Paw structure capable of being rotationally adjusted

Abstract

The utility model discloses a rotatable adjustable gripper structure which comprises a rack, a first mounting seat and a second mounting seat are conveniently arranged on the front side and the rear side of the rack, at least one gripper assembly is arranged on each of the first mounting seat and the second mounting seat, shaft bodies are arranged at the left end and the right end of the second mounting seat, and the shaft bodies are rotatably arranged on the rack. The rack is provided with a driving assembly used for driving the shaft body to drive the second mounting base to conduct angle adjustment relative to the rack. Two rows of gripper assemblies are arranged on the front portion and the rear portion respectively through the first installation base and the second installation base on the front portion and the rear portion, so that the number of workpieces grabbed each time is increased, and the workpiece transferring efficiency is improved. Meanwhile, in order to avoid mutual interference of the front row of workpieces and the rear row of workpieces, a rotatable second mounting seat is arranged, and the second mounting seat is driven to rotate in advance through a driving assembly in the scene that the front row of workpieces and the rear row of workpieces interfere, so that the workpieces hung on the second mounting seat are far away from the front row of workpieces.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical claws, and particularly relates to a claw structure that can be rotationally adjusted. Background Art

[0002] The prior art, such as the Chinese utility model patent document with the publication number CN221539845U, discloses a one-grab-three self-rotating claw, including a shell-making robot arm. Three clamping driving structures are fixedly connected in a linear array in the inner cavity of the shell-making robot arm. Three gripper assemblies are fixedly connected in a linear array at the lower end of the shell-making robot arm. A fixing component is slidably connected to the inner side of each of the three gripper assemblies. A protection device is arranged on the right side of each of the three clamping driving structures. A self-rotation component is arranged in the inner cavity of the shell-making robot arm.

[0003] Based on the above, in the prior art, three clamping driving structures in a linear array are used to clamp and fix the workpiece. This single-row claw structure has low workpiece handling efficiency, cannot clamp the front and rear double-row workpieces, has low transfer efficiency, affects the production efficiency, and needs to be further improved. Summary of the Utility Model

[0004] The utility model aims to at least solve one of the technical problems existing in the prior art. For this purpose, the utility model provides a claw structure that can be rotationally adjusted.

[0005] A claw structure that can be rotationally adjusted designed according to this purpose includes a frame. A first mounting seat and a second mounting seat are respectively arranged on the front and rear sides of the frame for convenience. At least one claw assembly is respectively arranged on the first mounting seat and the second mounting seat. Shaft bodies are arranged at the left and right ends of the second mounting seat. The shaft bodies are rotatably arranged on the frame. A driving component is arranged on the frame for driving the shaft bodies to drive the second mounting seat to perform angular adjustment relative to the frame.

[0006] Preferably, the driving component includes a first synchronous pulley arranged on the shaft body. A first driving element is arranged on the frame. A second synchronous pulley is installed on the power output shaft of the first driving element. A first synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley.

[0007] Preferably, a locking component is arranged on the frame for locking the second mounting seat and the frame with each other to restrict the rotation of the second mounting seat.

[0008] Preferably, the locking assembly includes a locking seat disposed on the second mounting seat. A plurality of locking holes are circumferentially arranged on the locking seat along the axis of the shaft body. The locking assembly includes a first telescopic element disposed on the frame. A locking portion is provided at the telescopic end of the first telescopic element. The locking portion is inserted into the locking hole to form a lock.

[0009] Preferably, the gripper assembly includes a gripper base disposed on the first mounting seat or the second mounting seat. Hooks are respectively provided on the left and right of the lower end of the gripper base. The interior of the gripper base is hollow and open at both the upper and lower ends. A pressing rod that can move up and down relative to the gripper base is movably disposed inside the gripper base. The lower end of the pressing rod extends between the left and right hooks. A second telescopic element for driving the pressing rod to move up and down is provided above the gripper base. The second telescopic element is fixedly disposed on the first mounting seat or the second mounting seat.

[0010] Preferably, the gripper base is rotatably disposed on the first mounting seat or the second mounting seat;

[0011] Rotating assemblies for driving the gripper base to rotate are respectively provided on the first mounting seat and the second mounting seat;

[0012] The rotating assembly includes a second driving element disposed on the first mounting seat or the second mounting seat. A third synchronous pulley is mounted on the power output shaft of the second driving element. A fourth synchronous pulley is provided on the gripper base. The third synchronous pulley and the fourth synchronous pulley are connected by a second synchronous belt for transmission.

