Robot gripper fixing structure

Abstract

The utility model provides a robot gripper fixing structure which comprises a floor, a ground rail is fixed on the floor, a mechanical arm is arranged on the ground rail in a sliding mode, an aluminum alloy frame is installed on the top of the mechanical arm, a plurality of vacuum suction cups are installed on the aluminum alloy frame, and a supporting seat is fixed on the floor. A supporting column base is movably arranged on the supporting base, a bearing table used for containing a workpiece is fixed to the top of the supporting column base, a sliding groove is formed in the bearing table, two movable bases are arranged on the bearing table in a spaced mode, the bottoms of the movable bases are slidably connected with the sliding groove, and two vertical bases are fixed to the movable bases in a spaced mode. A lifting seat is arranged between the two vertical seats, a limiting plate is fixed to one lifting seat, and the problem that when an existing manipulator grabs the uppermost plate, the position of the lower plate is likely to deviate, and next grabbing of the manipulator is affected is solved.

Description

Technical Field

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

[0002] In order to meet the use requirements in different environments, the plates need to be circulated before undergoing multiple and complex processing procedures (such as heat treatment, cutting, segmentation, etc.), and the plates are generally placed horizontally from top to bottom. The weight and size of the unprocessed plates are large, and there are certain difficulties in manually moving and turning the plates before processing, and there are also safety hazards in manually moving and turning the plates. The manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms to grab, move objects or operate tools according to a fixed procedure.

[0003] When the existing robot grasps the uppermost plate, it is easy to cause the position of the lower plate to shift, thereby affecting the next grasping of the robot.

[0004] Therefore, it is necessary to provide a new robot gripper fixing structure to solve the above technical problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a robot gripper fixing structure, which solves the problem that when the existing robot arm grabs the plate at the top, it is easy to cause the position of the plate below to shift, thereby affecting the robot arm's next grabbing.

[0006] The robot gripper fixing structure provided by the utility model comprises a floor, a floor rail is fixed on the floor, a manipulator is slidably arranged on the floor rail, an aluminum alloy frame is installed on the top of the manipulator, and a plurality of vacuum suction cups are installed on the aluminum alloy frame;

[0007] A support base is fixed on the floor, a support column base is movably arranged on the support base, and a load-bearing platform for placing workpieces is fixed on the top of the support column base;

[0008] The load-bearing platform is provided with a slide groove, and two movable seats are arranged at intervals on the load-bearing platform. The bottom of the movable seat is slidably connected with the slide groove, and two vertical seats are fixed at intervals on the movable seat. A lifting seat is arranged between the two vertical seats, and the lifting seat has a fixed limiting plate.

[0009] In a preferred embodiment, a worm wheel is installed on the support column seat, and a worm is movably provided on the support seat through a bearing, and the worm is meshed with the worm wheel.

[0010] In a preferred embodiment, a crank handle is mounted on the worm.

[0011] In a preferred embodiment, the four surfaces of the upright seats are all provided with adjustment grooves, the lifting seat is slidably connected to the adjustment grooves, a threaded rod is movably arranged inside the adjustment grooves through a bearing, the threaded rod passes through the lifting seat, and the threaded rod is threadedly connected to the lifting seat.

[0012] In a preferred embodiment, a first bevel gear is installed on the top of the threaded rod, a motor is installed on one side of the stand, a second bevel gear is installed on the output end of the motor, and the second bevel gear is meshed with the first bevel gear.

[0013] In a preferred embodiment, electric telescopic rods are installed on both sides of the load-bearing platform, and the output ends of the electric telescopic rods extend into the interior of the slide groove and are fixed on one side of the moving seat.

