Multifunctional grabbing device for welding robot

Abstract

The utility model discloses a multifunctional gripping device for a welding robot, which relates to the technical field of gripping devices for welding robots and comprises a mounting seat, a rotating shaft rotatably arranged in the mounting seat, a rotating block fixedly arranged at one end of the rotating shaft, a groove block detachably connected below the rotating block, and two threaded blocks slidably arranged in the groove block. Two first clamping jaws arranged in a mirror image mode are fixedly arranged on the two threaded blocks, a first gear is fixedly arranged in the center of the two-way threaded rod, a second gear capable of being meshed with the first gear is arranged in the rotating block, a C-shaped frame is detachably connected to the upper portion of the rotating block, and two second clamping jaws arranged in a mirror image mode are hinged to the C-shaped frame. Small parts and large parts can be grabbed through the first clamping jaw and the second clamping jaw respectively, the rotating block is driven by the rotating shaft to rotate so that the clamping jaws installed on the rotating block can be rapidly switched, and the first clamping jaw and the second clamping jaw of different specifications can be conveniently replaced through the detachably-connected groove block and the detachably-connected C-shaped frame.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robot grasping devices, in particular to a multifunctional grasping device for a welding robot. Background Art

[0002] The welding robot is an industrial robot that has a welding tong or welding nozzle installed on the end flange of the robot, so that it can perform welding, cutting or thermal spraying. The welding robot can be divided into a four-axis welding robot or a six-axis welding robot. The gripper is a particularly important component for the welding robot.

[0003] For example, in the utility model patent with announcement number CN218462229U, an internal expansion support type robot gripper is disclosed, including a linkage arm, a gripping splint, a back plate, a top plate, an electric push rod, a moving plate, active teeth, follower teeth, an extension shaft and a swing plate. The top plate is welded on the upper end surface of the back plate, the lower end of the electric push rod is connected to the moving plate, the left and right end surfaces of the moving plate are symmetrically provided with active teeth, the left and right sides of the front end surface of the back plate are symmetrically welded with extension shafts, the annular side surface of the extension shaft is provided with a swing plate, the annular side surface of the swing plate is provided with follower teeth, the lower side of the annular side surface of the swing plate is welded with a linkage arm, and the lower end of the linkage arm is welded with a gripping splint. This design solves the problem of poor gripping force of the original robot gripper;

[0004] However, the welding robot needs to grasp parts of different specifications during welding. When grasping parts of different sizes, the grasping head needs to be replaced. The existing device is inconvenient when replacing the grasping head. Utility Model Content

[0005] In view of the deficiencies of the prior art, the utility model provides a multifunctional grasping device for a welding robot, which solves the technical problem that the prior device is inconvenient to replace the grasping head.

[0006] To achieve the above purpose, the utility model is implemented through the following technical solutions: a multifunctional grasping device for a welding robot, comprising a mounting seat, a rotating shaft is rotatably arranged in the mounting seat, a rotating block is fixedly arranged at one end of the rotating shaft, a slot block is detachably connected below the rotating block, two threaded blocks are slidably arranged in the slot block, a bidirectional threaded rod is rotatably arranged in the slot block, the two threaded blocks are screwed on the two threads of the bidirectional threaded rod, two mirror-image clamping jaws 1 are fixedly arranged on the two threaded blocks, a gear 1 is fixedly arranged at the center of the bidirectional threaded rod, a gear 2 that can mesh with the gear 1 is arranged in the rotating block, a C-shaped frame is detachably connected above the rotating block, two mirror-image clamping jaws 2 are hinged on the C-shaped frame, a push-pull rod is slidably arranged at the center of the C-shaped frame, the push-pull rod is hinged at one end of two connecting rods above the push-pull rod, the other ends of the two connecting rods are hinged on the two clamping jaws 2, and a connecting block that can be detachably connected to the push-pull rod below is slidably arranged in the rotating block.

[0007] Preferably, a gear cavity is opened on one side of the rotating block close to the slot block, a worm wheel is rotatably arranged in the gear cavity, gear three is fixedly arranged on one side of the worm wheel, gear two is rotatably arranged at the opening of the gear cavity, gear two is meshed with gear three, a worm meshed with the worm wheel is also rotatably arranged in the gear cavity, and a motor one for driving the worm to rotate is fixedly arranged on the outside of the rotating block.

[0008] Preferably, a mounting groove is provided in the rotating block on one side close to the C-shaped frame, a cylinder is fixedly arranged in the mounting groove, and the connecting block is fixedly connected to the telescopic end of the cylinder.

[0009] Preferably, the lower part of the push-pull rod is T-shaped, and a notch matching the T-shape is provided in the connecting block, and the lower part of the push-pull rod can slide into the notch from one side.

