Robot clamping jaw for machining

Abstract

The utility model provides a robot clamping jaw for machining, which comprises a mounting plate, a two-way threaded rod is mounted at the bottom of the mounting plate, a clamping mechanism is further mounted at the bottom of the mounting plate, the clamping mechanism comprises a movable frame in threaded connection with the two-way threaded rod, two gears are mounted at the bottom of the movable frame, and the two gears are in threaded connection with the two-way threaded rod. The two gears are longitudinally distributed and meshed with each other, a first clamping jaw and a second clamping jaw are arranged on one sides of the surfaces of the two gears respectively, and the first clamping jaw and the second clamping jaw are symmetrically distributed; according to the cylindrical part clamping and transporting device, cylindrical parts with different diameters can be conveniently clamped and transported, and meanwhile the fixing and transporting effects on the cylindrical parts can be effectively improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and particularly relates to a robot gripper for machining. Background Technique

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms and is used to grab, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and its structure and performance incorporate the respective advantages of humans and machines. The gripper is an important part of the manipulator.

[0003] For cylindrical parts with different diameters, the required gripper sizes are also different. When transporting cylindrical parts of different sizes, different-sized grippers need to be replaced. At the same time, due to the different surface curvatures of circular parts with different diameters, when using a manipulator to transport cylindrical parts, it is difficult for the grippers on the manipulator to effectively fix the parts, resulting in poor stability during the transportation of the parts.

[0004] In summary, the utility model provides a robot gripper for machining to solve the above problems. Content of the Utility Model

[0005] In order to solve the above technical problems, the utility model provides a robot gripper for machining to solve the problems in the prior art that it is difficult for the grippers of existing manipulators to clamp and transport cylindrical parts of different sizes, and at the same time, the fixing effect on cylindrical parts is poor.

[0006] A robot gripper for machining includes a mounting plate. A bidirectional threaded rod is installed at the bottom of the mounting plate. A clamping mechanism is also installed at the bottom of the mounting plate. The clamping mechanism includes a movable frame threadedly connected to the bidirectional threaded rod. Two gears are installed at the bottom of the movable frame. The two gears are longitudinally distributed and meshed with each other. A first gripper and a second gripper are respectively arranged on one side of the surfaces of the two gears, and the first gripper and the second gripper are symmetrically distributed.

[0007] Further, the number of the clamping mechanisms is two and they are symmetrically arranged. The movable frames in the two clamping mechanisms are respectively threadedly connected to the threads on different directions of the surface of the bidirectional threaded rod.

[0008] Further, two guide rods parallel to the bidirectional threaded rod are symmetrically arranged on both sides of the bidirectional threaded rod at the bottom of the mounting plate, and the movable frame is slidably connected to the guide rods.

[0009] Further, activity grooves are formed at one ends of the first clamping jaw and the second clamping jaw away from the gear. Activity blocks are rotatably installed inside the activity grooves. One ends of the activity blocks respectively penetrate out from one sides of the first clamping jaw and the second clamping jaw close to the center of the mounting plate, and auxiliary clamping blocks are connected to the penetrated ends.

[0010] Further, a connecting block is arranged at a position close to the gear on one side of the clamping jaw away from the center of the mounting plate. A cylinder is rotatably installed at a position of the movable frame close to the connecting block, and a pushing end of the cylinder is rotatably connected to the connecting block.

[0011] Further, a motor is fixedly installed on one side of the mounting plate, and an output end of the motor is in transmission connection with the bidirectional threaded rod through a coupling.

[0012] Further, an assembly plate is arranged at the center of the top of the mounting plate.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. According to the size of the part to be clamped, the utility model controls the rotation of the bidirectional threaded rod through the motor, so that the distance between the two movable frames is changed, thereby enabling the utility model to clamp cylindrical parts of different sizes, greatly improving the use effect of the clamping jaw on cylindrical parts.

[0015] 2. The utility model fixes the part at four points on the top and bottom of the part through two first clamping jaws and two second clamping jaws respectively, thereby increasing the fixing effect and reliability of the cylindrical part. At the same time, since the movable block can rotate within a certain range in the activity groove, during the clamping process, the four auxiliary clamping blocks can keep in contact with the part at an angle tangent to the part, thereby further improving the clamping effect of the cylindrical part. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional schematic diagram of the utility model;

[0017] Figure 2 is a three-dimensional schematic diagram of the utility model from another angle;

[0018] Figure 3 is a plan schematic diagram of the utility model;

[0019] Figure 4 is a three-dimensional schematic diagram of the clamping mechanism of the utility model.

