Clamping jaw replacing structure of robot clamp

Abstract

The clamping jaw replacement structure of the robot clamp comprises a mechanical arm component and a device shell, the bottom of the mechanical arm component is fixedly connected with the top of the device shell, the surface of the device shell is movably connected with an installation shell, and the bottom of the installation shell is fixedly connected with a clamping jaw. Through cooperative use of the limiting device, the limiting block, the spring, the moving hole and the moving rod, the problems that a clamping jaw of an existing robot clamp is a device used for fixing or moving an object and is usually installed on a mechanical arm of a robot, the type of the clamping jaw needs to be replaced according to different use scenes, and the clamping jaw is inconvenient to use are solved. During replacement, a plurality of bolts are usually disassembled by means of professional auxiliary tools, the bolts are easy to slip after being used for a long time, the phenomenon that the bolts cannot be disassembled is caused, in the process of disassembling the bolts, the more the disassembled bolts are, the more the clamping jaws are, the more unstable the installation of the clamping jaws is, and the clamping jaws are easy to damage if falling off. However, a clamping jaw used by an existing robot clamp is not provided with a component convenient to replace.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot clamps, in particular to a clamping claw replacement structure of a robot clamp. Background Art

[0002] A robotic gripper is a device mounted on a robot for grasping, moving or manipulating objects. They can be simple manipulators or complex automated equipment with a variety of sensors and control systems. They are very important in automated production lines. To summarize, the problems existing in the prior art are: the gripper of a robotic gripper is a device for fixing or moving objects. It is usually mounted on the robot's mechanical arm. The type of gripper needs to be replaced according to different usage scenarios. When replacing, it is usually necessary to use professional auxiliary tools to disassemble multiple bolts. Bolts are prone to slippage after long-term use, making them impossible to disassemble. In the process of disassembling multiple bolts, the more bolts are removed, the more unstable the gripper installation is. If it falls, it is easy to cause damage. However, the gripper used in the existing robotic gripper does not have a component for convenient replacement, so a gripper replacement structure for a robotic gripper is proposed to solve the above problems. Utility Model Content

[0003] In response to the problems existing in the prior art, the utility model provides a gripper replacement structure for a robot clamp, which has the advantage of convenient replacement of the grippers used in the robot clamp, and solves the problem that the grippers of the existing robot clamps are a device for fixing or moving objects, which are usually installed on the mechanical arm of the robot. The type of grippers needs to be replaced according to different usage scenarios, and when replacing, it is usually necessary to use professional auxiliary tools to disassemble multiple bolts. The bolts are prone to slippage after long-term use, making it impossible to disassemble. In the process of disassembling multiple bolts, the more bolts are removed, the more unstable the gripper installation is. If it falls, it is easy to cause damage. However, the grippers used in the existing robot clamps do not have a component for convenient replacement.

[0004] The present utility model is implemented as follows: the gripper replacement structure of the robot clamp includes a manipulator component and a device shell, the bottom of the manipulator component is fixedly connected to the top of the device shell, the surface of the device shell is movably connected to the mounting shell, the bottom of the mounting shell is fixedly connected to the gripper, and the inner cavity of the device shell is provided with a limiting device.

[0005] As a preferred embodiment of the present invention, the limiting device includes two limiting blocks, and springs are fixedly connected to the opposite sides of the two limiting blocks. A movable hole is opened on the surface of the limiting block, and the inner cavity of the device shell is fixedly connected with a movable rod used in conjunction with the movable hole. The surface of the movable rod is movably connected to the inner cavity of the movable hole. By setting the limiting device, when the mounting shell moves to the surface of the device shell and the clamp moves to the bottom of the manipulator component, the limiting device has a limiting effect on the position of the mounting shell and the clamp.

[0006] As a preferred embodiment of the present invention, the surface of the movable rod is provided with two movable extrusion blocks used in conjunction with the limit block, and the surface of the movable extrusion block is in contact with the surface of the limit block. By setting the movable extrusion block, when the extrusion frame moves, the extrusion force generated on the movable extrusion block can drive the two movable extrusion blocks to move, and when the movable extrusion block moves, it can drive the limit block to move.

