Automatic remodeling mechanism of robot gripper

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a robot gripper automatic remodeling mechanism which comprises a working table, supporting legs are fixedly connected to the periphery of the bottom of the working table, a mechanical arm is installed on the top of the working table, two buckles are fixedly connected to one end of the mechanical arm, and the other end of the mechanical arm is fixedly connected with a manipulator. A plurality of placing holes are formed in the top of the workbench, the interiors of the placing holes are slidably connected with gripper bodies, two storage grooves are formed in the top of each gripper body, the interiors of the storage grooves are slidably connected with first sliding blocks, and the two sides of each first sliding block are rotatably connected with lock catches through rotating shafts. According to the automatic type changing mechanism for the robot gripper, the gripper body is automatically disassembled and assembled through downward pressing of the mechanical arm, different types of gripper bodies can be conveniently and rapidly replaced by the mechanical arm, a professional person does not need to use a professional tool for replacement, the time for replacing the gripper by the mechanical arm is shortened, and the working efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an automatic shape-changing mechanism for a robot gripper. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration.

[0003] The existing robot arm gripper is usually fixed to the robot arm. When the robot arm gripper needs to be used to grasp different objects, professionals are required to replace the gripper, which consumes a lot of time and reduces the working efficiency of the robot arm. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the existing robot arm gripper is usually fixed to the robot arm by bolts. When the robot arm gripper needs to be used to grasp different objects, professionals are required to replace the gripper, which consumes a lot of time and reduces the working efficiency of the robot arm. For this reason, we propose an automatic changing mechanism for the robot gripper.

[0005] In order to achieve the above-mentioned objectives, the present application adopts the following technical solutions: a robot gripper automatic changing mechanism comprises a workbench, legs are fixedly connected on all sides of the bottom of the workbench, a mechanical arm is installed on the top of the workbench, one end of the mechanical arm is fixedly connected to two buckles, a plurality of placement holes are opened on the top of the workbench, a gripper body is slidably connected inside the placement holes, two storage grooves are opened on the top of the gripper body, a first slider is slidably connected inside the storage groove, both sides of the first slider are rotatably connected to lock buckles through a rotating shaft, a connecting rotating plate is rotatably connected inside the first slider, one side of the connecting rotating plate is fixedly connected to a limiting rotating rod, a second thrust spring is fixedly connected to the bottom of the first slider, the other end of the second thrust spring is fixedly connected to the bottom of the storage groove, a first guide block is fixedly connected to one side of the storage groove, and a second guide block is fixedly connected to one side of the storage groove.

[0006] Preferably, both sides of the storage groove are provided with limit sliding grooves, and both sides of the first sliding block are fixedly connected with limit sliding blocks.

[0007] Preferably, a first thrust spring is fixedly connected to the inner side of the lock catch, and the other end of the first thrust spring is fixedly connected to one side of the first sliding block.

[0008] Preferably, a return spring is fixedly connected to one side of the connecting rotating plate, and the other end of the return spring is fixedly connected to one side of the first sliding block.

[0009] Preferably, the moving distance of the first sliding block is greater than the length of the connecting rotating plate.

[0010] Preferably, the surface of the limit rotating rod is in contact with the inclined surface of the first guide block.

[0011] Preferably, the length of the lock buckle exposed from the top of the first slider is shorter than the length of the buckle.

[0012] Technical effects and advantages of the utility model:

[0013] In the utility model, the gripper body is automatically disassembled and assembled by pressing downwards by the mechanical arm, so that the mechanical arm can quickly replace gripper bodies of different types without the need for professionals to use professional tools for replacement, thereby improving the working efficiency of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the front view of the utility model;

[0015] Figure 2 It is a cross-sectional view of the buckle of the utility model;

[0016] Figure 3 For this utility model Figure 2 A partial enlarged view of the middle A;

[0017] Figure 4 It is a cross-sectional view of the position-limiting rotating rod of the utility model;

[0018] Figure 5 This is a schematic diagram of the guide block structure of the utility model;

[0019] Figure 6 It is a plan view of the guide block of the utility model.

[0020] Legend: 1. Workbench; 2. Leg; 3. Robotic arm; 4. Buckle; 5. Placement hole; 6. Gripper body; 7. Storage slot; 8. First slider; 9. Lock; 10. First thrust spring; 11. Connecting rotating plate; 12. Second thrust spring; 13. Limiting slide groove; 14. Limiting slider; 15. First guide block; 16. Second guide block; 17. Reset spring; 18. Limiting rotating rod. DETAILED DESCRIPTION

