Robot mechanical arm clamping jaw structure

Abstract

The utility model discloses a robot mechanical arm clamping jaw structure in the technical field of robot equipment, which comprises a connecting device and a clamping device, the connecting device comprises a mechanical arm, an auxiliary structure and a hydraulic cylinder, and the bottom of the mechanical arm is provided with a cavity; according to the arrangement of the clamping jaw structure of the mechanical arm of the robot, the two clamping devices are symmetrically distributed on the outer side wall of the mechanical arm, the auxiliary structure is installed on the outer wall of the mechanical arm, the clamping devices can be converted into a closed state from an open state under the action of the hydraulic cylinder and the pressing rod, and clamping of goods is completed; at the moment, a stress plate in the auxiliary structure falls below the goods, and the connecting rope can contract under the action of the first motor, so that the stress plate is in contact with the bottom of the goods, and the auxiliary structure can provide upward pulling force for the bottom of the goods to counteract downward movement of the goods along the clamping jaw; and the clamping device is matched for use, so that the cargoes cannot fall off in the clamping and transporting process.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a robot mechanical arm clamping claw structure. Background Art

[0002] The manipulator at the front end of the robot arm replaces the human hand to complete specific operations according to the established procedures and requirements. In different working environments and work contents, the manipulator at the front end of the robot arm needs to be replaced with a manipulator with different functions to complete specific work tasks. In the automation industry, the use of mechanical grippers is very common, especially in the robotics industry. Through the combined use of mechanical grippers and robots, the execution capability of the robot can be further improved under the execution function of the mechanical grippers.

[0003] The existing mechanical arm clamps the goods by the bite force of the clamping claws when in use, but during the transportation process, the goods tend to move downward under their own gravity. 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 robot manipulator arm clamp structure to solve the problem that the robot arm proposed in the above background technology clamps the goods through the bite force of the clamp when in use, but during the transportation process, the goods have a tendency to move downward under their own gravity.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot mechanical arm clamp structure, including a connecting device and a clamping device, the connecting device includes a mechanical arm, an auxiliary structure and a hydraulic cylinder, a chamber is opened at the bottom of the mechanical arm, the hydraulic cylinder is fixed in the chamber, a pressing rod is welded on the outer side wall of the moving end of the hydraulic cylinder, the auxiliary structure includes a rotating plate, a force plate, a connecting rope and a first motor, the rotating plate is connected to the outer side wall of the mechanical arm through a fixing rod, the first motor is fixed to the outer side wall of the mechanical arm through bolts, and the two ends of the force plate are respectively connected to the rotating plate and the first motor through the connecting rope; two clamping devices are symmetrically distributed along the bottom of the mechanical arm, the clamping device includes a mounting seat, a clamping claw and a connecting rod, the mounting seat is welded to the mechanical arm, the clamping claw is rotatably connected to the inner cavity of the mounting seat through a rotating shaft, and the top of the clamping claw is connected to the moving end of the hydraulic cylinder through the connecting rod.

[0006] In order to control the rotation of the rotating plate to control the position of the force-bearing plate, a robot arm clamp structure is preferably configured in the present invention, wherein a mounting plate is welded to the end of the fixing rod, a second motor is fixed to the top of the mounting plate, and a driving end key of the second motor is connected to a connecting plate, and the end of the connecting plate is fixed to the rotating plate by bolts.

[0007] In order to be able to lock the connecting rope to reduce the force strength of the first motor, as a preferred robot manipulator arm clamp structure of the utility model, a connecting block is welded to the bottom of the mounting seat on the right side, a through hole is opened inside the connecting block, the connecting rope passes through the through hole, a mounting frame is welded to the outer wall of the connecting block, an electric push rod is fixed to the inner wall of the mounting frame by bolts, the moving end of the electric push rod passes through the interior of the connecting block and extends into the through hole, and a pin is fixed to the moving end of the electric push rod.

[0008] In order to reduce the resistance encountered when the pressing rod applies thrust to the clamp, a preferred robot arm clamp structure of the utility model is that a groove is opened on the top of the clamp, and a roller is rotatably connected to the groove through a second rotating shaft. The side of the pressing rod close to the clamp is an inclined surface, and the roller is in rolling contact with the end of the clamp.

