Grabbing self-locking jig for robot
By designing the structure of elastic net and ring track on the robot grabbing self-locking fixture, the problem of items falling when grabbing particles and bulk objects is solved, and effective protection of the grabbing and reducing the amount of cleaning of the staff is achieved.
Patent Information
- Application Number
- CN202421693940.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-17
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-07-17
AI Technical Summary
When existing robots grab self-locking fixtures, the grab clip can easily cause items to fall, and staff need to clean up, which increases the workload.
A gripping self-locking fixture including a gripping body, an elastic net and annular track is designed. By connecting the elastic net between the grippers and using the spool and connecting wire to drive the elastic net to move, the elastic net wraps the grab when the grippers are merged to prevent falling.
It effectively avoids the situation where the grab object falls when the grab is moved, reduces dependence on staff, and improves the practicality of grabbing self-locking fixtures.
Smart Images
Figure CN222904085U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of grasping and self-locking fixtures, and particularly relates to a grasping and self-locking fixture for a robot. Background Art
[0002] The existing grasping and self-locking fixtures for robots still have the following drawbacks in actual use:
[0003] When the grasping and self-locking fixture of the robot grasps particles and bulk materials, either a grab bucket is used for grasping or a grab clip is used for clamping. The grab bucket is suitable for particulate matter with strong fluidity, and the grab clip is suitable for grasping bulk materials. However, during the grasping process, some bulk materials will still fall from the grab clip, and workers are still required to clean up the fallen bulk materials, increasing the workload of the workers. Summary of the Utility Model
[0004] The purpose of the utility model is to provide a grasping and self-locking fixture for a robot to solve the problem that when the grasping and self-locking fixture of the robot grasps particles and bulk materials, either a grab bucket is used for grasping or a grab clip is used for clamping. The grab bucket is suitable for particulate matter with strong fluidity, and the grab clip is suitable for grasping bulk materials. However, during the grasping process, some bulk materials will still fall from the grab clip, and workers are still required to clean up the fallen bulk materials, increasing the workload of the workers.
[0005] To achieve the above purpose, the utility model provides the following technical solution: A grasping and self-locking fixture for a robot, including a grasping main body, an elastic net and an annular track are connected to the outside of the grasping main body. The elastic net is connected between grab clips to protect the grabbed object. A wire winding shaft is connected to the outside of the annular track, a connecting wire is connected to the wire winding shaft, one end of the connecting wire is connected to the elastic net, the wire winding shaft rotates to drive the connecting wire to pull the elastic net, and the elastic net moves on the grasping main body to protect the grabbed object.
[0006] Further, both sides of the elastic net are connected between the grab clips at the lower part of the grasping main body, the upper part of the elastic net is fixed on the grab clip, and the lower part of the elastic net is connected to the grab clip.
[0007] Further, the convex blocks connected to both sides of the elastic net can be connected to the grab clip and slide on the grab clip.
[0008] Further, a support seat is fixedly connected to the bottom of the annular track, the support seat is fixedly connected to the grasping main body, a driving motor is fixedly connected to the grasping main body on the side of the annular track, and a driving gear is fixedly connected to the top of the driving motor.
[0009] Further, a transmission wheel is clamped in the middle of the annular track. A rack is arranged on the outer wall of the transmission wheel, and a tooth column is arranged on the top of the transmission wheel. The driving gear on the top of the driving motor is meshed with the rack on the outer wall of the transmission wheel.
[0010] Further, the outer wall of the annular track is equidistantly sleeved with limiting shafts. A winding shaft is wrapped around the outer wall of the limiting shaft. A tooth groove connected to the tooth column on the top of the transmission wheel is arranged on the inner wall of the limiting shaft. One end of the connecting line is wound around the winding shaft, and the end of the connecting line far from the winding shaft is fixed to the bottom of the elastic net.
[0011] Compared with the prior art, a grasping and self-locking fixture for a robot provided by the present utility model has the following beneficial effects:
[0012] For the grasping and self-locking fixture for a robot, by connecting an elastic net and an annular track to the grasping body and connecting a connecting line to the elastic net and the winding column, the driving motor can drive the winding shaft on the transmission wheel to rotate. When the gripper is opened, the elastic net can move upward driven by the connecting belt. When the gripper is closed, the elastic net can wrap the outside of the gripper according to the moving direction of the gripper, thus avoiding the situation that the grasped object falls and requires the staff to clean it, greatly increasing the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.