[0007] As a preferred embodiment of the present invention, the inner cavity of the device shell is movably connected to two handle frames, and the handle frame passes through the device shell on the side away from the movable extrusion block and extends to the outside of the inner cavity of the device shell. By setting the handle frame, when the handle frame moves, the extrusion frame can be driven to move along the surface of the movable extrusion block.

[0008] As a preferred embodiment of the present invention, the bottom of the handle frame is fixedly connected to an extrusion frame used in conjunction with the movable extrusion block, and the inner cavity of the extrusion frame contacts the surface of the movable extrusion block. By setting the extrusion frame, an extrusion force can be generated on the movable extrusion block when the extrusion frame moves.

[0009] As a preferred embodiment of the present invention, limit grooves for use with limit blocks are provided on the left and right sides of the inner cavity of the mounting shell, and the surface of the limit block is in contact with the inner cavity of the limit groove. By setting the limit groove, when the mounting shell moves to the surface of the device shell and the handle frame is released, the restoring force generated by the spring restoring its shape will drive the limit block to be stuck in the inner cavity of the limit groove. The coordinated use of the limit block and the limit groove has a limiting effect on the position of the mounting shell.

[0010] As a preferred embodiment of the present invention, positioning grooves are provided on the left and right sides of the bottom of the device shell, and the left and right sides of the top of the mounting shell are fixedly connected with positioning rods used in conjunction with the positioning grooves. The surface of the positioning rods is in contact with the inner cavity of the positioning groove. By setting the positioning rods and the positioning grooves, the mounting shell is moved to the surface of the device shell, and at the same time, the positioning rods are driven to move into the inner cavity of the positioning groove. The coordinated use of the positioning rods and the positioning grooves has a limiting effect on the moving position of the mounting shell.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] 1. The utility model solves the problem that the clamping claw of the existing robot clamp is a device for fixing or moving objects, which is usually installed on the mechanical arm of the robot. The type of clamping claw needs to be replaced according to different usage scenarios. When replacing, it is usually necessary to use professional auxiliary tools to disassemble multiple bolts. The bolts are prone to slippage after long-term use, making it impossible to disassemble. In the process of disassembling multiple bolts, the more bolts are removed, the more unstable the clamping claw installation is. If it falls, it is easy to cause damage. However, the clamping claw used in the existing robot clamp does not have a component that can be easily replaced.

[0013] 2. The utility model sets a limit device. When the movable extrusion block moves, it will drive the two limit blocks to move toward each other along the surface of the movable rod. The force generated when the limit blocks move causes the spring to elastically deform. The restoring force generated by the spring restoring its shape will drive the limit blocks to be stuck in the inner cavity of the limit groove. The limit device has a limiting effect on the position of the mounting shell and the clamping claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the three-dimensional structure provided by an embodiment of the utility model;

[0015] Figure 2 This is a three-dimensional schematic diagram of the connection between the robot component, the device shell, the mounting shell and the clamping claw provided by the embodiment of the utility model;

[0016] Figure 3 is a three-dimensional cross-sectional view of a device housing provided by an embodiment of the present utility model;

[0017] Figure 4 This is a three-dimensional schematic diagram of the connection between the movable extrusion block, the movable rod and the limit block provided by the embodiment of the utility model;

[0018] Figure 5 It is a three-dimensional schematic diagram of the limiting groove provided in the embodiment of the utility model.

[0019] In the figure: 1. Mechanical parts; 2. Device shell; 3. Mounting shell; 4. Clamping claw; 5. Limiting device; 501. Limiting block; 502. Spring; 503. Moving hole; 504. Moving rod; 6. Moving extrusion block; 7. Handle frame; 8. Extrusion frame; 9. Limiting slot; 10. Positioning slot; 11. Positioning rod. DETAILED DESCRIPTION

[0020] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0021] The structure of the present utility model is described in detail below with reference to the accompanying drawings.