[0021] The present invention will now be further described in detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0022] Reference Figure 1 - Figure 6As shown, the utility model provides a technical solution: a robot gripper automatic changing mechanism, including a workbench 1, legs 2 are fixedly connected to the four sides of the bottom of the workbench 1, a mechanical arm 3 is installed on the top of the workbench 1, one end of the mechanical arm 3 is fixedly connected to two buckles 4, a plurality of placement holes 5 are provided on the top of the workbench 1, a gripper body 6 is slidably connected inside the placement holes 5, two storage grooves 7 are provided on the top of the gripper body 6, a first slider 8 is slidably connected inside the storage groove 7, both sides of the first slider 8 are rotatably connected to lock buckles 9 through a rotating shaft, the first slider 8 is rotatably connected to a connecting rotating plate 11 inside, one side of the connecting rotating plate 11 is fixedly connected to a limiting rotating rod 18, the bottom of the first slider 8 is fixedly connected to a second thrust spring 12, the second thrust spring 13 is fixedly connected to the second thrust spring 14. The other end of the spring 12 is fixedly connected to the bottom of the storage groove 7, one side of the storage groove 7 is fixedly connected to a first guide block 15, and one side of the storage groove 7 is fixedly connected to a second guide block 16. The moving distance of the first slider 8 is greater than the length of the connecting rotating plate 11, the surface of the limiting rotating rod 18 is fitted with the inclined surface of the first guide block 15, the length of the lock buckle 9 exposed from the top of the first slider 8 is less than the length of the buckle 4, and a return spring 17 is fixedly connected to one side of the connecting rotating plate 11, and the other end of the return spring 17 is fixedly connected to one side of the first slider 8. When the gripper body 6 needs to be installed on the mechanical arm 3, the mechanical arm 3 is controlled to make the buckle 4 on the mechanical arm 3 align with the storage groove 7 at the top of the gripper body 6 and insert it, so as to push the first slider 8 to move downward, and the second When a slider 8 moves downward, the two sides of the storage groove 7 squeeze the lock buckle 9 to move toward the middle to clamp the buckle 4. At the same time, the first slider 8 moves and drives the connecting rotating plate 11 to move. The limiting rotating rod 18 on one side of the connecting rotating plate 11 moves to the lower right on the surface of the first guide block 15. When the limiting rotating rod 18 moves to the middle of the first guide block 15 and the second guide block 16, the squeezing of the limiting rotating rod 18 is released, and the reset spring 17 drives the connecting rotating plate 11 to rotate, so that the limiting rotating rod 18 enters between the first guide block 15 and the second guide block 16. The groove of the first guide block 15 limits the limiting rotating rod 18, so that the first slider 8 is fixed to the current position, and at the same time, the lock buckle 9 fixes the buckle 4 to the inside of the storage groove 7, so that the gripper body 6 The first slide block 8 is moved downwardly by the control of the mechanical arm 3, and the first slide block 8 is pushed upwardly by the control of the mechanical arm 3, so that the first slide block 8 is pushed downwardly by the control of the mechanical arm 3, and the limit rotating rod 18 moves downwardly between the first guide block 15 and the second guide block 16, and the limit rotating rod 18 moves to the left through the inclined surface of the second guide block 16. At the same time, the mechanical arm 3 is controlled to move upward, so that the limit rotating rod 18 moves from the left side of the first guide block 15 to the outside of the first guide block 15 and the second guide block 16, and the limit of the first slide block 8 is released. Under the thrust of the second thrust spring 12, the first slide block 8 is pushed upward.Move the lock buckle 9 to the top of the storage slot 7 and open it to both sides, release the limit of the buckle 4, and make the gripper body 6 detach from one end of the mechanical arm 3. Press the mechanical arm 3 downward to realize the automatic disassembly and assembly of the gripper body 6, so that the mechanical arm 3 can quickly replace different types of gripper bodies 6, reducing the cost of purchasing different types of equipment.

[0023] Reference Figure 3 As shown, in the present embodiment: limiting grooves 13 are provided on both sides of the storage groove 7, and limiting sliders 14 are fixedly connected on both sides of the first slider 8. When the first slider 8 moves, the limiting sliders 14 on both sides of the first slider 8 move inside the limiting grooves 13 to limit the movement of the first slider 8, thereby preventing the first slider 8 from escaping from the storage groove 7 and preventing the first slider 8 from tilting and causing movement jamming.

[0024] Reference Figure 3 As shown, in this embodiment: a first thrust spring 10 is fixedly connected to the inner side of the lock buckle 9, and the other end of the first thrust spring 10 is fixedly connected to one side of the first slider 8. By installing the first thrust spring 10 on the inner side of the lock buckle 9, it is possible to prevent the lock buckle 9 from getting stuck and being unable to open to both sides, resulting in the buckle 4 being unable to detach from the inner side of the lock buckle 9.