[0014] Beneficial effects of the utility model:

[0015] 1. Before the robot grabs the workpiece, the staff can start the motor to drive the threaded rod to rotate. Driven by the threaded rod, the lifting seat will adjust the slot to move. When the lifting seat and the limit plate move to the side of the workpiece to be grabbed, the two electric lifting rods are started at the same time to drive the two moving seats closer to each other. At this time, the two limit plates can fix the workpiece directly below the workpiece to be clamped to prevent the workpiece below from being driven to deviate;

[0016] 2. When the position of the workpiece stacking on the load-bearing platform is reversed by the workers, the staff can turn the crank to drive the worm to rotate. Under the transmission action of the worm and the worm wheel, the position of the entire weighing platform can be adjusted, making it easier for the robot to pick up the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The main structure of the robot gripper fixing structure provided by the utility model is a three-dimensional view Figure 1 ;

[0018] Figure 2 The main structure of the robot gripper fixing structure provided by the utility model is a three-dimensional view Figure 2 ;

[0019] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of shown;

[0020] Figure 4 for Figure 2 Schematic diagram of the enlarged structure of B shown.

[0021] Numbers in the figure: 1. Floor; 2. Ground rail; 3. Manipulator; 4. Aluminum alloy frame; 5. Vacuum suction cup; 6. Support seat; 7. Support column seat; 8. Load-bearing platform; 9. Slide; 10. Moving seat; 11. Standing seat; 12. Lifting seat; 13. Limiting plate; 14. Worm gear; 15. Worm; 16. Handle; 17. Adjusting slot; 18. Threaded rod; 19. First bevel gear; 20. Motor; 21. Second bevel gear; 22. Electric telescopic rod. DETAILED DESCRIPTION

[0022] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0023] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 ,in Figure 1 The main structure of the robot gripper fixing structure provided by the utility model is a three-dimensional view Figure 1 ; Figure 2 The main structure of the robot gripper fixing structure provided by the utility model is a three-dimensional view Figure 2 ; Figure 3 for Figure 2 A schematic diagram of the enlarged structure of shown; Figure 4 for Figure 2 Schematic diagram of the enlarged structure of B shown.

[0024] In the specific implementation process, Figure 1-Figure 4 As shown, it includes a floor 1, a ground rail 2 is fixed on the floor 1, a manipulator 3 is slidably arranged on the ground rail 2, an aluminum alloy frame 4 is installed on the top of the manipulator 3, a plurality of vacuum suction cups 5 are installed on the aluminum alloy frame 4, the aluminum alloy frame is assembled by standard aluminum profiles, light weight and high strength, a vacuum generator is installed on the aluminum alloy frame 4, the vacuum generator adopts a double vacuum circuit, even if one circuit has a problem, the product will not fall.

[0025] A support base 6 is fixed on the floor 1, and a support column base 7 is movably arranged on the support base 6. A load-bearing platform 8 for placing workpieces is fixed on the top of the support column base 7. A worm wheel 14 is installed on the support column base 7. A worm 15 is movably arranged on the support base 6 through a bearing. The worm 15 is meshed with the worm wheel 14. The worm 15 adopts a single-head Archimedean worm. When the position of the workpiece stacked on the load-bearing platform 8 is reversed by the workers, the staff can turn the crank 16 to drive the worm 14 to rotate. Under the transmission action of the worm 14 and the worm wheel 14, the position of the entire weighing platform 8 can be adjusted, which is convenient for the manipulator 3 to take the workpiece. A crank 16 is installed on the worm 15 to facilitate the staff to rotate the worm 15.

[0026] A slide groove 9 is provided on the load-bearing platform 8, and two movable seats 10 are arranged on the load-bearing platform 8 at intervals. The bottom of the movable seat 10 is slidably connected to the slide groove 9, and two vertical seats 11 are fixed on the movable seat 10 at intervals. A lifting seat 12 is arranged between the two vertical seats 11, and a fixed limiting plate 13 of the lifting seat 12 is provided. Adjustment grooves 17 are provided on the surfaces of the four vertical seats 11, and the lifting seats 12 are slidably connected to the adjusting grooves 17. A threaded rod 18 is movably provided inside the adjusting groove 17 through a bearing. The threaded rod 18 penetrates the lifting seat 12, and the threaded rod 18 is threadedly connected to the lifting seat 12. When the threaded rod 18 rotates, it will drive the lifting seat 12 to move along the adjusting groove 17.

