Clamping jaw structure of industrial robot

Abstract

The utility model relates to the technical field of clamping jaws, and discloses an industrial robot clamping jaw structure which comprises an anti-skid pad, one side of the anti-skid pad is detachably connected with one side of a clamping jaw, a plurality of installation blocks are symmetrically installed on the two sides of the anti-skid pad, installation holes communicated with the other sides of the installation blocks are formed in the sides, away from the clamping jaw, of the installation blocks, and installation rings are detachably installed in inner cavities of the installation holes. A plurality of fixing plates are annularly distributed and fixedly mounted at one end of the mounting ring, a plurality of positioning holes matched with the mounting holes are formed in the sides, close to the non-slip mat, of the clamping jaws, the positioning columns are detachably mounted in inner cavities of the mounting holes, and deformation blocks are fixedly mounted on the sides, away from the inner walls of the positioning holes, of the fixing plates. According to the utility model, through the matching of all the parts, the disassembly and assembly between the non-slip mat and the clamping jaw are facilitated, the cumbersome degree during the replacement of the non-slip mat is reduced, and the time and energy required during the replacement of the non-slip mat are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping claws, in particular to a clamping claw structure of an industrial robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. The industrial robot gripper is a hand device driven by a pneumatic or electric system for grasping and fixing objects, also known as a manipulator.

[0003] At present, industrial robots used for grasping objects generally consist of a robot body, a control system, an adjustment system and multiple sets of grippers. The robot body serves as a carrier of the control system, the adjustment system and the multiple sets of grippers. The control system can adjust the direction, height and distance between the multiple sets of grippers and the object to facilitate the clamping and transfer of the object. At the same time, in order to increase the friction between the grippers and the object, the multiple sets of grippers are equipped with anti-slip pads on one side of the object. However, the grippers will wear out after long-term use, which may cause the object to fall easily when the grippers grasp and transfer the object. The existing anti-slip pads are connected to the grippers by multiple sets of screws. When replacing the anti-slip pads, it is necessary to use a disassembly and assembly tool to fix the screws and continuously rotate the screws from different angles to achieve disassembly and assembly between the anti-slip pads and the grippers, which increases the tediousness of replacing the anti-slip pads and the time and effort required for replacing the anti-slip pads. Utility Model Content

[0004] In order to make up for the above deficiencies, the present invention provides an industrial robot gripper structure, aiming to solve the problems in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: an industrial robot gripper structure, comprising:

[0006] Gripper.

[0007] The anti-slip pad has one side detachably connected to one side of the clamping jaw, and multiple mounting blocks are symmetrically installed on both sides. A mounting hole connected to the other side is opened on the side of the mounting block away from the clamping jaw. A mounting ring is detachably installed in the inner cavity of the mounting hole. Multiple fixing plates are fixedly installed in a ring-shaped manner on one end of the mounting ring. Multiple positioning holes that are compatible with the mounting holes are opened on the side of the clamping jaw close to the anti-slip pad.

[0008] The positioning column is detachably installed in the inner cavity of the mounting hole. A deformation block is fixedly installed on the side of the fixing plate away from the inner wall of the positioning hole. The outer wall of the positioning column is fixedly installed with multiple extrusion blocks distributed in a ring shape to squeeze the deformation block. The deformation block is set to a trapezoidal structure, and the large head end of the deformation block is fixedly connected to the outer wall of the fixing plate.

[0009] As a further description of the above technical solution:

[0010] The fixing plate is bent at one side away from the deformation block, and is composed of a metal elastic member.

[0011] As a further description of the above technical solution:

[0012] A limiting plate is fixedly installed on one end of the positioning column away from the inner cavity of the positioning hole, and a receiving hole connected to the inner cavity of the mounting hole is fixedly opened on the side of the mounting block away from the clamping claw. The inner diameter of the receiving hole is larger than the inner diameter of the mounting hole.

[0013] As a further description of the above technical solution:

[0014] The outer wall of the mounting ring is annularly distributed and fixedly mounted with a plurality of elastic sheets, and the outer wall of the limiting disk is annularly distributed and fixedly mounted with a plurality of extrusion strips for extruding the elastic sheets.

[0015] As a further description of the above technical solution:

[0016] A plurality of limiting balls are rotatably mounted on one side of the extrusion strip away from the limiting disk.

[0017] As a further description of the above technical solution:

[0018] A limiting groove communicating with the top of the elastic piece is provided on one side of the elastic piece close to the mounting ring.

