Positioning device for robot clamping mechanism

Abstract

The utility model discloses a positioning device for a robot clamping mechanism, which comprises a base, an adjusting device, a storage mechanism, a supporting mechanism and a clamping mechanism, the bottom of the base is provided with a storage groove and a through hole, the base is internally provided with a cavity, the storage mechanism comprises a driving motor, a driving rod and a rotating wheel, and the rotating wheel is arranged in the storage groove. The driving motor is fixed in the cavity; the storage mechanism is installed below the base, a driving motor in the storage mechanism can drive a rotating wheel to rotate with a rotating shaft as the rotating center through a connecting plate, a connecting rod and a clamping plate, half of the rotating wheel can be folded into a storage groove, the weight of the whole device acts on the rotating wheel, and rotation of the rotating wheel can be avoided; and a second electric push rod and a base plate in the supporting mechanism are matched for use, so that positioning of the base can be achieved, the robot clamping mechanism can be moved to a designated place and positioned according to use requirements, and the situation that the robot clamping mechanism shifts in the use process, and clamping of goods is affected is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot equipment, in particular to a positioning device for a robot clamping mechanism. Background Art

[0002] A robot is a multi-joint manipulator or multi-degree-of-freedom robot for the mechanical field. It is a machine device that automatically performs work and relies on its own power and control capabilities to achieve various functions. The robot consists of three basic parts: the main body, the drive system, and the control system. Intelligent manufacturing means that the robot can imitate certain movements and functions of human hands and arms to pick up objects. In the process of parts processing, in order to improve the efficiency of parts processing, a robot gripping device for parts processing is generally used.

[0003] The existing positioning device for the robot gripping mechanism needs to lock each running wheel separately when in use to prevent the robot gripping mechanism from moving when in use. Therefore, a new technical solution needs to be designed to solve this problem. Utility Model Content

[0004] The purpose of the utility model is to provide a positioning device for a robot gripping mechanism to solve the problem that the positioning device for a robot gripping mechanism proposed in the above background technology needs to lock each walking wheel separately when in use to avoid the robot gripping mechanism from moving when in use.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a positioning device for a robot clamping mechanism, comprising a base, an adjustment device, a storage mechanism, a support mechanism and a clamping mechanism, wherein a storage groove and a through hole are provided at the bottom of the base, a chamber is provided inside the base, the storage mechanism comprises a drive motor, a drive rod and a rotating wheel, the drive motor is fixed in the chamber, the drive rod is keyed to the drive shaft of the drive motor, a connecting plate is welded to the outer wall of the drive rod, the connecting plate passes through the through hole, the rotating wheel is rotatably connected to the inner wall of the storage groove through a mounting frame, and the connecting plate is connected to the rotating wheel through a connecting rod and a clamping plate; the clamping mechanism is located above the base, the clamping mechanism comprises a mechanical arm, a mechanical arm and a mechanical claw, the mechanical arm is connected to the mechanical arm through a universal joint 1, and the mechanical arm is connected to the mechanical claw through a universal joint 2.

[0007] In order to be able to fine-tune the overall position of the clamping mechanism, a positioning device for a robot clamping mechanism of the utility model is preferably provided, wherein the adjustment device is located at the top of the base, the adjustment device includes a guide block, a first electric push rod and a mounting plate, the mechanical arm is connected to the mounting plate through a universal joint three, the mounting plate slides in contact along the top of the base, the outer wall of the mounting plate has two guide grooves, the guide block slides in the guide groove through a spring, two adjacent guide blocks are connected by a lifting plate, the fixed end of the first electric push rod is fixed to the top of the base by bolts, and the movable end of the first electric push rod is connected to the outer wall of the mounting plate by bolts.

[0008] In order to control the rotation direction of the connecting rod and to stably drive the rotating wheel to rotate, as a preferred positioning device for a robot clamping mechanism of the utility model, two arc plates are welded to the bottom of the base, a channel is formed between the two arc plates, the connecting rod slides in the channel, and the other end of the arc plate is welded to the bottom of the base through a vertical plate.

[0009] In order to be used in conjunction with the stored rotating wheel to fix the position of the base, as a preferred positioning device for a robot clamping mechanism of the utility model, the support mechanism includes a second electric push rod and a pad, the fixed end of the second electric push rod is fixedly connected to the inner cavity of the base, and the pad is connected to the movable end of the second electric push rod by bolts.

