Clamping component for truss robot

Abstract

The utility model is applicable to the field of truss robots, and provides a clamping component for a truss robot, which comprises a clamping component body, the clamping component body comprises a connecting piece fixedly arranged at the upper end of the clamping component body and integrally formed with the clamping component body, and the clamping component further comprises a driving unit and a clamping unit; a gear is rotated to drive a rack meshed with the gear to move, then a clamping jaw seat is driven to be opened and closed, a movable rod is matched with a supporting jaw, a material needing to be clamped can be supported from the bottom, a limiting rod and a spring are arranged in a matched mode, the buffering effect is achieved, and the clamping jaw is prevented from being squeezed and damaged by the ground; different clamping jaws can be replaced conveniently, buffering is provided between the clamping jaws and materials through the arranged rubber mat, and the situation that the materials are deformed and damaged due to the fact that the clamping force is too large is prevented.

Description

Technical Field

[0001] The utility model belongs to the field of truss robots, and particularly relates to a clamping member for a truss robot. Background Technique

[0002] Truss robots adopt the truss structure commonly used in engineering. Their design consists of many rods connected by nodes to form a grid-like framework, which makes the robots both light and strong. They are widely used in industrial automation, building maintenance, and warehousing logistics fields to provide efficient handling, assembly, inspection, and material handling services.

[0003] During operation, truss robots mainly pick up materials through grippers and do not have a lifting function. Usually, they rely on the friction between the grippers and the materials to fix the materials. To prevent material deformation, the clamping force needs to be adjusted to an appropriate level. However, in a large number of picking tasks, the situation of material dropping may occur, which may require manual assistance, affecting production efficiency and posing safety risks. Summary of the Utility Model

[0004] The purpose of the embodiment of the utility model is to provide a clamping member for a truss robot, aiming to solve the problems proposed in the background technique.

[0005] The embodiment of the utility model is realized as follows. A clamping member for a truss robot includes a clamping member body. The clamping member body includes a connecting member fixedly arranged at the upper end of the clamping member body and integrally formed with the clamping member body. It further includes:

[0006] A driving unit. The driving unit includes a motor seat fixedly connected to the connecting member. A motor for driving is fixedly connected to the upper end of the motor seat. A coupling is sleeved outside the main shaft of the motor. A rotating shaft is also sleeved inside the coupling. A gear is fixedly sleeved outside the rotating shaft. A bearing is fixedly sleeved at the lower end of the rotating shaft. A bearing seat adapted to the size of the bearing is fixedly arranged at the position of the clamping member body corresponding to the bearing. Two groups of racks are movably arranged on both sides of the gear. A chute adapted to the rack is fixedly arranged at the position of the inner side of the connecting member corresponding to the rack. One end of the rack is fixedly provided with a claw seat. Sliders adapted to the chute are arranged on both sides of the upper end of the claw seat.

[0007] A clamping unit. The clamping unit includes a movable groove fixedly arranged in the claw seat. A movable block is movably arranged in the movable groove. A movable rod is fixedly arranged at the lower end of the movable block. The movable rod movably penetrates through the claw seat and extends to the outside to be fixedly connected with a supporting claw. A limiting rod is fixedly arranged at the upper end of the movable block. The upper end of the limiting rod is movably located inside the claw seat. A spring is also movably sleeved outside the limiting rod. A claw is fixedly connected to the inner side of the claw seat. A rubber pad is fixedly arranged on the inner side of the claw.

[0008] As a further solution of the present utility model: the connecting member is arranged as a flange structure, the motor base is arranged as a flange structure adapted to the connecting member, and the connecting member and the motor base are connected by bolts.

[0009] As a further solution of the present utility model: one side of the rack is arranged as a rack meshing with the gear, the other side of the rack is movably arranged in the chute, the claw seat is arranged as a block structure, the slider is movably arranged in the chute, and a movable cavity adapted to the claw seat is arranged in the clamping member body corresponding to the claw seat, and the claw seat is movably arranged in the movable cavity.

[0010] As a further solution of the present utility model: the movable block is arranged as a block structure, the movable groove is arranged as a rectangular groove, the movable rod is a strip structure, and the limiting rod is a columnar structure.

[0011] As a further solution of the present utility model: the supporting claw is an "L" - shaped structure, and the front end of the supporting claw is provided with an inclined surface for easy clamping and insertion.

[0012] As a further solution of the present utility model: the claw is arranged as a block structure, the claw is fixed to the inner side of the claw seat by bolts, and the rubber pad is made of a flexible material.

[0013] A clamping member for a truss robot provided by an embodiment of the present utility model drives the rack meshing with the gear to move by rotating the gear, and further drives the claw seat to open and close. By arranging the movable rod in cooperation with the supporting claw, the material to be clamped can be supported from the bottom. In cooperation with the arranged limiting rod and spring, it has a buffering effect to prevent the clamping jaw from being damaged by extrusion with the ground. By arranging the claw to be detachable, it is convenient to replace different claws. By arranging the rubber pad, it provides buffering between the claw and the material to prevent the material from being deformed and damaged due to excessive clamping force. Description of the Drawings

[0014] Figure 1 It is a three - dimensional structure diagram of a clamping member for a truss robot provided by an embodiment of the present utility model;

[0015] Figure 2 It is a sectional view of a clamping member for a truss robot provided by an embodiment of the present utility model;

[0016] Figure 3 It is an installation schematic diagram of a clamping member for a truss robot provided by an embodiment of the present utility model.