[0014] Figure 1 It is a schematic diagram of the overall structure of the present utility model;
[0015] Figure 2 It is a schematic diagram of the structure of the grasping body of the present utility model;
[0016] Figure 3 It is a schematic diagram of a partial structure of the present utility model;
[0017] Figure 4 It is a schematic diagram of an enlarged partial structure of the present utility model;
[0018] Figure 5 It is an exploded schematic diagram of a partial structure of the present utility model.
[0019] Explanation of the reference numerals in the drawings:
[0020] 1. Gripping body; 2. Elastic net; 3. Ring track; 4. Winding shaft; 5. Driving motor; 6. Connecting line; 7. Support base; 8. Transmission wheel; 9. Limiting shaft. Detailed implementation mode
[0021] In order to enable those skilled in the art to better understand the technical solutions of the present utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.
[0022] Please refer to Figures 1-5 , a self-locking gripping fixture for a robot, comprising a gripping body 1. An elastic net 2 and a ring track 3 are connected to the outside of the gripping body 1. The elastic net 2 is connected between the grippers to protect the gripped object. A winding shaft 4 is connected to the outside of the ring track 3. A connecting line 6 is connected to the winding shaft 4. One end of the connecting line 6 is connected to the elastic net 2. The rotation of the winding shaft 4 drives the connecting line 6 to pull the elastic net 2, and the elastic net 2 moves on the gripping body 1 to protect the gripped object.
[0023] Please refer to Figures 1-3 , both sides of the elastic net 2 are connected between the grippers at the lower part of the gripping body 1. The upper part of the elastic net 2 is fixed on the grippers. The lower part of the elastic net 2 is connected to the grippers. The elastic net 2 is connected to the outermost side of the grippers, and can wrap the items clamped by the grippers within the largest range. By fixing the upper parts of both sides of the elastic net 2 on the grippers, it can be avoided that the entire elastic net 2 moves to the top of the arc-shaped grippers and cannot slide down to wrap the outside of the grippers. The lower parts of both sides of the elastic net 2 are slidably connected to the grippers. Since the grippers are arc-shaped, when the grippers are opened, the lower elastic net 2 moves to the middle of the grippers, which does not affect the grippers to clamp the items. When the grippers finish gripping, the lower elastic net 2 slides down to the bottom of the grippers according to the curvature of the grippers, playing a role in protecting the items in the grippers and avoiding the situation that the items in the grippers fall when the grippers move.
[0024] Please refer to Figure 4 , the convex blocks connected to both sides of the elastic net 2 can be connected to the grippers and slide on the grippers. An arc-shaped chute is opened in the middle of the outer wall of the grippers. The convex blocks on the elastic net 2 are clamped in the arc-shaped chute and slide during the sliding.
[0025] A support base 7 is fixedly connected to the bottom of the annular track 3. The support base 7 is fixedly connected to the grasping main body 1. A driving motor 5 is fixedly connected to the grasping main body 1 on the side of the annular track 3. A driving gear is fixedly connected to the top of the driving motor 5. By connecting the support base 7 to the bottom of the annular track 3, it plays a role in supporting the annular track 3. The model of the driving motor 5 is a common model on the market and will not be elaborated here. During use, the driving motor 5 is connected to an external power supply. A convex block extends from the outer wall of the annular track 3. The output shaft of the driving motor 5 passes through the convex block and is fixedly connected to the driving gear. Through the extended convex block, the driving gear can be limited. One side of the driving gear passes through the annular track 3 and is connected to the transmission wheel 8.
[0026] Please refer to Figure 5 , a transmission wheel 8 is clamped in the middle of the annular track 3. A rack is provided on the outer wall of the transmission wheel 8, and a tooth column is provided on the top of the transmission wheel 8. The driving gear on the top of the driving motor 5 is meshed and connected with the rack on the outer wall of the transmission wheel 8. During use, the driving motor 5 drives the transmission wheel 8 to rotate through the driving gear. The transmission wheel 8 drives the winding shaft 4 to rotate through the tooth column, and winds the connecting line 6 around the winding shaft 4. When it is necessary to release the connecting line 6, the driving motor 5 drives the driving gear to rotate in the reverse direction. The driving gear drives the winding shaft 4 to rotate in the reverse direction through the transmission wheel 8, and winds out the connecting line 6. And the forward and reverse rotations of the driving motor 5 are controlled by external equipment.