[0020] In the figure:

[0021] 1. Mounting plate; 2. Bi-directional threaded rod; 3. Movable frame; 4. Gear; 5. First jaw; 6. Second jaw; 7. Guide rod; 8. Movable groove; 9. Movable block; 10. Auxiliary jaw; 11. Connecting block; 12. Cylinder; 13. Motor; 14. Assembly plate. Detailed implementation mode

[0022] The following further describes in detail the implementation mode of the present utility model in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0023] As Figures 1-4 shown, the present utility model provides a robot jaw for machining, including a mounting plate 1. A bi-directional threaded rod 2 is installed at the bottom of the mounting plate 1. A clamping mechanism is also installed at the bottom of the mounting plate 1. The clamping mechanism includes a movable frame 3 threadedly connected to the bi-directional threaded rod 2. Two gears 4 are installed at the bottom of the movable frame 3. The two gears 4 are longitudinally distributed and meshed with each other. On one side of the surfaces of the two gears 4, a first jaw 5 and a second jaw 6 are respectively arranged. And the first jaw 5 and the second jaw 6 are symmetrically distributed. Due to the meshing of the gears 4 connected to the first jaw 5 and the second jaw 6, when the first jaw 5 rotates, the second jaw 6 will rotate in the opposite direction to the first jaw 5 with the same amplitude. Through the two upper first jaws 5 and the two lower second jaws 6, the clamping effect on the cylindrical part is improved, making the cylindrical part more stable during transportation.

[0024] Among them, the number of the clamping mechanisms is two and they are symmetrically arranged. The movable frames 3 in the two clamping mechanisms are respectively threadedly connected to the threads on different directions of the surface of the bi-directional threaded rod 2. When the bi-directional threaded rod 2 rotates, the two movable frames 3 will move in different directions respectively.

[0025] Among them, two guide rods 7 parallel to the bi-directional threaded rod 2 are symmetrically arranged on both sides of the bi-directional threaded rod 2 at the bottom of the mounting plate 1. And the movable frame 3 is slidably connected to the guide rod 7. The guide rod 7 can not only share the weight of the movable frame 3 for the bi-directional threaded rod 2, improve the stability and service life of the operation of the bi-directional threaded rod 2, but also overcome the torsional force caused by the rotation of the bi-directional threaded rod 2 to the movable frame 3, thereby improving the smoothness of the movement of the movable frame 3.

[0026] Among them, activity grooves 8 are provided at one ends of the first clamping jaw 5 and the second clamping jaw 6 away from the gear 4. Activity blocks 9 are rotatably installed inside the activity grooves 8. One ends of the activity blocks 9 respectively penetrate out from one sides of the first clamping jaw 5 and the second clamping jaw 6 close to the center of the mounting plate 1, and rubber pads are provided on the sides of the auxiliary clamping blocks 10 away from the activity blocks 9. Since the activity blocks 9 are rotatably connected with the activity grooves 8, the auxiliary clamping blocks 10 can change the angle by a certain extent during clamping, so that the auxiliary clamping plates can fit the surface of the cylindrical part better, improving the fixing effect on the cylindrical part.

[0027] Among them, a connecting block 11 is provided at a position close to the gear 4 on one side of the clamping jaw away from the center of the mounting plate 1. An air cylinder 12 is rotatably installed on the movable frame 3 at a position close to the connecting block 11, and the pushing end of the air cylinder 12 is rotatably connected with the connecting block 11. By pushing the connecting block 11 with the air cylinder 12, the first clamping jaw 5 rotates around the center of the gear 4.

[0028] Among them, a motor 13 is fixedly installed on one side of the mounting plate 1, and the output end of the motor 13 is in transmission connection with the bidirectional threaded rod 2 through a coupling. The motor 13 can drive the bidirectional threaded rod 2 to rotate through the coupling.

[0029] Among them, an assembly plate 14 is provided at the center of the top of the mounting plate 1. A connection hole for connecting with a robotic arm is provided on the assembly plate 14. The connection between the utility model and the robotic arm is realized through the assembly plate 14.