[0025] Working principle: when the gripper body 6 needs to be installed on the robot arm 3, the robot arm 3 is controlled to align the buckle 4 on the robot arm 3 with the storage slot 7 at the top of the gripper body 6 and insert it, pushing the first slider 8 to move downward. During the downward movement of the first slider 8, the two sides of the storage slot 7 squeeze the lock buckle 9 to move toward the middle to clamp the buckle 4. At the same time, the movement of the first slider 8 drives the connecting rotating plate 11 to move, and the limiting rotating rod 18 on one side of the connecting rotating plate 11 moves to the lower right on the surface of the first guide block 15. When the limiting rotating rod 18 moves to the middle of the first guide block 15 and the second guide block 16, the release In addition to squeezing the limit rotating rod 18, the reset spring 17 drives the connecting rotating plate 11 to rotate, so that the limit rotating rod 18 enters between the first guide block 15 and the second guide block 16. The groove of the first guide block 15 limits the limit rotating rod 18, so that the first slider 8 is fixed to the current position, and at the same time, the lock buckle 9 fixes the buckle 4 to the inside of the storage groove 7, so that the gripper body 6 is fixed to one end of the buckle 4, and the robot arm 3 is controlled to move to complete the installation of the gripper body 6. When the gripper body 6 needs to be removed for replacement, the gripper body 6 is inserted into the position of the placement hole 5 by controlling the robot arm 3, and the robot arm 3 continues to move downward. The buckle 4 drives the first slider 8 to continue to move downward, so that the limit rotating rod 18 moves downward between the first guide block 15 and the second guide block 16, and the limit rotating rod 18 moves to the left through the inclined surface of the second guide block 16. At the same time, the mechanical arm 3 is controlled to move upward, so that the limit rotating rod 18 moves from the left side of the first guide block 15 to the outside of the first guide block 15 and the second guide block 16, and the limit of the first slider 8 is released. Under the thrust of the second thrust spring 12, the first slider 8 is pushed upward, so that the lock buckle 9 moves to the top of the storage slot 7 and opens to both sides, and the limit of the buckle 4 is released, so that the gripper body 6 One end of the detachable robot arm 3 is pressed downward by the robot arm 3 to realize automatic disassembly and assembly of the gripper body 6, so that the robot arm 3 can quickly replace different types of gripper bodies 6. During the movement of the first slider 8, the limit sliders 14 on both sides of the first slider 8 move inside the limit slide groove 13 to limit the movement of the first slider 8 to prevent the first slider 8 from detaching from the storage groove 7, and at the same time prevent the first slider 8 from tilting and causing movement jam. By installing a first thrust spring 10 on the inner side of the lock buckle 9, the lock buckle 9 can be prevented from getting stuck and being unable to open to both sides, resulting in the buckle 4 being unable to detach from the inner side of the lock buckle 9.

[0026] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot gripper automatic changeover mechanism, comprising a workbench (1), characterized in that: The bottom of the workbench (1) is fixedly connected to legs (2) on all sides, the top of the workbench (1) is equipped with a mechanical arm (3), one end of the mechanical arm (3) is fixedly connected to two buckles (4), the top of the workbench (1) is provided with a plurality of placement holes (5), the inside of the placement holes (5) is slidably connected to a gripper body (6), the top of the gripper body (6) is provided with two storage grooves (7), the inside of the storage grooves (7) is slidably connected to a first slider (8), and the two sides of the first slider (8) are rotated The shaft is rotatably connected to a lock buckle (9), the interior of the first slider (8) is rotatably connected to a connecting rotating plate (11), one side of the connecting rotating plate (11) is fixedly connected to a limiting rotating rod (18), the bottom of the first slider (8) is fixedly connected to a second thrust spring (12), the other end of the second thrust spring (12) is fixedly connected to the bottom of the receiving groove (7), one side of the receiving groove (7) is fixedly connected to a first guide block (15), and one side of the receiving groove (7) is fixedly connected to a second guide block (16).

2. The automatic shape-changing mechanism for the robot gripper according to claim 1, characterized in that: Limiting sliding grooves (13) are provided on both sides of the storage groove (7), and limiting sliding grooves (14) are fixedly connected to both sides of the first sliding block (8).

3. The automatic shape-changing mechanism for the robot gripper according to claim 1, characterized in that: A first thrust spring (10) is fixedly connected to the inner side of the lock buckle (9), and the other end of the first thrust spring (10) is fixedly connected to one side of the first sliding block (8).

4. The automatic shape-changing mechanism for the robot gripper according to claim 1, characterized in that: A return spring (17) is fixedly connected to one side of the connecting rotating plate (11), and the other end of the return spring (17) is fixedly connected to one side of the first sliding block (8).

5. The automatic shape-changing mechanism for the robot gripper according to claim 1, characterized in that: The moving distance of the first sliding block (8) is greater than the length of the connecting rotating plate (11).

6. The automatic changing mechanism of the robot gripper according to claim 1 is characterized in that: The surface of the limit rotating rod (18) is in contact with the inclined surface of the first guide block (15).

7. The automatic shape-changing mechanism for the robot gripper according to claim 1, characterized in that: The length of the lock buckle (9) exposed from the top of the first sliding block (8) is less than the length of the buckle (4).

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