[0009] In order to improve the clamping strength of the goods, as a preferred structure of a robot arm clamp of the utility model, the bottom of the clamp is rotatably connected to a clamping plate through a rotating shaft, and edges extend from the sides of the two clamping plates close to each other.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: the setting of the robot mechanical arm clamping structure is reasonable in structural design, and two clamping devices are symmetrically distributed on the outer side wall of the mechanical arm, and an auxiliary structure is installed on the outer wall of the mechanical arm. The clamping device can be changed from an open state to a closed state under the action of the hydraulic cylinder and the pressing rod to complete the clamping of the goods. At this time, the force plate in the auxiliary structure hangs down under the goods, and the connecting rope can be contracted under the action of the first motor, so that the force plate contacts the bottom of the goods, so that the auxiliary structure can provide an upward pulling force to the bottom of the goods to offset the downward movement of the goods along the clamping claws, and the use of the clamping device can ensure that the goods will not fall during the clamping and transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0012] Figure 2 This is a schematic diagram of the cross-sectional structure of the utility model;

[0013] Figure 3 This is a schematic diagram of the connection structure of the mounting plate of the utility model;

[0014] Figure 4 This is a schematic diagram of the clamping jaw connection structure of the utility model.

[0015] In the figure: 100, connecting device; 110, mechanical arm; 111, fixing rod; 120, auxiliary structure; 121, rotating plate; 122, force plate; 123, connecting rope; 124, first motor; 130, hydraulic cylinder; 131, pressing rod; 140, mounting plate; 141, second motor; 142, connecting plate;

[0016] 200, clamping device; 210, mounting seat; 211, connecting block; 220, clamping claw; 221, clamping plate; 222, roller; 230, connecting rod; 240, mounting frame; 241, electric push rod. DETAILED DESCRIPTION

[0017] 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. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. 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.

[0018] See also Figure 1-4 The utility model provides a technical solution: including a connecting device 100 and a clamping device 200.

[0019] In the technical solution, a robot mechanical arm gripper structure, a connecting device 100 includes a mechanical arm 110, an auxiliary structure 120 and a hydraulic cylinder 130, a chamber is opened at the bottom of the mechanical arm 110, the hydraulic cylinder 130 is fixed in the chamber, a pressing rod 131 is welded on the outer wall of the moving end of the hydraulic cylinder 130, the auxiliary structure 120 includes a rotating plate 121, a force plate 122, a connecting rope 123 and a first motor 124, the rotating plate 121 is connected to the outer wall of the mechanical arm 110 through a fixed rod 111, and the fixed rod 111 is welded to the outer wall of the mechanical arm 110. Then, the rotating plate 121 is sleeved on the outside of the fixed rod 111 and can rotate with the fixed rod 111. The first motor 124 is fixed to the outer wall of the mechanical arm 110 by bolts. The two ends of the force-bearing plate 122 are respectively connected to the rotating plate 121 and the first motor 124 by connecting ropes 123, wherein the two ends of one connecting rope 123 are respectively fixedly connected to the bottom of the rotating plate 121 and one end of the force-bearing plate 122, and one end of the other connecting rope 123 is fixedly connected to the other end of the force-bearing plate 122, and the other end is wound around the turntable on the driving end of the first motor 124.

[0020] In this technical solution, the robotic arm 110 is used to provide installation points for the installation of various parts, the hydraulic cylinder 130 and the pressing rod 131 are used to control the opening and closing of the two clamping devices 200, and the rotating plate 121, the force-bearing plate 122, the connecting rope 123 and the first motor 124 cooperate with each other to provide an upward pulling force for the bottom of the cargo.