[0030] Specific working principle:

[0031] Before the present utility model is used, first install the present utility model on the robotic arm through the mounting plate 14, and connect the present utility model to the control system and power system of the robotic arm, etc. When the present utility model clamps a cylindrical part, first move the present utility model near the part by the robotic arm, and make the two clamping mechanisms in the present utility model located on both sides of the part respectively. Subsequently, start the motor 13, drive the bidirectional threaded rod 2 to rotate through the motor 13. When rotating, the two movable frames 3 respectively threadedly connected to the surface of the bidirectional threaded rod 2 in different directions will approach the part simultaneously. After the movable frame 3 moves to a position with a suitable distance from the part, start the two cylinders 12 in the present utility model simultaneously. The cylinder 12 pushes the connecting block 11, thereby simultaneously causing the two first clamping jaws 5 to start rotating, so that the auxiliary clamping block 10 at one end of the first clamping jaw 5 approaches the part from the top of the part. At the same time, since the first clamping jaw 5 and the second clamping jaw 6 are connected by two meshing gears 4, when the first clamping jaw 5 rotates, the two second clamping jaws 6 will rotate in the opposite direction with the same amplitude as the first clamping jaw 5, so that the auxiliary clamping block 10 at one end of the second clamping jaw 6 approaches the part from the bottom of the part, finally realizing the clamping and fixing of four points of the cylindrical part, increasing the fixing effect and reliability of the cylindrical part. At the same time, since the movable block 9 can rotate within a certain range in the movable groove 8, during the clamping process, the four auxiliary clamping blocks 10 can contact the part at an angle tangent to the part, thereby further improving the clamping effect of the cylindrical part. According to the size of the part to be clamped, control the rotation of the bidirectional threaded rod 2 through the motor 13, change the distance between the two movable frames 3, so that the present utility model can realize the clamping of cylindrical parts of different sizes, greatly improving the use effect of the clamping jaws on the cylindrical parts.

[0032] The embodiments of the present utility model are given for the purposes of illustration and description. Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

Claims

1. A robot gripper for machining, characterized in that: The invention comprises a mounting plate (1), a bidirectional threaded rod (2) being mounted at the bottom of the mounting plate (1), a clamping mechanism being mounted at the bottom of the mounting plate (1), the clamping mechanism comprising a movable frame (3) being threadedly connected to the bidirectional threaded rod (2), two gears (4) being mounted at the bottom of the movable frame (3), the two gears (4) being longitudinally distributed and meshing with each other, a first clamping jaw (5) and a second clamping jaw (6) being respectively arranged on one side of the surface of the two gears (4), and the first clamping jaw (5) and the second clamping jaw (6) being symmetrically distributed.

2. The robotic gripper for machining according to claim 1, wherein: The number of the clamping mechanisms is two and they are symmetrically arranged, and the movable frames (3) in the two clamping mechanisms are respectively threadedly connected to threads in different directions on the surface of the bidirectional threaded rod (2).

3. The robotic gripper for machining according to claim 1, wherein: Two guide rods (7) parallel to the bidirectional threaded rod (2) are symmetrically arranged on both sides of the bidirectional threaded rod (2) at the bottom of the mounting plate (1), and the movable frame (3) is slidably connected to the guide rods (7).

4. The robotic gripper for machining according to claim 1, wherein: A movable groove (8) is formed at one end of the first clamping jaw (5) and the second clamping jaw (6) away from the gear (4), and a movable block (9) is rotatably installed inside the movable groove (8). One end of the movable block (9) protrudes from one side of the first clamping jaw (5) and the second clamping jaw (6) close to the center of the mounting plate (1), and the protruding end is connected to an auxiliary clamping block (10).

5. The robotic gripper for machining according to claim 1, wherein: A connecting block (11) is provided on one side of the clamping jaw away from the center of the mounting plate (1) at a position close to the gear (4); a cylinder (12) is rotatably mounted on the movable frame (3) at a position close to the connecting block (11), and a pushing end of the cylinder (12) is rotatably connected to the connecting block (11).

6. The robotic gripper for machining according to claim 1, wherein: A motor (13) is fixedly mounted on one side of the mounting plate (1), and the output end of the motor (13) is connected to the bidirectional threaded rod (2) via a coupling.

7. The robotic gripper for machining according to claim 1, wherein: An assembly plate (14) is arranged at the top center of the installation plate (1).

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