[0027] A first bevel gear 19 is installed on the top of the threaded rod 18, and a motor 20 is installed on one side of the stand 11. A second bevel gear 21 is installed on the output end of the motor 20, and the second bevel gear 21 is meshed with the first bevel gear 19. Electric telescopic rods 22 are installed on both sides of the load-bearing platform 8. The output end of the electric telescopic rod 22 extends into the interior of the slide groove 9 and is fixed to one side of the moving seat 10. Before the robot grabs the workpiece, the staff can start the motor 20 to drive the second bevel gear 21 to rotate. Under the transmission action of the first bevel gear 19 and the second bevel gear 21, the threaded rod 18 will be driven to rotate. Driven by the threaded rod 18, the lifting seat 12 will adjust the groove 17 to move. When the lifting seat 12 and the limit plate 13 move to one side of the workpiece to be grasped, the two electric lifting rods 22 are started at the same time to drive the two moving seats 10 to approach each other. At this time, the two limit plates 13 can fix the workpiece directly below the workpiece to be clamped to prevent the workpiece below from being driven to deviate.

[0028] The working principle of the utility model is as follows: before the robot grabs the workpiece, the staff can start the motor 20 to drive the second bevel gear 21 to rotate. Under the transmission action of the first bevel gear 19 and the second bevel gear 21, the threaded rod 18 will be driven to rotate. Under the drive of the threaded rod 18, the lifting seat 12 will adjust the slot 17 to move. When the lifting seat 12 and the limit plate 13 move to one side of the workpiece to be grabbed, the two electric lifting rods 22 are started at the same time to drive the two moving seats 10 to move closer to each other. At this time, the two limit plates 13 can fix the workpiece directly below the workpiece to be clamped to prevent the workpiece below from being driven to deviate;

[0029] When the position of the workpiece stacking on the load-bearing platform 8 is reversed by the workers, the staff can turn the crank 16 to drive the worm 14 to rotate. Under the transmission action of the worm 14 and the worm wheel 14, the position of the entire weighing platform 8 can be adjusted to facilitate the manipulator 3 to pick up the workpiece.

[0030] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0031] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot gripper fixing structure, comprising a floor (1), a floor rail (2) fixed on the floor (1), a robot arm (3) slidably arranged on the floor rail (2), characterized in that: An aluminum alloy frame (4) is installed on the top of the manipulator (3), and a plurality of vacuum suction cups (5) are installed on the aluminum alloy frame (4); A support seat (6) is fixed on the floor (1), a support column seat (7) is movably arranged on the support seat (6), and a load-bearing platform (8) for placing workpieces is fixed on the top of the support column seat (7); The load-bearing platform (8) is provided with a slide groove (9), and two movable seats (10) are arranged on the load-bearing platform (8) at intervals. The bottom of the movable seat (10) is slidably connected to the slide groove (9), and two standing seats (11) are fixed on the movable seat (10) at intervals. A lifting seat (12) is arranged between the two standing seats (11), and the lifting seat (12) has a fixed limiting plate (13).

2. The robot gripper fixing structure according to claim 1, characterized in that: A worm wheel (14) is installed on the support column seat (7), and a worm (15) is movably arranged on the support seat (6) via a bearing, and the worm (15) is meshed with the worm wheel (14).

3. The robot gripper fixing structure according to claim 2, characterized in that: A rocker (16) is mounted on the worm (15).

4. The robot gripper fixing structure according to claim 3, characterized in that: The surfaces of the four upright seats (11) are all provided with adjustment grooves (17), the lifting seat (12) is slidably connected to the adjustment grooves (17), a threaded rod (18) is movably arranged inside the adjustment grooves (17) via a bearing, the threaded rod (18) penetrates the lifting seat (12), and the threaded rod (18) is threadedly connected to the lifting seat (12).

5. The robot gripper fixing structure according to claim 4, characterized in that: A first bevel gear (19) is installed on the top of the threaded rod (18), a motor (20) is installed on one side of the stand (11), a second bevel gear (21) is installed on the output end of the motor (20), and the second bevel gear (21) is meshed with the first bevel gear (19).

6. The robot gripper fixing structure according to claim 5, characterized in that: Electric telescopic rods (22) are installed on both sides of the load-bearing platform (8), and the output end of the electric telescopic rod (22) extends into the interior of the slide groove (9) and is fixed on one side of the moving seat (10).

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