[0010] Preferably, the C-shaped frame and the slot block are both detachably connected to the rotating block using bolts.

[0011] Preferably, a second motor for driving the rotating shaft to rotate is fixedly arranged on the mounting seat.

[0012] Beneficial Effects

[0013] The utility model provides a multifunctional grasping device for a welding robot, which has the following beneficial effects: by providing a clamping jaw 1 and a clamping jaw 2, small parts and large parts can be grasped respectively, a rotating block can be driven to rotate by a rotating shaft, so that the clamping jaws installed on the rotating block can be quickly switched, and the clamping jaw 1 and the clamping jaw 2 of different specifications can be easily replaced by disassembling a connected slot block and a disassembling connected C-shaped frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the main internal structure diagram of the utility model;

[0015] Figure 2 for Figure 1 Sectional view of AA in the middle;

[0016] Figure 3 for Figure 1 A partial enlarged view of B.

[0017] In the figure: 1. mounting base; 2. rotating shaft; 3. rotating block; 4. slot block; 5. bidirectional threaded rod; 6. threaded block; 7. clamping jaw 1; 8. gear 1; 9. C-shaped frame; 10. clamping jaw 2; 11. push-pull rod; 12. connecting rod; 13. gear cavity; 14. worm gear; 15. worm; 16. motor 1; 17. gear 3; 18. gear 2; 19. mounting slot; 20. cylinder; 21. connecting block; 22. motor 2; 23. bolt. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention, wherein the directional nouns such as "upper", "lower", etc. mentioned in this document are as follows: Figure 1 The orientation is used as a reference.

[0019] See also Figure 1-3The utility model provides a technical solution: a multifunctional grasping device for a welding robot, comprising a mounting seat 1, a rotating shaft 2 is rotatably arranged in the mounting seat 1, a rotating block 3 is fixedly arranged at one end of the rotating shaft 2, the rotating block 3 can be driven to rotate by the rotating shaft 2, a slot block 4 is disassembled and connected below the rotating block 3, two threaded blocks 6 are slidably arranged in the slot block 4, a bidirectional threaded rod 5 is rotatably arranged in the slot block 4, the two threaded blocks 6 are screwed on the two threads of the bidirectional threaded rod 5, the two threaded blocks 6 can be made to approach or move away from each other by rotating the bidirectional threaded rod 5, two mirror-image clamps 7 are fixedly arranged on the two threaded blocks 6, larger parts are grasped by the clamps 7, a gear 8 is fixedly arranged at the center of the bidirectional threaded rod 5, a gear 8 is fixedly arranged in the rotating block 3, and a gear 8 can be arranged in the rotating block 3. With gear 2 18 meshing with gear 1 8, after the slot block 4 is installed on the rotating block 3, gear 1 8 can be meshed with gear 2 18. Gear 2 18 is the driving wheel of gear 1 8. A C-frame 9 is detachably connected to the top of the rotating block 3. Two mirror-image clamps 2 10 are hinged on the C-frame 9. Smaller parts are grasped by the clamps 2 10. A push-pull rod 11 is slidably arranged at the center of the C-frame 9. One end of two connecting rods 12 are hinged on the top of the push-pull rod 11, and the other ends of the two connecting rods 12 are hinged on the two clamps 2 10. A connecting block 21 that can be detachably connected to the bottom of the push-pull rod 11 is slidably arranged in the rotating block 3. The push-pull rod 11 can be driven to move through the connecting block 12, and the clamps 2 10 can be driven to open or close by moving the push-pull rod 11 up and down.

[0020] As an embodiment of the present utility model, a gear cavity 13 is opened on one side of the rotating block 3 near the slot block 4, a worm wheel 14 is rotatably arranged in the gear cavity 13, a gear three 17 is fixedly arranged on one side of the worm wheel 14, a gear two 18 is rotatably arranged at the opening of the gear cavity 13, the gear two 18 is meshed with the gear three 17, a worm 15 meshed with the worm wheel 14 is also rotatably arranged in the gear cavity 13, a motor 16 for driving the worm 15 to rotate is fixedly arranged on the outside of the rotating block 3, the motor 16 can drive the worm wheel 14, the gear three 17, the gear two 18 and the gear one 8 to rotate, so that the clamping jaws 7 are moved closer to or away from each other.

[0021] As an embodiment of the utility model, a mounting groove 19 is opened on one side of the rotating block 3 close to the C-shaped frame 9, a cylinder 20 is fixedly arranged in the mounting groove 19, and a connecting block 21 is fixedly connected to the telescopic end of the cylinder 20. The cylinder 20 drives the push-pull rod 11 to move linearly to realize the opening or closing of the second clamp 10.