[0017] In the attached drawings: clamping member body 1, connecting member 2, driving unit 3, motor base 4, motor 5, coupling 6, rotating shaft 7, gear 8, bearing 9, bearing seat 91, rack 10, sliding groove 101, jaw seat 11, slider 111, movable groove 112, movable cavity 113, clamping unit 12, movable block 13, movable rod 14, supporting claw 15, limiting rod 16, spring 17, claw 18, rubber pad 19. Detailed implementation manners

[0018] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in conjunction with the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0019] The following describes in detail the specific implementation of the present utility model in conjunction with specific embodiments.

[0020] As Figures 1 to 3 shown, a clamping member for a truss robot provided by an embodiment of the present utility model includes a clamping member body 1. The clamping member body 1 includes a connecting member 2 fixedly arranged at the upper end of the clamping member body 1 and integrally formed with the clamping member body 1. It further includes:

[0021] A driving unit 3. The driving unit 3 includes a motor base 4 fixedly connected to the connecting member 2. A motor 5 for driving is fixedly connected to the upper end of the motor base 4. A coupling 6 is sleeved outside the main shaft of the motor 5. A rotating shaft 7 is also sleeved inside the coupling 6. A gear 8 is fixedly sleeved outside the rotating shaft 7. A bearing 9 is fixedly sleeved at the lower end of the rotating shaft 7. A bearing seat 91 adapted to the size of the bearing 9 is fixedly arranged at the position of the clamping member body 1 corresponding to the bearing 9. Two groups of racks 10 are movably arranged on both sides of the gear 8. A sliding groove 101 adapted to the rack 10 is fixedly arranged at the position of the inner side of the connecting member 2 corresponding to the rack 10. One end of the rack 10 is fixedly provided with a jaw seat 11. Sliders 111 adapted to the sliding groove 101 are arranged on both sides of the upper end of the jaw seat 11.

[0022] A clamping unit 12. The clamping unit 12 includes a movable groove 112 fixedly arranged in the jaw seat 11. A movable block 13 is movably arranged in the movable groove 112. A movable rod 14 is fixedly arranged at the lower end of the movable block 13. The movable rod 14 movably penetrates through the jaw seat 11 and extends to the outside and is fixedly connected to a supporting claw 15. A limiting rod 16 is fixedly arranged at the upper end of the movable block 13. The upper end of the limiting rod 16 is movably located inside the jaw seat 11. A spring 17 is also movably sleeved outside the limiting rod 16. A claw 18 is fixedly connected to the inner side of the jaw seat 11. A rubber pad 19 is fixedly arranged on the inner side of the claw 18.

[0023] In an embodiment of the present utility model, by rotating the gear 8, the rack 10 meshing with the gear 8 is driven to move, thereby driving the claw seat 11 to open and close. Through the arranged movable rod 14 cooperating with the supporting claw 15, the material to be clamped can be supported from the bottom. With the arranged limiting rod 16 and spring 17, a buffering effect is achieved to prevent the clamping jaws from being damaged by extrusion with the ground. By arranging the detachable clamping claws 18, it is convenient to replace different clamping claws. Through the arranged rubber pad 19, buffering is provided between the clamping claws and the material to prevent the material from being deformed and damaged due to excessive clamping force.

[0024] In an example of the present utility model, during use, the truss robot descends, the bottom of the supporting claw 15 contacts the plane where the material is placed, and is buffered by the limiting rod 16 and spring 17. The main shaft of the motor 5 rotates and drives the rotating shaft 7 to rotate through the coupling 6. The rotating rotating shaft 7 drives the gear 8 thereon to rotate. Through the gear-rack mechanism of the gear 8 and the rack 10, the rotational motion of the gear 8 is converted into the linear motion of the rack 10, thereby driving the claw seats 11 to move towards each other. Then, through the movable rod 14, the supporting claw 15 is driven to catch the bottom of the material and lift the material. The truss robot is controlled to rise. At this time, the spring 17 squeezes the movable block 13 to push the movable rod 14 and the supporting claw 15 back to their original positions, and then the claw seats 11 are controlled to move towards each other to clamp the material through the clamping claws 18.

[0025] As Figure 1 and Figure 2 shown, as a preferred embodiment of the present utility model, the connecting member 2 is arranged as a flange structure, the motor seat 4 is arranged as a flange structure adapted to the connecting member 2, and the connecting member 2 and the motor seat 4 are connected by bolts.

[0026] In an example of the present utility model, through the arranged connecting member 2 and motor seat 4, it is convenient to fix the clamping member body 1, and at the same time, its split structure also facilitates the disassembly and maintenance of the connecting member 2.

