Jaw adjusting device of loading and unloading manipulator

Abstract

The utility model discloses a jaw adjusting device of a loading and unloading manipulator, which belongs to the technical field of mechanical equipment and comprises mechanical arms for loading and unloading articles and a driven gear for adjusting the distance between the mechanical arms, one end of each mechanical arm is provided with a moving groove convenient for flexible adjustment, and the inner wall of each moving groove is rotatably connected with the side wall of the driven gear. The top of the mechanical arm is in screw connection with a driving motor for providing power, the driving motor penetrates through the bottom of the mechanical arm and is connected with a driving gear, the side wall of the driving gear is rotationally connected with the inner wall of the moving groove, the driving gear is in meshed connection with a driven gear, and long-rod-shaped connecting rods convenient to adjust are welded to the opposite sides of the driving gear and the driven gear correspondingly; the side wall of the connecting rod is slidably connected with the moving groove. The jaw of the mechanical arm can be adjusted, and the connecting rod connected with the jaw can be adjusted, so that the device can be suitable for different working environments, and the applicability of the device is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical equipment, in particular to a jaw adjustment device for a loading and unloading manipulator. Background Art

[0002] The mechanical fingers can imitate certain movements and functions of human hands and arms, and are used to grasp, carry objects or operate tools according to fixed procedures. Existing loading and unloading mechanical arms often use adjustable jaw devices to make the mechanical arms fit the objects better. However, when the existing equipment is in use, the jaws can only clamp objects of fixed sizes, and the mechanical arms cannot be modified as the packaging size of the objects is adjusted. Therefore, when loading, it cannot be applied to more working environments, reducing the applicability of the device.

[0003] For example (authorization announcement number CN212241081U) a loading and unloading manipulator jaw adjustment device includes a clamping jaw body and a mechanical arm, the mechanical arm is located above the clamping jaw body, a hydraulic cylinder is fixedly connected to the center position of one side of the inner wall of the clamping jaw body, a second clamp is fixedly connected to the top of the hydraulic cylinder, both sides of the second clamp are fixedly connected to the first slider, both sides of the inner wall of the clamping jaw body are provided with a first slide groove corresponding to the position of the first slider, and the first slide groove is slidably connected to the first slider, and both sides of the inner wall of the second clamp are fixedly connected to the motor. The device solves the problem that the existing equipment cannot adjust the jaws, but the device cannot change the mechanical arm according to the size of the article packaging structure, cannot be applied to different working environments, and reduces the applicability of the device. Utility Model Content

[0004] The utility model aims to provide a jaw adjustment device for a loading and unloading robot to solve the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a loading and unloading manipulator jaw adjustment device, comprising a mechanical arm for loading and unloading articles and a slave gear for adjusting the spacing between the mechanical arms, a movable groove for flexibly adjusting is provided at one end of the mechanical arm, the inner wall of the movable groove is rotatably connected to the side wall of the slave gear, a driving motor for providing power is screwed to the top of the mechanical arm, the driving motor passes through the bottom of the mechanical arm and is connected to a main gear, the side wall of the main gear is rotatably connected to the inner wall of the movable groove, and the main gear is meshingly connected to the slave gear;

[0006] The opposite sides of the main gear and the slave gear are both welded with long rod-shaped connecting rods which are easy to adjust, and the side walls of the connecting rods are slidably connected with the moving grooves.

[0007] As a preferred embodiment, a connecting block is welded at one end of the connecting rod for easy connection, two symmetrically arranged square plate-shaped fixing blocks are welded on one side of the connecting block, and a pin is provided on the top of the fixing block for easy fixing.

[0008] As a preferred embodiment, a long rod that is easy to rotate is rotatably connected to the opposite sides of the two fixed blocks, and one end of the long rod is rotatably connected to the pin.

[0009] As a preferred embodiment, two linear motors are welded to the other end of the long rod to facilitate jaw adjustment, and the moving parts of the two linear motors are respectively welded with a first clamping plate and a second clamping plate to facilitate object clamping, and the first clamping plate and the second clamping plate are abutted.