[0010] In order to enable the mounting plate to stably perform linear motion on the base, a positioning device for a robot clamping mechanism of the utility model is preferably provided with a slide groove inside the base, a cross bar is horizontally inserted into the slide groove, a sliding block slides on the cross bar, the sliding block is fixedly connected to the bottom of the mounting plate, and a plurality of limiting holes are provided at equal intervals on the top of the base along the side of the slide groove, and the guide block is inserted into the limiting hole.

[0011] Compared with the prior art, the utility model has the following beneficial effects: by installing a storage mechanism under the base, the driving motor in the storage mechanism can drive the rotating wheel to rotate with the rotating shaft as the rotation center through the connecting plate, the connecting rod and the clamping plate, and half of the structure of the rotating wheel can be folded into the storage groove, and the outer wall of the rotating wheel contacts and clamps with the top of the inner cavity of the storage groove, and the weight of the whole device acts on the rotating wheel, which can avoid the self-rotation of the rotating wheel, and cooperate with the use of the second electric push rod and the pad in the supporting mechanism to realize the positioning of the base, so that the robot clamping mechanism can be moved to the designated location and positioned according to the use requirements, so as to avoid the displacement of the robot clamping mechanism during use and affect the clamping of goods;

[0012] By installing an adjustment device on both sides of the mounting plate, the lifting plate in the adjustment device can lift the fixed block and the limit rod so that the guide block is guided out of the limit hole, and the mounting plate can make a linear motion under the action of the first electric push rod to adjust the guide block to match the limit holes in different positions, so as to facilitate the operator to adjust the position of the mechanical arm, so that the position of the mechanical arm and the mechanical claw can be adjusted synchronously to adapt to a variety of different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the utility model when viewed from above;

[0016] Figure 3 This is a schematic diagram of the storage mechanism structure of the utility model;

[0017] Figure 4 This is an enlarged structural diagram of the utility model at A;

[0018] Figure 5 This is an enlarged structural diagram of the utility model at B;

[0019] Figure 6 This is a schematic diagram of the connection structure of the mounting plate of the utility model.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1. Base; 2. Adjustment device; 21. Slide groove; 22. Limit hole; 23. Guide block; 231. Lifting plate; 232. Spring; 24. Sliding block; 25. First electric push rod; 26. Mounting plate; 3. Storage mechanism; 31. Drive motor; 32. Drive rod; 321. Connecting plate; 33. Rotating wheel; 4. Support mechanism; 41. Second electric push rod; 42. Pad; 5. Clamping mechanism; 51. Mechanical arm; 52. Mechanical arm; 53. Mechanical claw; 6. Perforation; 7. Connecting rod; 8. Snap-in plate; 9. Arc plate. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-6 As shown, the utility model provides a technical solution: comprising a base 1, an adjustment device 2, a storage mechanism 3, a support mechanism 4 and a clamping mechanism 5;

[0025] In this technical solution, a positioning device for a robot clamping mechanism has a storage groove and a perforation 6 opened at the bottom of the base 1, and a chamber is opened inside the base 1. The storage mechanism 3 includes a driving motor 31, a driving rod 32 and a rotor 33. The driving motor 31 is fixed in the chamber. The driving rod 32 is connected to the drive shaft key of the driving motor 31. The outer wall of the driving rod 32 is welded with a connecting plate 321. The connecting plate 321 penetrates through the through hole 6. The rotor 33 is rotatably connected to the inner wall of the storage groove through the mounting frame. The connecting plate 321 is connected to the rotor 33 through the connecting rod 7 and the clamping plate 8. The connecting plate 321 is welded with the connecting rod 7 and the connecting rod 7, the connecting rod 7 is welded with the clamping plate 8. The end of the clamping plate 8 is placed on the rotation shaft of the rotor 33. The rotor 33 is rotatably connected to the mounting frame through the rotation shaft, and the mounting frame is rotatably connected to the inner wall of the storage groove through the rotation shaft;

[0026] In this technical solution, the base 1 is used to provide installation points for the installation of various parts. The four storage mechanisms 3 are respectively distributed at the four vertices inside the base 1. The drive motor 31 is used to drive the drive rod 32 to rotate. When the drive rod 32 rotates, it drives the connecting plate 321, the connecting rod 7, and the clamping plate 8 to rotate synchronously to control the expansion and storage of the rotating wheel 33.

