A gripper structure for AGV robot

Abstract

The utility model relates to the technical field of robots, and discloses a clamping claw structure for an AGV robot, comprising a mounting seat, a scanning instrument is arranged above the mounting seat, a first horizontal moving mechanism is arranged on one side of the mounting seat, a driving end of the first horizontal moving mechanism is arranged with two mounting frames, and one side of the two mounting frames is arranged with a clamping claw. When in use, the device can start the first horizontal moving mechanism to move the clamping claw to both sides, and then drive the positioning pin mechanism on the clamping claw to move through the second horizontal moving device, so that the positioning pin mechanism can limit the workpiece, and then start the first horizontal moving mechanism to move the clamping claw inward to clamp the workpiece. Compared with the prior art, the device can position and clamp the workpiece to be clamped through the positioning pin mechanism, thereby solving the problem that the workpiece to be clamped cannot be positioned in the prior art, resulting in poor clamping effect.

Description

Technical Field

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

[0002] With the advancement of science and technology, industrial robots have gradually replaced many manual operations, such as handling, stacking and other general processes required for factory operations, effectively liberating a lot of labor. Existing robots generally include mechanical arms and grippers. The mechanical arms are used for azimuth movement, and the grippers are used for gripping objects. Existing robot grippers are generally pneumatic grippers that grip objects through cylinders and clamping blocks.

[0003] In the Chinese patent with the publication number of CN 212736061U, a robot loading and unloading clamp structure is disclosed, including a loading and unloading clamp structure body, one side of the loading and unloading clamp structure body is connected to a mechanical arm control mechanism, the loading and unloading clamp structure body is provided with a first clamp and a second clamp, and a workpiece is clamped between the first clamp and the second clamp, the first clamp and the second clamp are connected to a first connecting spring at the upper end, and a clamp block is provided at the lower end of the first clamp and the second clamp, and the first clamp and the second clamp are provided with a spring sheet, the spring sheet is provided with an exhaust hole, and one side of the spring sheet is connected to a second connecting spring. The robot loading and unloading clamp structure can clamp and squeeze the workpiece through the spring sheet, so that the workpiece can be firmly fixed between the clamps, and at the same time, under the elastic force of the spring sheet and the second connecting spring, the unloading of the workpiece can be smoother, which is convenient for the use of the loading and unloading clamp structure.

[0004] In the process of realizing the utility model, the inventors found that there are at least the following problems in the prior art that have not been solved: the above-mentioned device, through the provision of the spring sheet and the second connecting spring, can make the unloading of the workpiece smoother and facilitate the use of the loading and unloading clamping structure, but when in use, it is impossible to position the workpiece to be clamped, resulting in poor clamping effect. Utility Model Content

[0005] The utility model aims to solve the problems existing in the prior art and proposes a clamping claw structure for an AGV robot.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A clamping structure for an AGV robot comprises a mounting seat, a first horizontal moving mechanism is arranged on one side of the mounting seat, the first horizontal moving mechanism has two driving ends, and mounting frames are respectively arranged on the two driving ends, a clamping jaw is arranged on one side of the two mounting frames, a slide groove is arranged on the inner side of the two clamping jaws, a second horizontal moving mechanism is arranged on one side of the clamping jaw, a slider is arranged on the driving end of the second horizontal moving mechanism, the slider is slidably arranged on the slide groove, and a positioning pin mechanism is arranged at the lower end of the slider.

[0008] Preferably, the first horizontal moving mechanism includes two slide rails, two movable slides and a clamping cylinder, the two slide rails are respectively arranged at the two ends of one side of the mounting seat, the two movable slides are respectively slidably arranged on the corresponding slide rails, the two mounting frames are respectively arranged on one side of the corresponding movable slides, the clamping cylinder is arranged on one side of the mounting seat, and the two output ends of the clamping cylinder are respectively connected to the corresponding mounting frames.

[0009] Preferably, the second horizontal moving mechanism includes a rotating motor and a threaded rod, the rotating motor is arranged on one side of the clamp, the driving end of the rotating motor is connected to the threaded rod, the threaded rod is arranged in the slide groove, and the threaded rod passes through the slider and is threadedly connected to the slider.

[0010] Preferably, the side section of the slide rail is concave, the movable slide is convex, and the slide rail is adapted to the slider.

[0011] Preferably, the positioning pin mechanism comprises two positioning blocks, and the two positioning blocks are respectively arranged on both sides of the lower end of the corresponding sliding block.

[0012] Preferably, the two positioning blocks are L-shaped, and the outer sides of the ends of the positioning blocks are arc-shaped.

[0013] Preferably, the mounting frame includes a mounting platform and a mounting plate, the mounting platform is arranged on one side of the movable slide, the mounting plate is arranged on one side of the mounting platform, and the two driving ends of the clamping cylinder are respectively connected to one side of the corresponding mounting plate.