[0021] The two clamping devices 200 are symmetrically distributed along the bottom of the mechanical arm 110. The clamping device 200 includes a mounting seat 210, a clamping jaw 220 and a connecting rod 230. The mounting seat 210 is welded to the mechanical arm 110. The clamping jaw 220 is rotatably connected to the inner cavity of the mounting seat 210 through a rotating shaft 1. The top of the clamping jaw 220 is connected to the movable end of the hydraulic cylinder 130 through a connecting rod 230. One end of the connecting rod 230 is connected to the hydraulic cylinder 130 through a rotating seat. The rotating seat is fixedly connected to the hydraulic cylinder 130, and the other end is rotatably connected to the inside of the clamping jaw 220 through a rotating shaft 4.

[0022] In this technical solution, the mounting seat 210 is used to provide an installation point for the installation of the clamp 220 and the connecting rod 230. The connecting rod 230 generates different angles with the clamp 220 as the hydraulic cylinder 130 moves, so as to control the rotation of the clamp 220 with the rotation axis 1 as the rotation point, thereby controlling the approach and separation of the ends of the two clamps 220.

[0023] In some technical solutions, reference Figure 1 and Figure 3 A mounting plate 140 is welded to the end of the fixing rod 111, a second motor 141 is fixed to the top of the mounting plate 140, a driving end key of the second motor 141 is connected to a connecting plate 142, and an end of the connecting plate 142 is fixed to the rotating plate 121 by bolts.

[0024] In this technical solution, the mounting plate 140 provides an installation point for the second motor 141. The second motor 141 and the connecting plate 142 cooperate with each other to control the rotation of the rotating plate 121, so as to drive the force-bearing plate 122 to move and put it in a suspended state, thereby avoiding the force-bearing plate 122 being located directly below the robotic arm 110 when clamping goods.

[0025] In some technical solutions, reference Figure 1 , Figure 2 and Figure 4 A connecting block 211 is welded to the bottom of the right mounting seat 210, a through hole is opened inside the connecting block 211, and the connecting rope 123 passes through the through hole. A mounting frame 240 is welded to the outer wall of the connecting block 211, and an electric push rod 241 is fixed to the inner wall of the mounting frame 240 by bolts. The moving end of the electric push rod 241 passes through the interior of the connecting block 211 and extends into the through hole, and a pin is fixed to the moving end of the electric push rod 241.

[0026] In this technical solution, after the first motor 124 completes tightening the connecting rope 123, the moving end of the electric push rod 241 pushes the pin to move, so that the pin is inserted into the interior of the connecting rope 123, thereby fixing the connecting rope 123, preventing the connecting rope 123 from moving, and reducing the force intensity on the first motor 124.

[0027] In some technical solutions, reference Figure 2 and Figure 4 A groove is formed at the top of the clamping jaw 220, and a roller 222 is rotatably connected to the groove through a second rotating shaft. The side of the pressing rod 131 close to the clamping jaw 220 is an inclined surface, and the roller 222 is in rolling contact with the end of the clamping jaw 220.

[0028] In this technical solution, when the hydraulic cylinder 130 moves downward, the end of the pressing rod 131 squeezes the top of the clamp 220, so that the bottom ends of the two clamps 220 are close to each other, and the bite force is used to clamp the goods. The cooperation of the inclined surface and the roller 222 can effectively increase the push of the pressing rod 131 on the top of the clamp 220, so that the clamp 220 rotates with the rotation axis 1 as the rotation point.

[0029] In some technical solutions, reference Figure 1 , Figure 2 and Figure 4 The bottom of the clamping jaw 220 is rotatably connected to a clamping plate 221 via a rotating shaft 3, and edges extend from the sides of the two clamping plates 221 that are close to each other.

[0030] In this technical solution, the bottom ends of the two clamping claws 220 approach each other until the clamping plates 221 contact the goods, and then the two clamping plates 221 remain parallel, and the ribs can be used to increase the friction between the goods and the clamping plates 221.