[0010] As a preferred embodiment, a C-shaped fixing frame for easy connection is welded on the top of the long rod, and a fixing shaft for easy driving is provided on the top of the fixing frame.

[0011] As a preferred embodiment, the fixed shaft passes through the fixed frame and is rotatably connected to an adapter block, and an electric push rod for easy adjustment is welded on one side of the adapter block.

[0012] As a preferred embodiment, the fixed part of the electric push rod is screwed to a rotating block, the side wall of the rotating block is rotatably connected to the connecting frame, the top of the connecting frame is provided with a fixed shaft passing through the connecting frame and the rotating block, and the bottom of the connecting frame is welded to the top of the connecting block.

[0013] Compared with the prior art, the technical effects and advantages of the utility model are as follows:

[0014] The jaw adjustment device of the loading and unloading robot benefits from the designed main gear and slave gear. A driving motor is screwed to the top of the robot arm. The output shaft of the driving motor passes through the top of the robot arm and is connected to one side of the main gear. The other side of the main gear is rotatably connected to the side wall of the movable groove. Driven by the driving motor, the main gear is driven to engage with the slave gear, and then the connecting rod connected to both sides of the two gears is driven to move. The movement of the connecting rod can adjust the spacing between the connecting rods according to the packaging size of the items. It can be flexibly applied to different working environments and work items, thereby improving the applicability of the device.

[0015] The jaw adjustment device of the loading and unloading robot benefits from the designed fixed frame and connecting frame. Fixed shafts are provided on the tops of the fixed frame and the connecting frame, wherein an adapter block is provided in the fixed frame, and a rotating block is provided in the connecting frame. The rotating block is rotatably connected to the adapter block, the connecting frame and the fixed frame, and a fixed part of the electric push rod is screwed to one side of the rotating block, and one side of the adapter block is connected to the moving part of the electric push rod to control the extension and retraction of the moving part of the electric push rod, drive the long rod connected to the fixed frame to rotate under the action of the pin shaft, and complete the rotation adjustment of the connecting rod. The long rod is corrected to facilitate the clamping of items of different packaging sizes, thereby improving the practicability of the device.

[0016] The device solves the problem that the existing equipment cannot adjust the supporting size according to the packaging sizes of different items, thereby improving the applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a structural schematic diagram of a jaw adjustment device for a loading and unloading robot in an embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the connection structure of the connecting rod in the embodiment of the utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure of the mechanical clamp hand in the embodiment of the utility model;

[0021] Figure 4 Schematic diagram of the structure of the linear motor in the embodiment of the utility model.

[0022] Description of reference numerals:

[0023] In the figure: 1. Robotic arm; 2. Driving motor; 3. Connecting rod; 4. Fixed block; 5. Long rod; 6. First clamping plate; 7. Moving slot; 8. Main gear; 9. Linear motor; 10. Fixed frame; 11. Connecting frame; 12. Slave gear; 13. Fixed shaft; 14. Pin shaft; 15. Electric push rod; 16. Second clamping plate; 17. Auxiliary plate. DETAILED DESCRIPTION

[0024] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0025] Unless otherwise defined, the directions of up, down, left, right, front, back, inside and outside involved in this document are based on the directions of up, down, left, right, front, back, inside and outside in the figures shown in the present utility model, and are explained here together.

[0026] The connection method can be bonding, welding, bolt connection, etc., depending on actual needs.