[0014] Preferably, the side of the mounting plate is L-shaped.

[0015] Preferably, a scanning instrument is arranged above the mounting seat, and a signal output terminal of the scanning instrument is connected to a signal input terminal of the first horizontal moving mechanism and a signal input terminal of the second horizontal moving mechanism via a control processor.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model can start the first horizontal moving mechanism when in use, so that the clamping jaws can be moved to both sides, and then the positioning pin mechanism on the clamping jaws can be driven to move through the second horizontal moving device, so that the positioning pin mechanism can limit the workpiece, and then the first horizontal moving mechanism can be started to move the clamping jaws inward to clamp the workpiece. Compared with the prior art, the device can position and clamp the workpiece to be clamped through the positioning pin mechanism, thereby solving the problem in the prior art that the workpiece to be clamped cannot be positioned, resulting in poor clamping effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an overall schematic diagram of a gripper structure for an AGV robot proposed in the utility model;

[0019] Figure 2 This is an enlarged schematic diagram of a gripper structure for an AGV robot proposed in the utility model;

[0020] Figure 3 The utility model is a side schematic diagram of a gripper structure for an AGV robot.

[0021] In the figure: 1. mounting base; 2. scanning instrument; 3. clamping jaw; 4. slide groove; 5. slider; 6. positioning pin mechanism; 7. slide rail; 8. moving slide; 9. clamping jaw cylinder; 10. rotating motor; 11. threaded rod; 12. positioning block; 13. mounting table; 14. mounting plate. DETAILED DESCRIPTION

[0022] 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.

[0023] Reference Figures 1 to 3 A clamping structure for an AGV robot comprises a mounting seat 1, a first horizontal moving mechanism is arranged on one side of the mounting seat 1, the first horizontal moving mechanism has two driving ends, and mounting frames are arranged on the two driving ends respectively, a clamping jaw 3 is arranged on one side of the two mounting frames, a slide groove 4 is arranged on the inner side of the two clamping jaws 3, a second horizontal moving mechanism is arranged on one side of the clamping jaw 3, a slider 5 is arranged on the driving end of the second horizontal moving mechanism, the slider 5 is slidably arranged on the slide groove 4, and a positioning pin mechanism 6 is arranged at the lower end of the slider 5.

[0024] When the device is in use, the first horizontal moving mechanism is started to move the clamping jaws 3 to both sides, and then the second horizontal moving device is used to drive the positioning pin mechanism 6 on the clamping jaws 3 to move, so that the positioning pin mechanism 6 can fiber the workpiece, and then the first horizontal moving mechanism is started to move the clamping jaws 3 inward to clamp the workpiece. Compared with the prior art, the device can position the workpiece to be clamped through the positioning pin mechanism 6, which facilitates the clamping jaws 3 to clamp the workpiece, and solves the problem in the prior art that the workpiece to be clamped cannot be positioned, resulting in poor clamping effect.

[0025] Furthermore, the first horizontal moving mechanism includes two slide rails 7, two movable slides 8 and a clamping cylinder 9. The two slide rails 7 are respectively arranged at the two ends of one side of the mounting seat 1, the two movable slides 8 are respectively slidably arranged on the corresponding slide rails 7, the two mounting frames are respectively arranged on one side of the corresponding movable slides 8, the clamping cylinder 9 is arranged on one side of the mounting seat 1, and the two output ends of the clamping cylinder 9 are respectively connected to the corresponding mounting frames. Through the clamping cylinder 9, the mounting frame movable slide 8 can be driven to move on the slide rail 7, so that the clamping jaws 3 can be separated to both sides.

[0026] Furthermore, the second horizontal moving mechanism includes a rotating motor 10 and a threaded rod 11. The rotating motor 10 is arranged on one side of the clamp 3. The driving end of the rotating motor 10 is connected to the threaded rod 11. The threaded rod 11 is arranged in the slide groove 4. The threaded rod 11 passes through the slider 5 and is threadedly connected to the slider 5. The above-mentioned rotating motor 10 enables the two rotating motors 10 to move simultaneously through the multi-axis system synchronous control. The multi-axis system synchronous control is mainly composed of a core controller and a number of sub-units connected to it. Each sub-unit has an independent motor to drive the corresponding motion axis. The designer writes the corresponding program so that each sub-unit works under the coordination of the core controller to ensure the synchronous operation of the motion axis. The rotating motor 10 and the threaded rod 11 can drive the slider 5 to move, and drive the positioning pin mechanism 6 on the slider 5 to move. When it moves to the appropriate position, it stops moving and controls the clamp 3 to clamp the workpiece.

[0027] Furthermore, the side section of the slide rail 7 is concave, the movable slide 8 is convex, and the slide rail 7 is adapted to the slider 5 .