[0013] Preferably, the first mounting seat is fixedly or rotatably disposed on the frame.

[0014] Compared with the prior art, in the present utility model, the first mounting seat and the second mounting seat are conveniently provided on the front and rear sides of the frame. At least one gripper assembly is respectively provided on the first mounting seat and the second mounting seat. Shaft bodies are provided at the left and right ends of the second mounting seat. The shaft bodies are rotatably disposed on the frame. A driving assembly for driving the shaft bodies to drive the second mounting seat to perform angle adjustment relative to the frame is provided on the frame. The present utility model realizes the arrangement of two rows of gripper assemblies on the front and rear respectively through the front and rear first mounting seat and second mounting seat, so as to increase the number of workpieces grabbed each time, thereby improving the workpiece transfer efficiency. At the same time, in order to avoid interference between the front and rear rows of workpieces, the present utility model provides a rotatable second mounting seat. In the scenario where there is interference between the front and rear workpieces, the driving assembly is used to drive the second mounting seat to rotate in advance, so that the workpieces hanging on the second mounting seat are far away from the workpieces in the front row. Description of the Drawings

[0015] Figure 1One of the three-dimensional structure diagrams of the present utility model;

[0016] Figure 2 Another three-dimensional structure diagram of the present utility model;

[0017] Figure 3 The cross-sectional structure diagram of the present utility model;

[0018] Figure 4 is Figure 3 the enlarged structure diagram at position A in

[0019] Figure 5 The schematic diagram of the state where the workpieces in the front and rear rows are parallel to each other;

[0020] Figure 6 The schematic diagram of the state where the workpieces in the rear row are far away from the workpieces in the front row. Specific embodiments

[0021] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Referring to Figures 1-5 , a rotatable and adjustable gripper structure includes a frame 10, characterized in that: first mounting seats 110 and second mounting seats 120 are respectively arranged on the front and rear sides of the frame 10, at least one gripper assembly 20 is respectively arranged on the first mounting seats 110 and the second mounting seats 120, shafts 130 are arranged at the left and right ends of the second mounting seats 120, the shafts 130 are rotatably arranged on the frame 10, and a driving assembly 30 for driving the shafts 130 to drive the second mounting seats 120 to adjust the angle relative to the frame 10 is arranged on the frame 10.

[0023] The present utility model realizes the arrangement of two rows of gripper assemblies in the front and rear through the front and rear first mounting seats and second mounting seats, so as to increase the number of workpieces grabbed each time, thereby improving the workpiece transfer efficiency. At the same time, in order to avoid interference between the workpieces in the front and rear rows, the present utility model sets a rotatable second mounting seat, and in the scenario where there is interference between the front and rear workpieces, the driving assembly is used to drive the second mounting seat to rotate in advance, so that the workpieces hanging on the second mounting seat are far away from the workpieces in the front row.

[0024] Referring to Figure 1 , the driving assembly 30 includes a first synchronous pulley 310 arranged on the shaft 130, a first driving element 330 is arranged on the frame 10, a second synchronous pulley 340 is installed on the power output shaft of the first driving element 330, and a first synchronous belt 320 is sleeved on the first synchronous pulley 310 and the second synchronous pulley 340.

[0025] The first driving element 330 adopts a motor or a combination of a motor and a speed reducer. When the first driving element 330 operates, it drives the second synchronous pulley 340 to rotate. Under the action of the first synchronous belt 320, the first synchronous pulley 310 is driven to rotate, thereby driving the shaft body 130 to drive the second mounting seat 120 to rotate relative to the frame 10, so as to drive the gripper assembly 20 located on the second mounting seat 120 to adjust its position, so as to avoid interference between the front and rear rows of workpieces.

[0026] See Figure 2 and Figure 4 , a locking component 40 for mutually locking the second mounting seat 120 and the frame 10 to restrict the rotation of the second mounting seat 120 is provided on the frame 10. The function of the locking component 40 is to lock the second mounting seat 120, and it will not rotate relative to the frame 10 before being unlocked.