[0022] like Figures 1 to 5 As shown, the gripper replacement structure of the robot clamp provided by the embodiment of the present invention includes a manipulator part 1 and a device shell 2, the bottom of the manipulator part 1 is fixedly connected to the top of the device shell 2, the surface of the device shell 2 is movably connected to the mounting shell 3, the bottom of the mounting shell 3 is fixedly connected to the gripper 4, and the inner cavity of the device shell 2 is provided with a limiting device 5.

[0023] refer to Figure 4 The limiting device 5 includes two limiting blocks 501, and a spring 502 is fixedly connected to the opposite side of the two limiting blocks 501. A movable hole 503 is opened on the surface of the limiting block 501. The inner cavity of the device shell 2 is fixedly connected to a movable rod 504 used in conjunction with the movable hole 503, and the surface of the movable rod 504 is movably connected to the inner cavity of the movable hole 503.

[0024] Adopting the above solution: by setting the limiting device 5, when the mounting shell 3 moves to the surface of the device shell 2 and the clamping jaw 4 moves to the bottom of the manipulator component 1, the limiting device 5 has a limiting effect on the position of the mounting shell 3 and the clamping jaw 4.

[0025] refer to Figure 4 The surface of the moving rod 504 is sleeved with two moving extrusion blocks 6 used in conjunction with the limiting block 501 , and the surface of the moving extrusion block 6 contacts the surface of the limiting block 501 .

[0026] The above solution is adopted: by setting the movable extrusion block 6, the extrusion force generated on the movable extrusion block 6 when the extrusion frame 8 moves can drive the two movable extrusion blocks 6 to move, and when the movable extrusion block 6 moves, it can drive the limit block 501 to move.

[0027] refer to Figure 3 The inner cavity of the device shell 2 is movably connected to two handle frames 7, and the side of the handle frame 7 away from the movable extrusion block 6 passes through the device shell 2 and extends to the outside of the inner cavity of the device shell 2.

[0028] The above solution is adopted: by providing the handle frame 7 , when the handle frame 7 moves, the squeezing frame 8 can be driven to move along the surface of the movable squeezing block 6 .

[0029] refer to Figure 3 The bottom of the handle frame 7 is fixedly connected to an extrusion frame 8 used in conjunction with the mobile extrusion block 6, and the inner cavity of the extrusion frame 8 is in contact with the surface of the mobile extrusion block 6.

[0030] The above solution is adopted: by providing the extrusion frame 8 , when the extrusion frame 8 moves, an extrusion force can be generated on the movable extrusion block 6 .

[0031] refer to Figure 5The left and right sides of the inner cavity of the mounting shell 3 are both provided with limiting grooves 9 for use with the limiting block 501 , and the surface of the limiting block 501 contacts the inner cavity of the limiting groove 9 .

[0032] The above solution is adopted: by setting a limit groove 9, when the mounting shell 3 moves to the surface of the device shell 2, the handle frame 7 is released, and the restoring force generated by the spring 502 restoring its shape will drive the limit block 501 to be stuck into the inner cavity of the limit groove 9. The coordinated use of the limit block 501 and the limit groove 9 has a limiting effect on the position of the mounting shell 3.

[0033] refer to Figure 2 The left and right sides of the bottom of the device shell 2 are both provided with positioning grooves 10, and the left and right sides of the top of the installation shell 3 are fixedly connected with positioning rods 11 used in conjunction with the positioning grooves 10, and the surface of the positioning rods 11 contacts the inner cavity of the positioning groove 10.

[0034] The above solution is adopted: by setting the positioning rod 11 and the positioning groove 10, the mounting shell 3 is moved to the surface of the device shell 2, and at the same time, the positioning rod 11 is driven to move into the inner cavity of the positioning groove 10. The coordinated use of the positioning rod 11 and the positioning groove 10 has a limiting effect on the moving position of the mounting shell 3.