[0027] Example

[0028] like Figures 1 to 4As shown, this embodiment includes a mechanical arm 1 for loading and unloading articles and a slave gear 8 for adjusting the spacing between the mechanical arms 1. A movable groove 7 for easy flexible adjustment is opened at one end of the mechanical arm 1. The inner wall of the movable groove 7 is rotatably connected to the side wall of the slave gear 8. The top screw of the mechanical arm 1 is connected to a driving motor 2 for providing power. The driving motor 2 passes through the bottom of the mechanical arm 1 and is connected to a main gear 12. The side wall of the main gear 12 is rotatably connected to the inner wall of the movable groove 7. The main gear 12 is meshingly connected to the slave gear 8. By controlling the rotation of the driving motor 2, the main gear 12 connected to the output shaft of the driving motor 2 is driven to rotate inside the movable groove 7. The rotation of the main gear 12 drives the rotation of the meshingly connected slave gear 8. Because the back-to-back sides of the main gear 12 and the slave gear 8 are welded with a connecting rod 3 for easy fixation, the rotation of the main gear 12 and the slave gear 8 facilitates the adjustment of the spatial spacing between the two fixedly connected connecting rods 3, thereby enabling the mechanical arm to adjust the spacing of the connecting rods 3 according to the size of the packaged articles, which is convenient for use.

[0029] A long rod-shaped connecting rod 3 for easy adjustment is welded on the opposite sides of the main gear 12 and the slave gear 8. The side wall of the connecting rod 3 is slidably connected to the movable groove 7. A connecting block for easy fixation is welded at the end of the long rod 3 away from the movable groove 7. The setting of the connecting block is convenient for controlling the movement of the long rod 5 connected thereto by the long rod 3. A C-shaped connecting frame 11 for easy fixation is welded on the top of the connecting block. A fixed shaft 13 for easy connection is provided on the top of the connecting frame 11. A rotating block for easy rotation is rotatably connected to the inner side wall of the connecting frame 11. An electric push rod 15 for easy control of telescopic adjustment is screwed to one side of the rotating block. The moving part of the electric push rod 15 is welded to one side of the adapter block.

[0030] The adapter block rotates on the inner wall of the fixed frame 10, and a fixed shaft 13 identical to the connecting frame 11 is set on the top of the fixed frame 10. Under the action of the fixed shaft 13, the connection between the adapter block and the fixed frame 10 is completed. The bottom of the fixed frame 10 is welded to the side wall of the long rod 5. Under the telescopic action of the moving part of the electric push rod 15, the long rod 5 is driven to rotate relative to the connecting rod 3. Two fixed blocks 4 for easy connection are welded on the other side of the connecting block. The opposite side of the fixed block 4 is rotatably connected to one end of the long rod 5. A pin shaft 14 is provided on the top of the fixed block 4. The pin shaft 14 passes through the fixed block 4 and is rotatably connected to one end of the long rod 5.

[0031] The other end of the long rod 5 is welded with two linear motors 9 for easy adjustment. The moving parts of the two linear motors 9 are respectively welded with a first clamping plate 6 and a second clamping plate 16 for clamping, and a triangular auxiliary plate 17 is welded on one side of the moving part of the linear motor 9. The auxiliary plate 17 is fixed to the first clamping plate 6 and the second clamping plate 16 to control the movement of the moving part of the linear motor 9, complete the relative movement of the first clamping plate 6 and the second clamping plate 16, complete the clamping and fixation of the object, and facilitate operation.

[0032] The large packaged articles can also be clamped by the movement of the moving parts of the two linear motors 9 arranged on both sides, and the flexible use method improves the adaptability of the device to the packaging sizes of articles of different sizes.

[0033] The drive motor 2, the linear motor 9 and the electric push rod 15 are all conventional instruments. Their working principles, sizes and models are irrelevant to the functions of the present application, so they will not be described in detail. The control method of the present invention is controlled by a controller. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0034] How it works

[0035] The loading and unloading manipulator jaw adjustment device, when using the device, controls the output shaft of the driving motor 2 to rotate according to the size of the article packaging, starts the connected main gear 12 to rotate, the main gear 12 is meshed and connected with the slave gear 8, the main gear 12 and the slave gear 8 rotate in the moving groove 7 set at one end of the mechanical arm 1, because the connecting rod 3 is welded on the back side of the main gear 12 and the slave gear 8, under the action of the driving motor 2, the connecting rod 3 is adjusted;