[0027] See Figure 2 and Figure 4 , the locking component 40 includes a locking seat 140 provided on the second mounting seat 120. A plurality of locking holes 141 are arranged in a circumferential array on the locking seat 140 along the axis of the shaft body 130. The locking component 40 includes a first telescopic element 410 provided on the frame 10. A locking portion 420 is provided at the telescopic end of the first telescopic element 410. The locking portion 420 is inserted into the locking hole 141 to form a lock.

[0028] The telescopic end of the first telescopic element 410 drives the locking portion 420 to move, so as to realize the insertion of the locking portion 420 into the locking hole 141 or the detachment from the locking hole 141, and the state switching between locking and unlocking can be realized.

[0029] Furthermore, a communication hole 101 communicating with the locking hole 141 is provided on the frame 10. The locking portion 420 is movably inserted into the communication hole 101.

[0030] Furthermore, the first telescopic element 410 is a cylinder.

[0031] See Figure 2 and Figure 3The gripper assembly 20 includes a gripper base 210 arranged on a first mounting seat 110 or a second mounting seat 120, and hooks 220 are respectively arranged on the left and right ends of the lower end of the gripper base 210. The gripper base 210 is hollow inside and has openings at both ends. A pressure rod 230 that can move up and down relative to the gripper base 210 is movably arranged in the gripper base 210, and the lower end of the pressure rod 230 extends between the left and right hooks 220. A second telescopic element 60 for driving the pressure rod 230 to move up and down is arranged above the gripper base 210, and the second telescopic element 60 is fixedly arranged on the first mounting seat 110 or the second mounting seat 120.

[0032] Furthermore, the gripper base 210 is rotatably arranged on the first mounting seat 110 or the second mounting seat 120; the first mounting seat 110 and the second mounting seat 120 are respectively provided with a rotating component 50 for driving the gripper base 210 to rotate; the rotating component 50 includes a second driving element 520 arranged on the first mounting seat 110 or the second mounting seat 120, a third synchronous wheel 530 is installed on the power output shaft of the second driving element 520, a fourth synchronous wheel 510 is arranged on the gripper base 210, and the third synchronous wheel 530 and the fourth synchronous wheel 510 are connected by a second synchronous belt 540.

[0033] The function of the rotation setting of the gripper base 210 is that it can drive the workpiece 70 to rotate so that the workpiece is more balanced during the processing.

[0034] When the workpiece 70 is hung on the gripper assembly 20, the workpiece 70 is connected to the suspension rod 710, and a cross bar 720 is arranged on the upper part of the suspension rod 710. When hanging, the cross bar 710 is hung on the left and right hooks 220. Then the pressure rod 230 is driven to abut against the upper wall of the suspension rod 710 through the second telescopic element 60. In this state, the suspension rod 70 will not drive the workpiece 70 to swing at will, and when the pressure rod 230 is separated from the suspension rod 710, because in this state, the suspension rod 710 is only hung on the hook 220 through the cross bar 720, when the frame 10 follows the movement of the manipulator, it is adjusted to the following state. Figure 5 When in the state, the workpiece 70 and the suspension rod 710 will swing relative to the hook 220 with the cross bar 720 as the axis under the action of gravity until the workpiece 70 is perpendicular to the bottom surface, that is, the pressure rod 230 and the suspension rod 710 abut against each other to restrict the position movement of the workpiece 70.

[0035] See also Figure 5 and Figure 6 During the transportation of the workpiece, the gripper assembly 20 needs to place the workpiece 70 into the conveyor line, and a hook for hanging the suspension rod 710 is synchronously provided on the conveyor line.

[0036] The manipulator drives the frame 10 to move to the side of the conveyor line. When placing the workpiece 70 into the conveyor line, it needs to be placed in two batches, front and back.

[0037] Before hanging the workpiece 70 onto the conveyor line, the manipulator drives the frame 10 to adjust the angle to Figure 5 the set angle to tilt the workpiece 70. The drive assembly is synchronously started to drive the second mounting seat to rotate, so that the workpiece hanging on the second mounting seat is far away from the workpiece in the front row, and the state is as shown in Figure 6 the figure. Then, under the action of the manipulator, the workpiece hanging on the first mounting seat 110 is hung onto the conveyor line, that is, the cross bar 720 is hung on the hook of the conveyor line. When the cross bar 720 is hung on the hook, the second telescopic element 60 drives the pressure bar 230 to separate from the suspension rod 710. In the separated state, since the workpiece 70 is in an inclined state, under the influence of gravity, the workpiece and the suspension rod rotate around the cross bar as the rotation axis until the workpiece is perpendicular to the bottom surface. The previous adjustment of the position of the second mounting seat is to prevent the workpiece and the suspension rod from rotating around the cross bar and colliding with the workpiece 70 in the back row.

