6 passes through the outer side of the clamp housing 1. A suction cup 7 is movably connected to one side of the support tube 8. The clamp housing 1 is movably connected to the suction cup 7. A cylinder rod 12 is connected, a push frame is arranged on one end of the cylinder rod 12, a movable plate 13 is connected to the outside of the push frame, a connecting piece 16 is installed on one end of the movable plate 13, a base 2 is installed on the bottom side of the clamp housing 1, a telescopic cylinder 11 is arranged in the base 2, the other end of the cylinder rod 12 is connected to the telescopic end of the telescopic cylinder 11 to act on the power source in the device, a limit shell 14 is installed on the inner wall of the clamp housing 1, a bottom plate 17 is fixedly arranged at the bottom end of the limit shell 14, the movable plate 13 is placed on the top surface of the bottom plate 17, and the other end of the movable plate 13 is movably connected In the limiting shell 14, and it is limited in the limiting shell 14, the connecting member 16 includes a bottom block, a fixed arc block 161 and a movable arc block 162, one end of the movable plate 13 is a lower recess, the lower recess is adapted to the fixed short plate 9, the bottom block is fixed in the lower recess, the bottom block acts to prevent the fixed short plate 9 from touching the bottom, the fixed arc block 161 is welded and installed on the top surface of the bottom block, the movable arc block 162 is slidably connected to the outer surface of the fixed arc block 161, and it is limited between the bottom block and the fixed arc block 161, and the clamping block 15 is clamped on one side of the fixed arc block 161.

[0028] In this embodiment, a movable groove is provided on the top surface of the clamping jaw housing 1, and an adjusting rod 5 is movably connected in the movable groove. One end of the adjusting rod 5 passes through the movable groove and extends to the outside of the clamping jaw housing 1. The short shaft piece is connected between the clamping jaw 3 and the adjusting rod 5 to drive the clamping jaw head to perform clamping movement. The clamping jaw 3, the connecting piece 4 and the adjusting rod 5 are all movably connected. A plurality of clamping jaws 3 are provided, and a plurality of clamping jaws 3 are arranged in a ring and installed on the top surface of the clamping jaw housing 1, and the clamping jaws 3 are cross-symmetrically installed to facilitate multi-point clamping of spherical objects. An adjusting rod 5 is installed on the bottom side of the clamping jaw 3. The push frame includes a fixed plate, a support plate 10 and a fixed short plate 9. The fixed plate is installed on the top end of the cylinder rod 12. Two support plates 10 are provided, and the two support plates 10 are longitudinally Installed on both sides of the fixed plate, the bottom ends of the longitudinally arranged adjusting rods 5 are connected to the top surface of the support plate 10 to directly drive the adjusting rods 5 to be pushed out and pulled back. Two fixed short plates 9 are also provided. The two fixed short plates 9 are transversely installed on both sides of the fixed plate. The bottom ends of the transversely arranged adjusting rods 5 are connected to the top surface of the movable plate 13. Grooves are provided on the bottom surfaces of the fixed short plates 9. Movement grooves are symmetrically provided on the inner walls on both sides of the grooves. Piston rods 18 are movably connected in the movement grooves. A second spring 19 is connected between the piston rod 18 and the grooves. A clamping block 15 is installed on one end of the piston rod 18. The clamping block 15 cooperates with the fixed arc block 161 to realize the connection of the movable plate 13. The clamping block 15 cooperates with the movable arc block 162 to realize the disconnection of the movable plate 13.

[0029] Working principle: When clamping a cylindrical object, first disassemble the horizontal clamping claw 3, control the telescopic cylinder 11 to move, and the telescopic cylinder 11 drives the cylinder rod 12 to push forward, so that the support plate 10 moves upward, and at the same time drives the longitudinal adjustment rod 5 to push upward. When pushing upward, the longitudinal clamping claw 3 will gradually open, and then move it to the specified position, the air pipe 6 is connected to the external pump body, and the suction cup 7 is adsorbed on the arc surface of the object. At this time, the telescopic cylinder 11 is controlled to retract, and the longitudinal adjustment rod 5 moves downward, so that the clamping claw 3 completes the clamping effect;

[0030] When clamping a spherical object, first control the telescopic cylinder 11 to move downward so that the clamping block 15 is clamped on the fixed arc block 161. At this time, the connection between the fixed short plate 9 and the movable plate 13 is completed. Then control the telescopic cylinder 11 to extend upward, and the transverse and longitudinal adjustment rods 5 move upward at the same time, so that the clamping claws 3 are opened at the same time and moved to the specified area. After the suction cup 7 is adsorbed on the outer surface of the sphere, the telescopic cylinder 11 is controlled to descend, indirectly driving the clamping claws 3 to clamp. After the operation is completed, the telescopic cylinder 11 can be controlled to contract to connect the clamping block 15 with the movable arc block 162. When the telescopic cylinder 11 rises again, the clamping block 15 will be separated from the connecting piece 16, completing the disconnection of the fixed short plate 9 and the movable plate 13.