[0027] The clamping mechanism 5 is located above the base 1, and the clamping mechanism 5 includes a mechanical arm 51, a mechanical arm 52 and a mechanical claw 53. The mechanical arm 51 and the mechanical arm 52 are connected through a universal joint 1, and the mechanical arm 52 and the mechanical claw 53 are connected through a universal joint 2.

[0028] In this technical solution, the mechanical arm 51, the mechanical arm 52 and the mechanical claw 53 work under the control of an external control device to clamp the required parts.

[0029] In some technical solutions, reference Figure 5-6 , the adjustment device 2 is located at the top of the base 1 , the adjustment device 2 includes a guide block 23 , a first electric push rod 25 and a mounting plate 26 , the mechanical arm 51 is connected to the mounting plate 26 through universal joint three , the mounting plate 26 slid in contact with the top of the base 1 , and the outer wall of the mounting plate 26 has two guide grooves, and the guide block 23 slid in the guide groove by spring 232 , the two ends of the spring 232 are fixedly connected to the top of the guide groove and the guide block 23 , respectively, the two ends of the adjacent guide block 23 are connected by the lifting plate 231 , the two ends of the lifting plate 231 are respectively fixedly connected to the top of the guide block 23 , and the bottom of the guide block 23 extends with a plug, and the plug and limit hole 22 are inserted. The fixing end of the first electric push rod 25 is fixed to the top of the base 1 by bolts, and the moving end of the first electric push rod 25 is connected to the outer wall of the mounting plate 26 by bolts.

[0030] In this technical solution, the mounting plate 26 provides an installation point for the clamping mechanism 5, and the first electric push rod 25 is used to push the mounting plate 26 to perform linear movement in the horizontal direction to control the guide block 23 to match the limit holes 22 at different positions, so as to adjust the overall position of the clamping mechanism 5 to adapt to different working conditions.

[0031] In some technical solutions, reference Figure 3 , Figure 4 and Figure 6 Two arc plates 9 are welded to the bottom of the base 1, and a channel is formed between the two arc plates 9. The connecting rod 7 slides in the channel. The other end of the arc plate 9 is welded to the bottom of the base 1 through the vertical plate 91, the end of the arc plate 9 is welded to 91, and the end of 91 is welded to the bottom of the base 1.

[0032] In this technical solution, the coordinated use of the arc plates 9 and 91 can limit the rotational posture of the connecting rod 7, so that the connecting rod 7 can only move in the channel formed by the two arc plates 9 during rotation, so as to stably control the storage and deployment of the rotating wheel 33.

[0033] In some technical solutions, reference Figure 6 The supporting mechanism 4 includes a second electric push rod 41 and a pad 42. The fixed end of the second electric push rod 41 is fixedly connected to the inner cavity of the base 1, and the pad 42 is connected to the movable end of the second electric push rod 41 by bolts.

[0034] In this technical solution, after the rotating wheel 33 is stored, the second electric push rod 41 pushes the pad 42 downward so that the pad 42 contacts the ground. At this time, the pad 42 and the low point of the rotating wheel 33 are in the same plane to locate the position of the base 1 and avoid displacement of the robot clamping mechanism during use.

[0035] In some technical solutions, reference Figure 1 and Figure 6 A slide groove 21 is opened inside the base 1, a cross bar is horizontally inserted inside the slide groove 21, a sliding block 24 slides on the cross bar, the sliding block 24 is fixedly connected to the bottom of the mounting plate 26, and a plurality of limiting holes 22 are opened at equal intervals along the side of the slide groove 21 on the top of the base 1, and the guide block 23 is inserted into the limiting hole 22.

[0036] In this technical solution, the slide groove 21, the cross bar and the sliding block 24 can limit the moving trajectory of the mounting plate 26, so that the mounting plate 26 can only reciprocate along the slide groove 21, so that the guide block 23 and the limiting hole 22 can be accurately plugged.