[0028] Furthermore, the positioning pin mechanism 6 includes two positioning blocks 12 , and the two positioning blocks 12 are respectively arranged on both sides of the lower end of the corresponding slider 5 .

[0029] Furthermore, the two positioning blocks 12 are L-shaped, and the outer sides of the ends of the positioning blocks 12 are arc-shaped. The arcs are provided so that the workpiece can be limited more smoothly when clamping the workpiece.

[0030] Furthermore, the mounting frame includes a mounting platform 13 and a mounting plate 14, the mounting platform 13 is arranged on one side of the movable slide 8, the mounting plate 14 is arranged on one side of the mounting platform 13, and the two driving ends of the clamping cylinder 9 are respectively connected to one side of the corresponding mounting plate 14. Through the arranged mounting plate 14, the clamping cylinder 9 can drive the movement of the mounting plate 14, and then drive the movable slide 8 to move on the slide rail 7.

[0031] Furthermore, the side of the mounting plate 14 is L-shaped.

[0032] Furthermore, a scanning instrument 2 is arranged above the mounting base 1, and a signal output end of the scanning instrument 2 is connected to a signal input end of the first horizontal moving mechanism and a second horizontal moving mechanism via a control processor. The scanning instrument 2 is arranged to read the information of the workpiece (the workpiece is provided with relevant information codes (such as QR codes, bar codes) that can be read by scanning), and then transmit the workpiece information to the control processor through the signal output end according to the workpiece information, and then send the signal to the first horizontal moving mechanism and the second horizontal moving mechanism (different workpieces have different fixed positions) through the control processor, so that the clamp 3 can be controlled to accurately clamp the workpiece.

[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 gripper structure for an AGV robot, comprising a mounting seat (1), characterized in that: A first horizontal moving mechanism is arranged on one side of the mounting seat (1), the first horizontal moving mechanism has two driving ends, and mounting frames are arranged on the two driving ends respectively, a clamping jaw (3) is arranged on one side of the two mounting frames, and a slide groove (4) is arranged on the inner side of the two clamping jaws (3), a second horizontal moving mechanism is arranged on one side of the clamping jaw (3), a slider (5) is arranged on the driving end of the second horizontal moving mechanism, the slider (5) is slidably arranged on the slide groove (4), and a positioning pin mechanism (6) is arranged at the lower end of the slider (5).

2. The gripper structure for an AGV robot according to claim 1, characterized in that: The first horizontal moving mechanism comprises two slide rails (7), two movable slides (8) and a clamping cylinder (9), the two slide rails (7) are respectively arranged at two ends of one side of the mounting seat (1), the two movable slides (8) are respectively slidably arranged on the corresponding slide rails (7), the two mounting frames are respectively arranged on one side of the corresponding movable slides (8), the clamping cylinder (9) is arranged on one side of the mounting seat (1), and the two output ends of the clamping cylinder (9) are respectively connected to the corresponding mounting frames.

3. The gripper structure for an AGV robot according to claim 1, characterized in that: The second horizontal moving mechanism comprises a rotating motor (10) and a threaded rod (11); the rotating motor (10) is arranged on one side of the clamping jaw (3); the driving end of the rotating motor (10) is connected to the threaded rod (11); the threaded rod (11) is arranged in the sliding groove (4); the threaded rod (11) passes through the slider (5) and is threadedly connected to the slider (5).

4. The gripper structure for an AGV robot according to claim 2, characterized in that: The side section of the slide rail (7) is concave, the movable slide platform (8) is convex, and the slide rail (7) is compatible with the slider (5).

5. The gripper structure for an AGV robot according to claim 1, characterized in that: The positioning pin mechanism (6) comprises two positioning blocks (12), and the two positioning blocks (12) are respectively arranged on both sides of the lower end of the corresponding sliding block (5).

6. The gripper structure for an AGV robot according to claim 5, characterized in that: The two positioning blocks (12) are L-shaped, and the outer sides of the ends of the positioning blocks (12) are arc-shaped.

7. The gripper structure for an AGV robot according to claim 2, characterized in that: The mounting frame comprises a mounting platform (13) and a mounting plate (14); the mounting platform (13) is arranged on one side of the movable slide (8); the mounting plate (14) is arranged on one side of the mounting platform (13); and the two driving ends of the clamping claw cylinder (9) are respectively connected to one side of the corresponding mounting plate (14).

8. The gripper structure for an AGV robot according to claim 7, characterized in that: The side of the mounting plate (14) is L-shaped.

9. The gripper structure for an AGV robot according to claim 1, characterized in that: A scanning device (2) is arranged above the mounting seat (1), and a signal output end of the scanning device (2) is connected to a signal input end of the first horizontal moving mechanism and a signal input end of the second horizontal moving mechanism via a control processor.

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