[0027] The outer wall of the annular track 3 is equidistantly sleeved with limiting shafts 9. The outer wall of the limiting shafts 9 is wrapped with the winding shaft 4. Tooth grooves connected to the tooth columns on the top of the transmission wheel 8 are provided on the inner walls of the limiting shafts 9. One end of the connecting line 6 is wound around the winding shaft 4, and the end of the connecting line 6 away from the winding shaft 4 is fixed to the bottom of the elastic net 2. By connecting the limiting shaft 9 between the transmission wheel 8 and the winding shaft 4, it can not only play a role in limiting the transmission wheel 8, but also limit the contact area between the transmission wheel 8 and the winding shaft 4. Through the openings provided on the limiting shafts 9, the tooth columns on the top of the transmission wheel 8 can be connected to the tooth grooves in the winding shaft 4, thereby driving the winding shaft 4 to rotate.
[0028] Working principle: When the grasping main body 1 clamps an item, the hydraulic rod on the grasping main body 1 drives the gripper to move upward and open. At the same time, the driving motor 5 is started, and the winding shaft 4 on the transmission wheel 8 is driven to rotate through the driving gear. The winding shaft 4 drives the elastic net 2 to move on the gripper through the connecting line 6. After the grasping main body 1 finishes clamping the item, the driving motor 5 rotates in the reverse direction, and the connecting line 6 on the winding shaft 4 is released. At this time, due to the change in the angle of the gripper, the elastic net 2 slides to the lower part of the gripper to wrap the gripper, thereby protecting the item in the gripper.
[0029] Only some exemplary embodiments of the present utility model have been described by way of illustration. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present utility model. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present utility model.
Claims
1. A gripping self-locking fixture for a robot, comprising a gripping body (1), characterized in that: The outside of the grasping body (1) is connected to an elastic net (2) and an annular track (3); the elastic net (2) is connected between the grasping clamps to protect the grasped object; the outside of the annular track (3) is connected to a winding shaft (4); a connecting wire (6) is connected to the winding shaft (4); one end of the connecting wire (6) is connected to the elastic net (2); the winding shaft (4) rotates to drive the connecting wire (6) to pull the elastic net (2); the elastic net (2) moves on the grasping body (1) to protect the grasped object.
2. A gripping self-locking fixture for a robot according to claim 1, characterized in that: The two sides of the elastic net (2) are connected between the gripping clamps at the lower part of the gripping body (1), the upper part of the elastic net (2) is fixed on the gripping clamps, and the lower part of the elastic net (2) is connected to the gripping clamps.
3. A gripping self-locking fixture for a robot according to claim 2, characterized in that: The protrusions connected on both sides of the elastic net (2) can be connected to the gripping clamp and slide on the gripping clamp.
4. A gripping self-locking fixture for a robot according to claim 1, characterized in that: The bottom of the annular track (3) is fixedly connected to a support seat (7), the support seat (7) is fixedly connected to the grasping body (1), the grasping body (1) on the side of the annular track (3) is fixedly connected to a driving motor (5), and the top of the driving motor (5) is fixedly connected to a driving gear.
5. A gripping self-locking fixture for a robot according to claim 4, characterized in that: A transmission wheel (8) is clamped in the middle of the annular track (3), a rack is provided on the outer wall of the transmission wheel (8), a gear column is provided on the top of the transmission wheel (8), and a driving gear on the top of the drive motor (5) is meshedly connected with the rack on the outer wall of the transmission wheel (8).
6. A gripping self-locking fixture for a robot according to claim 1, characterized in that: The outer wall of the annular track (3) is equidistantly sleeved with a limit shaft (9), the outer wall of the limit shaft (9) is wrapped with a winding shaft (4), the inner wall of the limit shaft (9) is provided with a tooth groove connected to a tooth column at the top of a transmission wheel (8), one end of the connecting wire (6) is wound around the winding shaft (4), and the end of the connecting wire (6) away from the winding shaft (4) is fixed to the bottom of the elastic net (2).