[0038] In the present utility model, the first mounting seat 110 is fixedly or rotatably arranged on the frame 10. The first mounting seat 110 is arranged according to different requirements. When it is fixedly arranged, the gripper assembly 20 located on the first mounting seat 110 cannot adjust its position like the gripper assembly 20 of the second mounting seat 120. When the first mounting seat 110 is rotatably arranged on the frame 10, the structure adopted is the same as the rotating structure of the second mounting seat 120.

[0039] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0040] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and all these changes and improvements fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A rotatable and adjustable gripper structure, comprising a frame (10), characterized in that: A first mounting seat (110) and a second mounting seat (120) are conveniently arranged on the front and rear sides of the frame (10); at least one gripper assembly (20) is arranged on the first mounting seat (110) and the second mounting seat (120), respectively; shaft bodies (130) are arranged at the left and right ends of the second mounting seat (120); the shaft bodies (130) are rotatably arranged on the frame (10); and a driving assembly (30) is arranged on the frame (10) for driving the shaft body (130) to drive the second mounting seat (120) to adjust the angle relative to the frame (10).

2. The rotatable and adjustable gripper structure according to claim 1, characterized in that: The driving assembly (30) comprises a first synchronous wheel (310) arranged on the shaft body (130), a first driving element (330) is arranged on the frame (10), a second synchronous wheel (340) is installed on the power output shaft of the first driving element (330), and a first synchronous belt (320) is sleeved on the first synchronous wheel (310) and the second synchronous wheel (340).

3. A rotatable and adjustable gripper structure according to claim 1 or 2, characterized in that: The frame (10) is provided with a locking assembly (40) for mutually locking the second mounting seat (120) and the frame (10) to restrict the second mounting seat (120) from rotating.

4. The rotatable and adjustable gripper structure according to claim 3 is characterized in that: The locking assembly (40) comprises a locking seat (140) arranged on the second mounting seat (120), a plurality of locking holes (141) being arranged on the locking seat (140) in a circular array along the axis of the shaft body (130), the locking assembly (40) comprising a first telescopic element (410) arranged on the frame (10), a locking portion (420) being arranged at the telescopic end of the first telescopic element (410), and the locking portion (420) being inserted into the locking hole (141) to form a lock.

5. The rotatable and adjustable gripper structure according to claim 1, characterized in that: The gripper assembly (20) comprises a gripper base (210) arranged on a first mounting seat (110) or a second mounting seat (120), hooks (220) are respectively arranged on the left and right sides of the lower end of the gripper base (210), the gripper base (210) is hollow inside and has openings at both ends, a pressure rod (230) is movably arranged inside the gripper base (210) and can move up and down relative to the gripper base (210), the lower end of the pressure rod (230) extends between the left and right hooks (220), a second telescopic element (60) for driving the pressure rod (230) to move up and down is arranged above the gripper base (210), and the second telescopic element (60) is fixedly arranged on the first mounting seat (110) or the second mounting seat (120).

6. The rotatable and adjustable gripper structure according to claim 5, characterized in that: The gripper base (210) is rotatably mounted on the first mounting seat (110) or the second mounting seat (120); The first mounting seat (110) and the second mounting seat (120) are respectively provided with a rotating assembly (50) for driving the gripper base (210) to rotate; The rotating assembly (50) comprises a second driving element (520) arranged on the first mounting seat (110) or the second mounting seat (120); a third synchronous wheel (530) is installed on the power output shaft of the second driving element (520); a fourth synchronous wheel (510) is arranged on the gripper base (210); and the third synchronous wheel (530) and the fourth synchronous wheel (510) are connected to each other by a second synchronous belt (540).

7. The rotatable and adjustable gripper structure according to claim 1, characterized in that: The first mounting seat (110) is fixedly or rotatably arranged on the frame (10).

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