[0031] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0032] The standard parts used in the utility model can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0033] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gripping structure of a robot gripper, comprising, characterized in that: Said A clamping jaw shell (1) is provided on the clamping jaw shell (1), a connecting plate (4) is installed on one side of the clamping jaw (3), an adjusting rod (5) is installed on one end of the connecting plate (4), a support tube (8) is also installed on the clamping jaw shell (1), a suction cup (7) is movably connected to one side of the support tube (8), a cylinder rod (12) is movably connected inside the clamping jaw shell (1), a push frame is provided on one end of the cylinder rod (12), a movable plate (13) is connected to the outer side of the push frame, and a connecting piece (16) is installed on one end of the movable plate (13).

2. The clamping structure of a robot gripper according to claim 1, characterized in that: The clamping claw (3) comprises a fixed block and a clamping claw head, wherein the fixed block is welded and mounted on the top surface of the clamping claw housing (1), and the clamping claw head is movably connected to the top end of the fixed block. The connecting piece (4) is divided into a long axis piece and a short axis piece, and the long axis piece is connected between the clamping claw head and the fixed block.

3. The clamping structure of a robot gripper according to claim 2, characterized in that: The top surface of the clamping jaw housing (1) is provided with a movable groove, the adjusting rod (5) is movably connected in the movable groove, one end of the adjusting rod (5) passes through the movable groove and extends to the outside of the clamping jaw housing (1), the short shaft piece is connected between the clamping jaw (3) and the adjusting rod (5), and the clamping jaw (3), the connecting piece (4) and the adjusting rod (5) are all movably connected.

4. The clamping structure of a robot gripper according to claim 3, characterized in that: The clamping claws (3) are provided in plurality, and the plurality of clamping claws (3) are arranged in a ring and mounted on the top surface of the clamping claw housing (1), and the clamping claws (3) are mounted in a cross-symmetrical manner, and the bottom sides of the clamping claws (3) are all mounted with adjustment rods (5).

5. The clamping structure of a robot gripper according to claim 1, characterized in that: The support tube (8) is installed at the center position of the top surface of the clamp housing (1), and a gas rod is movably connected inside the support tube (8). The suction cup (7) is installed on the top of the gas rod. A first spring is connected between the bottom end of the gas rod and the top of the support tube (8). The bottom tube of the support tube (8) passes through the top surface of the clamp housing (1) and extends to the inner side of the clamp housing (1). The pipeline on the bottom end of the support tube (8) is connected to an air pipe (6), and the other end of the air pipe (6) passes through the outer side of the clamp housing (1).

6. The clamping structure of a robot gripper according to claim 1, characterized in that: A base (2) is installed on the bottom side of the clamping jaw housing (1), a telescopic cylinder (11) is arranged inside the base (2), and the other end of the cylinder rod (12) is connected to the telescopic end of the telescopic cylinder (11).

7. The clamping structure of a robot gripper according to claim 1, characterized in that: The push frame comprises a fixed plate, a support plate (10) and a fixed short plate (9), wherein the fixed plate is mounted on the top end of the cylinder rod (12), two support plates (10) are provided, and the two support plates (10) are longitudinally mounted on both sides of the fixed plate, and the bottom ends of the longitudinally arranged adjustment rods (5) are connected to the top surface of the support plate (10), and two fixed short plates (9) are also provided, and the two fixed short plates (9) are transversely mounted on both sides of the fixed plate, and the bottom ends of the transversely arranged adjustment rods (5) are connected to the top surface of the movable plate (13).

8. The clamping structure of a robot gripper according to claim 7, characterized in that: The bottom surface of the fixed short plate (9) is provided with grooves, and the inner walls on both sides of the grooves are symmetrically provided with movement grooves, and piston rods (18) are movably connected in the movement grooves. A second spring (19) is connected between the piston rod (18) and the grooves, and a clamping block (15) is installed on one end of the piston rod (18).

9. The clamping structure of a robot gripper according to claim 8, characterized in that: A limit shell (14) is installed on the inner wall of the clamping jaw housing (1), a bottom plate (17) is fixedly arranged at the bottom end of the limit shell (14), the movable plate (13) is placed on the top surface of the bottom plate (17), and the other end of the movable plate (13) is movably connected to the limit shell (14) and is limited in the limit shell (14), the connecting member (16) comprises a bottom block, a fixed arc block (161) and a movable arc block (162), the movable plate (13) is placed on the top surface of the bottom plate (17), and the other end of the movable plate (13) is movably connected to the limit shell (14) and is limited in the limit shell (14), the connecting member (16) comprises a bottom block, a fixed arc block (161) and a movable arc block (162), One end of the plate (13) is a lower notch, the lower notch is matched with the fixed short plate (9), the bottom block is fixed in the lower notch, the fixed arc block (161) is welded and installed on the top surface of the bottom block, the movable arc block (162) is slidably connected to the outer surface of the fixed arc block (161), and is limited between the bottom block and the fixed arc block (161), and the clamping block (15) is clamped on one side of the fixed arc block (161).

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