[0035] The working principle of this utility model:

[0036] During use, when the gripper 4 used in the robot clamp needs to be replaced conveniently, the operator first removes the gripper 4 that needs to be replaced, and then pulls the handle frame 7 to the opposite side of the two handle frames 7. When the handle frame 7 moves, it will drive the squeezing frame 8 to move along the surface of the moving squeezing block 6. The squeezing frame 8 will generate an squeezing force on the moving squeezing block 6. The two moving squeezing blocks 6 subjected to the squeezing force will move along the surface of the moving rod 504 toward the side close to each other. When the moving squeezing block 6 moves, it will drive the two limit blocks 501 along the moving rod 504. The surface of the movable rod 504 moves toward the side that is closer to each other. When the limit block 501 moves, the force generated causes the spring 502 to elastically deform. When the limit block 501 is completely moved to the inner cavity of the device shell 2, the mounting shell 3 is moved to the surface of the device shell 2 and the handle frame 7 is released. The restoring force generated by the spring 502 recovering its shape will drive the limit block 501 to be stuck in the inner cavity of the limit groove 9. The coordinated use of the limit block 501 and the limit groove 9 has a limiting effect on the position of the mounting shell 3 and the clamp 4. At this time, the clamp 4 used by the robot clamp is easily replaced.

[0037] To sum up: the gripper replacement structure of the robot clamp solves the problem that the gripper of the existing robot clamp is a device for fixing or moving objects, which is usually installed on the robot's mechanical arm. The type of gripper needs to be replaced according to different usage scenarios. When replacing, it is usually necessary to use professional auxiliary tools to disassemble multiple bolts. The bolts are prone to slippage after long-term use, resulting in the phenomenon that they cannot be disassembled. In the process of disassembling multiple bolts, the more bolts are removed, the more unstable the gripper installation is. If it falls, it is easy to cause damage. However, the gripper used in the existing robot clamp does not have a component for convenient replacement.

[0038] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripper replacement structure for a robot gripper, comprising a manipulator component (1) and a device housing (2), characterized in that: The bottom of the manipulator component (1) is fixedly connected to the top of the device shell (2); the surface of the device shell (2) is movably connected to the mounting shell (3); the bottom of the mounting shell (3) is fixedly connected to the clamping claw (4); and the inner cavity of the device shell (2) is provided with a limiting device (5).

2. The gripper replacement structure of a robot gripper according to claim 1, wherein: The limiting device (5) comprises two limiting blocks (501), springs (502) are fixedly connected to opposite sides of the two limiting blocks (501), a movable hole (503) is provided on the surface of the limiting blocks (501), a movable rod (504) used in conjunction with the movable hole (503) is fixedly connected to the inner cavity of the device shell (2), and the surface of the movable rod (504) is movably connected to the inner cavity of the movable hole (503).

3. The gripper replacement structure of a robot gripper according to claim 2, wherein: The surface of the movable rod (504) is sleeved with two movable extrusion blocks (6) used in conjunction with the limit block (501), and the surfaces of the movable extrusion blocks (6) are in contact with the surfaces of the limit block (501).

4. The gripper replacement structure of a robot gripper according to claim 3, wherein: The inner cavity of the device shell (2) is movably connected to two handle frames (7), and the side of the handle frame (7) away from the movable extrusion block (6) passes through the device shell (2) and extends to the outside of the inner cavity of the device shell (2).

5. The gripper replacement structure of a robot gripper according to claim 4, wherein: The bottom of the handle frame (7) is fixedly connected to an extrusion frame (8) used in conjunction with the movable extrusion block (6), and the inner cavity of the extrusion frame (8) is in contact with the surface of the movable extrusion block (6).

6. The gripper replacement structure of a robot gripper according to claim 2, wherein: Limiting grooves (9) for use with the limiting blocks (501) are provided on both the left and right sides of the inner cavity of the installation shell (3), and the surface of the limiting blocks (501) contacts the inner cavity of the limiting grooves (9).

7. The gripper replacement structure of a robot gripper according to claim 1, wherein: Positioning grooves (10) are provided on both the left and right sides of the bottom of the device shell (2), and positioning rods (11) for use with the positioning grooves (10) are fixedly connected to both the left and right sides of the top of the installation shell (3), and the surfaces of the positioning rods (11) are in contact with the inner cavity of the positioning grooves (10).

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