[0019] The utility model has the following beneficial effects:

[0020] In this utility model:

[0021] 1. Through the cooperation of the deformation block and the extrusion block, pressure can be applied to the outside of the fixing plate and deform it, thereby increasing the tightness of the fit between the side wall of the fixing plate and the inner wall of the positioning hole, as well as the friction between the fixing plate and the inner wall of the positioning hole, thereby improving the firmness of the connection between the anti-slip pad and the clamping jaw, preventing the anti-slip pad and the clamping jaw from accidentally detaching, and facilitating the installation between the anti-slip pad and the clamping jaw.

[0022] 2. When the anti-slip pad needs to be replaced, first pull the positioning column out of the positioning hole. At this time, the external squeezing force of the fixing plate disappears and resets. Then pull the anti-slip pad until the fixing plate is detached from the positioning hole. This facilitates the disassembly between the anti-slip pad and the clamping claw, reduces the tediousness of replacing the anti-slip pad, and reduces the time and effort required for replacing the anti-slip pad. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional diagram of the utility model;

[0024] Figure 2 This is an assembly drawing of the clamping jaws and mounting housing of the present invention;

[0025] Figure 3 This is an assembly drawing of the positioning column and mounting ring of the utility model;

[0026] Figure 4 This is an assembly drawing of the fixed plate and the deformation block of the utility model;

[0027] Figure 5 For this utility model Figure 1 A magnified view of the structure at point A;

[0028] Figure 6 For this utility model Figure 3 A magnified view of the structure at point B.

[0029] Legend:

[0030] 1. Mounting shell; 2. Clamping jaws; 3. Anti-slip pad; 4. Mounting block; 5. Limiting plate; 6. Positioning hole; 7. Extrusion strip; 8. Positioning column; 9. Mounting ring; 10. Elastic sheet; 11. Fixing plate; 12. Deformation block; 13. Mounting hole; 14. Accommodating hole; 15. Limiting ball; 16. Extrusion block. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Reference Figure 1-6 The present invention provides an embodiment of an industrial robot gripper structure, comprising:

[0033] There are two clamping jaws 2, and a mounting shell 1 is installed on the outside of the two clamping jaws 2. An adjusting device for controlling the distance between the two clamping jaws 2 is provided inside the mounting shell 1. The distance between the two clamping jaws 2 can be accurately controlled and fixed by the adjusting device. The two clamping jaws 2 can be used to clamp the symmetrical sides of the object, which is beneficial to the position adjustment and transfer of the object. This is an existing technology and will not be elaborated on here.

[0034] The anti-slip pad 3 is detachably connected to one side of the clamping jaw 2 on one side, and multiple mounting blocks 4 are symmetrically installed on both sides. A mounting hole 13 connected to the other side is opened on the side of the mounting block 4 away from the clamping jaw 2. A mounting ring 9 is detachably installed in the inner cavity of the mounting hole 13. Multiple fixing plates 11 are fixedly installed in a ring-shaped distribution at one end of the mounting ring 9. The ends of the multiple ring-shaped fixing plates 11 away from the mounting ring 9 are inserted into the interior of the mounting hole 13 until the end of the mounting ring 9 close to the fixing plate 11 is in contact with the outer wall of the mounting block 4. Only then can the installation position of the mounting ring 9 be limited, and at the same time, the outer wall of the fixing plate 11 is in close contact with the inner wall of the mounting hole 13.

[0035] A plurality of positioning holes 6 that are compatible with the mounting holes 13 are provided on the side of the clamping jaw 2 close to the anti-slip pad 3. The inner diameter of the positioning hole 6 is the same as the inner diameter of the mounting hole 13. After the fixing plate 11 is inserted into the mounting hole 13, the anti-slip pad 3 is fitted with the side of the clamping jaw 2 away from the mounting ring 9 until the middle of the open ends of the plurality of mounting holes 13 and the middle of the open ends of the positioning holes 6 are on the same horizontal line. Then, the plurality of mounting rings 9 and the mounting blocks 4 are pressed until the plurality of fixing plates 11 are inserted into the interior of the positioning holes 6 at the same time. When one side of the mounting block 4 is fitted with the outer wall of the clamping jaw 2, the fixing plate 11 is fitted with the insertion end and the inner wall of the positioning hole 6 away from its own open end, thereby preliminarily connecting the anti-slip pad 3 to one side of the clamping jaw 2.