[0031] Working principle: the robot arm 110 moves along a preset path under the action of an external control device. When the cargo needs to be grabbed, in the initial state, the bottom end of the rotating plate 121 tilts backward, and the rotating plate 121 drives the force plate 122 to move backward, so that the force plate 122 is located behind the robot arm 110, and the connecting rope 123 is in a taut state, and the two clamping devices 200 are in an open state; when the robot arm 110 is placed above the cargo from top to bottom, the hydraulic cylinder 130, the first motor 124, the mounting frame 240 and the second motor 141 work separately under the action of the external control device, and the moving end of the hydraulic cylinder 130 moves downward, and drives the pressing rod 131 and the connecting rod 230 to move downward. At this time, the clamp 220 rotates about the rotating shaft 1, and the pressing rod 131 contacts and applies the top of the clamp 220. The thrust causes the bottom ends of the two clamping claws 220 to approach each other until the clamping plate 221 contacts the outer wall of the cargo, completing the grabbing of the cargo. While the clamping device 200 moves, the first motor 124 releases the connecting rope 123, so that the connecting rope 123 is in a relaxed state. At this time, the force-bearing plate 122 contacts the workbench, and the second motor 141 controls the rotating plate 121 to rotate to a downward vertical state through the connecting plate 142. When the robot 110 and the clamping device 200 clamp the cargo and then move it, the force-bearing plate 122 can fall to the bottom of the cargo by itself. At this time, the first motor 124 tightens the connecting rope 123 until the force-bearing plate 122 contacts the bottom of the cargo, and the electric push rod 241 pushes the pin to clamp the connecting rope 123, so that the cargo can be stably moved and prevented from falling during the movement process.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. 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.

[0033] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robot arm gripper structure, characterized in that: The invention comprises a connecting device (100) and a clamping device (200), wherein the connecting device (100) comprises a mechanical arm (110), an auxiliary structure (120) and a hydraulic cylinder (130), wherein a chamber is formed at the bottom of the mechanical arm (110), the hydraulic cylinder (130) is fixed in the chamber, a pressing rod (131) is welded to the outer wall of the movable end of the hydraulic cylinder (130), the auxiliary structure (120) comprises a rotating plate (121), a force-bearing plate (122), a connecting rope (123) and a first motor (124), wherein the rotating plate (121) is connected to the outer wall of the mechanical arm (110) via a fixing rod (111), the first motor (124) is fixed to the outer wall of the mechanical arm (110) via bolts, and the two ends of the force-bearing plate (122) are respectively connected to the rotating plate (121) and the first motor (124) via the connecting rope (123); The two clamping devices (200) are symmetrically distributed along the bottom of the mechanical arm (110), and the clamping device (200) includes a mounting seat (210), a clamping claw (220) and a connecting rod (230). The mounting seat (210) is welded to the mechanical arm (110), and the clamping claw (220) is rotatably connected to the inner cavity of the mounting seat (210) through a rotating shaft 1, and the top of the clamping claw (220) is connected to the movable end of the hydraulic cylinder (130) through the connecting rod (230).

2. A robot arm gripper structure according to claim 1, characterized in that: A mounting plate (140) is welded to the end of the fixing rod (111), a second motor (141) is fixed to the top of the mounting plate (140), a driving end of the second motor (141) is key-connected to a connecting plate (142), and an end of the connecting plate (142) is fixed to the rotating plate (121) by bolts.

3. A robot arm gripper structure according to claim 1, characterized in that: A connecting block (211) is welded to the bottom of the right mounting seat (210), a through hole is opened inside the connecting block (211), the connecting rope (123) passes through the through hole, a mounting frame (240) is welded to the outer wall of the connecting block (211), an electric push rod (241) is fixed to the inner wall of the mounting frame (240) by bolts, the moving end of the electric push rod (241) passes through the interior of the connecting block (211) and extends into the through hole, and a pin is fixed to the moving end of the electric push rod (241).

4. The robot arm gripper structure according to claim 1, characterized in that: A groove is formed at the top of the clamping jaw (220), and a roller (222) is rotatably connected to the groove via a second rotating shaft. The side of the pressing rod (131) close to the clamping jaw (220) is an inclined surface, and the roller (222) is in rolling contact with the end of the clamping jaw (220).

5. The robot arm gripper structure according to claim 1, characterized in that: The bottom of the clamping jaw (220) is rotatably connected to a clamping plate (221) via a rotating shaft, and edges are respectively extended from the sides of the two clamping plates (221) that are close to each other.

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