[0027] As Figure 2 shown, as a preferred embodiment of the present utility model, one side of the rack 10 is arranged as a rack meshing with the gear 8, the other side of the rack 10 is movably arranged in the chute 101, the claw seat 11 is arranged as a block structure, the slider 111 is movably arranged in the chute 101, and a movable cavity 113 adapted to the claw seat 11 is arranged in the clamping member body 1 corresponding to the claw seat 11, and the claw seat 11 is movably arranged in the movable cavity 113.

[0028] In an example of the present utility model, through the provided chute 101, the movement of the rack 10 and the slider 111 is restricted to ensure the stability of the movement, reduce the structural shaking. Through the gear-rack mechanism of the gear 8 and the rack 10, the rotational movement of the gear 8 is converted into the linear movement of the rack 10, which facilitates controlling the movement direction of the jaw seat 11 by controlling the rotation direction of the motor 5.

[0029] As Figure 2 shown, as a preferred embodiment of the present utility model, the movable block 13 is arranged in a block structure, the movable groove 112 is arranged in a rectangular groove, the movable rod 14 is in a strip structure, and the limiting rod 16 is in a columnar structure. The holding claw 15 is in an "L" shape structure, and a bevel for easy clamping and insertion is provided at the front end of the holding claw 15. The claw 18 is arranged in a block structure, the claw 18 is fixed inside the claw seat 11 by bolts, and the rubber pad 19 is made of a flexible material.

[0030] In an example of the present utility model, through the cooperation of the provided movable rod 14 and the holding claw 15, the material to be clamped can be supported from the bottom. With the cooperation of the provided limiting rod 16 and the spring 17, a buffering effect is achieved to prevent the clamping jaw from being damaged by extrusion with the ground. Through the detachable setting of the claw 18, it is convenient to replace different claws. Through the setting of the rubber pad 19, buffering is provided between the claw and the material to prevent the material from being deformed and damaged due to excessive clamping force.

[0031] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0032] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0033] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", 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, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0034] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific circumstances.

[0035] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A clamping member for a truss robot, comprising a clamping member body (1), wherein the clamping member body (1) includes a connecting member (2) fixedly arranged at the upper end of the clamping member body (1) and integrally formed with the clamping member body (1), and is characterized in that, It further includes: A driving unit (3), the driving unit (3) includes a motor base (4) fixedly connected to the connecting member (2), a motor (5) for driving is fixedly connected to the upper end of the motor base (4), a coupling (6) is sleeved outside the main shaft of the motor (5), a rotating shaft (7) is further sleeved inside the coupling (6), a gear (8) is fixedly sleeved outside the rotating shaft (7), a bearing (9) is fixedly sleeved at the lower end of the rotating shaft (7), a bearing seat (91) adapted to the size of the bearing (9) is fixedly provided at a position of the clamping member body (1) corresponding to the bearing (9), two sets of racks (10) are movably arranged on both sides of the gear (8), a chute (101) adapted to the rack (10) is fixedly provided at a position of the inner side of the connecting member (2) corresponding to the rack (10), a claw seat (11) is fixedly provided at one end of the rack (10), and sliders (111) adapted to the chute (101) are arranged on both sides of the upper end of the claw seat (11); A clamping unit (12), the clamping unit (12) includes a movable groove (112) fixedly arranged in the claw seat (11), a movable block (13) is movably arranged in the movable groove (112), a movable rod (14) is fixedly arranged at the lower end of the movable block (13), the movable rod (14) movably penetrates through the claw seat (11) and extends to the outside and is fixedly connected to a supporting claw (15), a limiting rod (16) is fixedly arranged at the upper end of the movable block (13), the upper end of the limiting rod (16) is movably located in the claw seat (11), a spring (17) is further movably sleeved outside the limiting rod (16), a claw (18) is fixedly connected to the inner side of the claw seat (11), and a rubber pad (19) is fixedly arranged on the inner side of the claw (18).

2. The clamping member for a truss robot according to claim 1, wherein The connecting member (2) is provided with a flange structure, the motor base (4) is provided with a flange structure adapted to the connecting member (2), and the connecting member (2) and the motor base (4) are connected by bolts.

3. A clamping member for a truss robot according to claim 1, characterized in that, One side of the rack (10) is provided with a rack meshing with the gear (8), the other side of the rack (10) is movably arranged in the chute (101), the claw seat (11) is provided with a block structure, the slider (111) is movably arranged in the chute (101), and a movable cavity (113) adapted to the claw seat (11) is arranged in the clamping member body (1) corresponding to the claw seat (11), and the claw seat (11) is movably arranged in the movable cavity (113).

4. The clamping member for a truss robot according to claim 3, wherein, The movable block (13) is provided with a block structure, the movable groove (112) is provided with a rectangular groove, the movable rod (14) is provided with a strip structure, and the limiting rod (16) is provided with a columnar structure.

5. The clamping member for a truss robot according to claim 4, characterized in that, The supporting claw (15) is provided with an "L" - shaped structure, and a bevel surface for easy clamping and insertion is arranged at the front end of the supporting claw (15).

6. The clamping member for a truss robot according to claim 5, characterized in that, The claw (18) is provided with a block structure, the claw (18) is fixed to the inner side of the claw seat (11) by bolts, and the rubber pad (19) is made of a flexible material.

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