[0036] A connecting block is welded to the end of the connecting rod 3 away from the robot arm 1, and a connecting frame 11 is welded to the top of the connecting block. The connecting frame 1 is connected to the rotating block through a pin shaft 13. The fixed part of the electric push rod 15 is connected to one side of the rotating block. The moving part of the electric push rod 15 is connected to the adapter block. The adapter block is rotatably connected to the fixed frame 10 under the action of the pin shaft 13. Because a fixed block 4 is welded to one side of the connecting block, the fixed block 4 is connected to the long rod 5 through the set pin shaft 14, and cooperates with the movement of the moving part of the electric push rod 15 to complete the position adjustment of the long rod 5 relative to the connecting rod 3;

[0037] Finally, two linear motors 9 are welded at the other end of the long rod 5, and the moving parts of the two linear motors 9 are respectively welded with the first clamping plate 6 and the second clamping plate 16, and a triangular auxiliary plate 17 is arranged on one side for reinforcement. The linear motor 9 is controlled to complete the clamping of the object and complete the loading and unloading.

[0038] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A jaw adjustment device for a loading and unloading robot, comprising a robot arm (1) for loading and unloading articles and a slave gear (8) for adjusting the distance between the robot arms (1), characterized in that: One end of the mechanical arm (1) is provided with a movable groove (7) for easy and flexible adjustment, the inner wall of the movable groove (7) is rotatably connected to the side wall of the slave gear (8), the top of the mechanical arm (1) is screwed to a driving motor (2) for providing power, the driving motor (2) passes through the bottom of the mechanical arm (1) and is connected to a main gear (12), the side wall of the main gear (12) is rotatably connected to the inner wall of the movable groove (7), and the main gear (12) is meshedly connected to the slave gear (8); A long rod-shaped connecting rod (3) which is easy to adjust is welded on the opposite sides of the main gear (12) and the slave gear (8), and the side wall of the connecting rod (3) is slidably connected to the movable groove (7).

2. The jaw adjustment device for a loading and unloading robot according to claim 1, characterized in that: A connecting block for easy connection is welded to one end of the connecting rod (3), two symmetrically arranged square plate-shaped fixing blocks (4) are welded to one side of the connecting block, and a pin shaft (14) for easy fixing is provided on the top of the fixing block (4).

3. The jaw adjustment device for a loading and unloading robot according to claim 2, characterized in that: A long rod (5) that is easy to rotate is rotatably connected to the opposite sides of the two fixed blocks (4), and one end of the long rod (5) is rotatably connected to a pin shaft (14).

4. The jaw adjustment device for a loading and unloading robot according to claim 3, characterized in that: The other end of the long rod (5) is welded with two linear motors (9) for facilitating jaw adjustment, and the moving parts of the two linear motors (9) are respectively welded with a first clamping plate (6) and a second clamping plate (16) for facilitating article clamping, and the first clamping plate (6) and the second clamping plate (16) are abutted.

5. The jaw adjustment device for a loading and unloading robot according to claim 4, characterized in that: A C-shaped fixing frame (10) is welded on the top of the long rod (5) for easy connection, and a fixing shaft (13) is provided on the top of the fixing frame (10) for easy driving.

6. The jaw adjustment device for a loading and unloading robot according to claim 5, characterized in that: The fixed shaft (13) passes through the fixed frame (10) and is rotatably connected to a switching block, and an electric push rod (15) for easy adjustment is welded on one side of the switching block.

7. The jaw adjustment device for a loading and unloading robot according to claim 6, characterized in that: The fixing part of the electric push rod (15) is screw-connected to a rotating block, the side wall of the rotating block is rotatably connected to the connecting frame (11), the top of the connecting frame (11) is provided with a fixed shaft (13) that passes through the connecting frame (11) and connects the rotating block, and the bottom of the connecting frame (11) is welded to the top of the connecting block.

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