[0022] As an embodiment of the present invention, the bottom of the push-pull rod 11 is T-shaped, and a notch matching the T-shape is opened in the connecting block 21. The bottom of the push-pull rod 11 can slide from one side into the notch to realize the disassembly of the push-pull rod 11 and the connecting block 21.

[0023] As an embodiment of the utility model, the C-shaped frame 9 and the slot block 4 are both detachably connected to the rotating block 3 using bolts 23, and the clamping jaw 1 7 or the clamping jaw 2 10 of different specifications can be easily replaced by unscrewing the bolts 23.

[0024] As an embodiment of the utility model, a second motor 22 for driving the rotating shaft 2 to rotate is fixedly arranged on the mounting seat 1. The second clamp 10 can be rotated downward by rotating the second motor 22 180 degrees, so that the clamp installed on the rotating block can be quickly switched.

[0025] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and a suitable controller should be selected according to the actual situation to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and no longer explains the electrical control.

[0026] The working principle and use process of the utility model are as follows: when in use, the mounting base 1 is connected to the mechanical arm. When it is necessary to grasp a larger part, the device is moved above the part by the mechanical arm. The motor 16 can be used to control the jaws 7 to move away from or close to each other to grasp the large part. When it is necessary to grasp a small part, the motor 22 is used to drive the rotating shaft 2 to rotate 180 degrees. At this time, the jaw 2 10 is below the rotating block 3. The jaw 2 10 can be controlled to open or close by the extension and contraction of the cylinder 20 to grasp the small part. When it is necessary to replace the jaws 2 10 of different specifications, the detachable C-frame 9 and the connection block 21 cooperate with the push-pull rod 11 to ensure the connection adaptability and the transmission of power. When it is necessary to replace the jaws 7 of different specifications, the detachable slot block 4 and the gear 1 8 cooperate with the gear 2 18 to ensure the connection adaptability and the transmission of power.

[0027] 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 multifunctional gripping device for a welding robot, characterized in that: The invention comprises a mounting seat (1), a rotating shaft (2) is rotatably arranged in the mounting seat (1), a rotating block (3) is fixedly arranged at one end of the rotating shaft (2), a slot block (4) is detachably connected below the rotating block (3), two threaded blocks (6) are slidably arranged in the slot block (4), a bidirectional threaded rod (5) is rotatably arranged in the slot block (4), the two threaded blocks (6) are screwed onto the two threads of the bidirectional threaded rod (5), two mirror-image clamping claws (7) are fixedly arranged on the two threaded blocks (6), a gear (8) is fixedly arranged at the center of the bidirectional threaded rod (5), and the A gear 2 (18) that can mesh with the gear 1 (8) is arranged inside the rotating block (3); a C-shaped frame (9) is detachably connected to the top of the rotating block (3); two mirror-image-arranged clamping jaws 2 (10) are hinged on the C-shaped frame (9); a push-pull rod (11) is slidably arranged at the center of the C-shaped frame (9); one end of two connecting rods (12) are hinged on the top of the push-pull rod (11); the other ends of the two connecting rods (12) are hinged on the two clamping jaws 2 (10); a connecting block (21) that can be detachably connected to the bottom of the push-pull rod (11) is slidably arranged inside the rotating block (3).

2. A multifunctional gripping device for a welding robot according to claim 1, characterized in that: A gear chamber (13) is provided on one side of the rotating block (3) close to the slot block (4), a worm wheel (14) is rotatably arranged in the gear chamber (13), a gear three (17) is fixedly arranged on one side of the worm wheel (14), the gear two (18) is rotatably arranged at the opening of the gear chamber (13), the gear two (18) is meshed with the gear three (17), a worm (15) meshed with the worm wheel (14) is also rotatably arranged in the gear chamber (13), and a motor one (16) for driving the worm (15) to rotate is fixedly arranged on the outside of the rotating block (3).

3. A multifunctional gripping device for a welding robot according to claim 1, characterized in that: A mounting groove (19) is provided in the rotating block (3) on one side close to the C-shaped frame (9), a cylinder (20) is fixedly arranged in the mounting groove (19), and the connecting block (21) is fixedly connected to the telescopic end of the cylinder (20).

4. A multifunctional gripping device for a welding robot according to claim 3, characterized in that: The lower part of the push-pull rod (11) is T-shaped, and a notch matching the T-shape is provided in the connecting block (21), and the lower part of the push-pull rod (11) can slide into the notch from one side.

5. The multifunctional gripping device for a welding robot according to claim 1, characterized in that: The C-shaped frame (9) and the slot block (4) are both detachably connected to the rotating block (3) using bolts (23).

6. The multifunctional gripping device for a welding robot according to claim 1, characterized in that: A second motor (22) for driving the rotating shaft (2) to rotate is fixedly arranged on the mounting seat (1).

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