[0037] Specifically, the positioning device of the robot clamping mechanism first communicates the first electric push rod 25, the second electric push rod 41, the driving motor 31, and the clamping mechanism 5 with the external control device and the power supply before use. In the initial state, the driving motor 31 controls the rotor 33 through the driving rod 32, the connecting plate 321, the connecting rod 7 and the clamping plate 8, and the pad plate 42 is stored at the bottom of the base 1, and manually pushes the clamping mechanism 5, so that the rotor 33 can rotate. After moving the equipment to the point to be used, the control switch of the driving motor 31 is operated to reversely rotate the driving motor 31 to fold the rotor 33 into the storage tank and contact with the top of the storage tank to complete the locking of the rotor 33. At this time, the second electric push rod 4 1 The control pad 42 moves down until it comes into contact with the ground. At this time, the pad 42 and the rotor 33 jointly support the base 1 and position it in the horizontal direction. According to the needs of use, the lifting plate 231 can be pulled upward to separate the guide block 23 from the limit hole 22. The mounting plate 26 moves linearly under the action of the first electric push rod 25 to adjust the position of the mounting plate 26. After adjustment, the lifting plate 231 is released, so that the guide block 23 is inserted into the limit hole 22 again to complete the adjustment of the overall position of the clamping mechanism 5. At this time, the control switch of the clamping mechanism 5 is operated, and the driving motor 31, mechanical forearm 52 and mechanical claw 53 in the clamping mechanism 5 can be used in conjunction with the part to clamp and transfer.

[0038] Although the 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.

[0039] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope of the present disclosure is indicated by the following claims.

Claims

1. A positioning device for a robot gripping mechanism, characterized in that: The invention comprises a base (1), an adjustment device (2), a storage mechanism (3), a support mechanism (4) and a clamping mechanism (5); the bottom of the base (1) is provided with a storage groove and a through hole (6); the interior of the base (1) is provided with a chamber; the storage mechanism (3) comprises a driving motor (31), a driving rod (32) and a rotating wheel (33); the driving motor (31) is fixed in the chamber; the driving rod (32) is keyed to the driving shaft of the driving motor (31); a connecting plate (321) is welded to the outer wall of the driving rod (32); the connecting plate (321) passes through the through hole (6); the rotating wheel (33) is rotatably connected to the inner wall of the storage groove through a mounting frame; the connecting plate (321) is connected to the rotating wheel (33) through a connecting rod (7) and a clamping plate (8); The clamping mechanism (5) is located above the base (1), and comprises a mechanical arm (51), a mechanical arm (52) and a mechanical claw (53); the mechanical arm (51) and the mechanical arm (52) are connected via a universal joint 1, and the mechanical arm (52) and the mechanical claw (53) are connected via a universal joint 2.

2. A positioning device for a robot gripping mechanism according to claim 1, characterized in that: The adjustment device (2) is located at the top of the base (1), and the adjustment device (2) includes a guide block (23), a first electric push rod (25) and a mounting plate (26). The mechanical arm (51) is connected to the mounting plate (26) through a universal joint 3. The mounting plate (26) is in sliding contact along the top of the base (1). The outer wall of the mounting plate (26) is provided with two guide grooves. The guide block (23) slides in the guide grooves through a spring (232). Two adjacent guide blocks (23) are connected through a lifting plate (231). The fixed end of the first electric push rod (25) is fixed to the top of the base (1) by bolts, and the movable end of the first electric push rod (25) is connected to the outer wall of the mounting plate (26) by bolts.

3. A positioning device for a robot gripping mechanism according to claim 1, characterized in that: Two arc-shaped plates (9) are welded to the bottom of the base (1), a channel is formed between the two arc-shaped plates (9), the connecting rod (7) slides in the channel, and the other end of the arc-shaped plate (9) is welded to the bottom of the base (1) through a vertical plate (91).

4. A positioning device for a robot gripping mechanism according to claim 1, characterized in that: The support mechanism (4) comprises a second electric push rod (41) and a pad (42); the fixed end of the second electric push rod (41) is fixedly connected to the inner cavity of the base (1); and the pad (42) is connected to the movable end of the second electric push rod (41) via bolts.

5. A positioning device for a robot gripping mechanism according to claim 2, characterized in that: The base (1) has a slide groove (21) formed inside, a cross bar is inserted into the slide groove (21) laterally, a sliding block (24) slides on the cross bar, the sliding block (24) is fixedly connected to the bottom of the mounting plate (26), a plurality of limiting holes (22) are formed at equal intervals on the top of the base (1) along the side of the slide groove (21), and the guide block (23) is inserted into the limiting hole (22).

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