[0036] The positioning column 8 is detachably mounted in the inner cavity of the mounting hole 13. A deformation block 12 is fixedly mounted on the side of the fixing plate 11 away from the inner wall of the positioning hole 6. The outer wall of the positioning column 8 is annularly distributed and fixed with a plurality of extrusion blocks 16 for extruding the deformation block 12. The deformation block 12 is set to a trapezoidal structure, and the large end of the deformation block 12 is fixedly connected to the outer wall of the fixing plate 11. When the insertion end of the fixing plate 11 and the inner wall of the positioning hole 6 away from its own open end are fitted, one end of the positioning column 8 is inserted into the mounting hole 13 from one end of the mounting ring 9, and penetrates the mounting hole 13 and is inserted into the interior of the positioning hole 6. At this time, the extrusion block 16 One end of the block 16 slides along the inclined end of the deformation block 12 until the insertion end of the positioning column 8 is in contact with the inner wall of the positioning hole 6 away from its own open end. Then, one end of the extrusion block 16 is in contact with the raised side wall of the deformation block 12, causing the deformation block 12 to move toward the inner wall of the positioning hole 6. At this time, the fixing plate 11 is deformed under the extrusion of the extrusion block 16, thereby increasing the tightness of the fit between the side wall of the fixing plate 11 and the inner wall of the positioning hole 6, as well as the friction between the fixing plate 11 and the inner wall of the positioning hole 6, thereby improving the firmness of the connection between the anti-slip pad 3 and the clamping jaw 2, and preventing the anti-slip pad 3 from detaching from the clamping jaw 2.

[0037] When the anti-slip pad 3 needs to be replaced, first pull the positioning column 8 out of the positioning hole 6. At this time, the fixing plate 11 will reset after the external squeezing force disappears, and then pull the anti-slip pad 3 until the fixing plate 11 is disengaged from the positioning hole 6, which is conducive to the separation between the anti-slip pad 3 and the clamping jaw 2, reducing the tediousness of replacing the anti-slip pad 3, as well as the time and effort required for replacing the anti-slip pad 3.

[0038] The fixing plate 11 is bent on one side away from the deformation block 12, which can increase the contact area between the outer wall of the fixing plate 11 and the inner wall of the positioning hole 6, thereby increasing the friction between the fixing plate 11 and the positioning hole 6, and can make the connection between the anti-slip pad 3 and the clamping jaw 2 firmer.

[0039] The fixing plate 11 is composed of a metal elastic member, and the fixing plate 11 is composed of a metal spring sheet, which can improve the plastic deformation ability of the fixing plate 11, making the fixing plate 11 easier to deform and fit tightly with the inner wall of the positioning hole 6, while extending the service life of the fixing plate 11.

[0040] The limiting plate 5 is fixedly installed on the end of the positioning column 8 away from the inner cavity of the positioning hole 6, and the side of the mounting block 4 away from the clamping jaw 2 is fixed with a receiving hole 14 connected to the inner cavity of the mounting hole 13. The inner diameter of the receiving hole 14 is larger than the inner diameter of the mounting hole 13. After the fixing plate 11 is inserted into the inner cavity of the positioning hole 6, one end of the mounting ring 9 and the receiving hole 14 are fitted with the inner wall of the mounting hole 13 near the fixing plate 11. When the insertion end of the positioning column 8 and the inner wall of the positioning hole 6 away from its own opening end are fitted, one end of the limiting plate 5 and the other end of the mounting ring 9 are fitted, thereby limiting the installation position of the mounting ring 9.

[0041] The outer wall of the mounting ring 9 is fixedly mounted with a plurality of elastic sheets 10 distributed in an annular shape, and the outer wall of the limiting disk 5 is fixedly mounted with a plurality of extrusion strips 7 for squeezing the elastic sheet 10 distributed in an annular shape. When one end of the limiting disk 5 is fitted with one end of the mounting ring 9, the plurality of extrusion strips 7 are fitted with the outer wall of the elastic sheet 10 away from the side of the limiting disk 5 and squeeze the elastic sheet 10 until the elastic sheet 10 is squeezed until the other side is fitted with the inner wall of the accommodating hole 14, thereby increasing the friction between the elastic sheet 10 and the inner wall of the accommodating hole 14, and further increasing the stability of the positioning column 8 inside the positioning hole 6.

[0042] A plurality of limiting balls 15 are rotatably installed on the side of the extrusion strip 7 away from the limiting disk 5, and a limiting groove connected to the top of the elastic sheet 10 is opened on the side close to the mounting ring 9. When the limiting disk 5 is inserted into the accommodating hole 14, the plurality of extrusion strips 7 are simultaneously inserted into the plurality of limiting grooves until the outer wall of the limiting ball 15 and the inner wall of the limiting groove are fitted together, thereby limiting the extrusion strip 7 and preventing the extrusion strip 7 from being separated from the elastic sheet 10 due to the rotation of the limiting disk 5. At the same time, under the action of the limiting ball 15, the resistance of the extrusion strip 7 when inserted into the limiting groove is effectively reduced, thereby improving the smoothness of the extrusion strip 7 when entering and exiting the limiting groove.

[0043] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Industrial robot gripper structure, characterized by: include Gripper (2); An anti-slip pad (3) is detachably connected to one side of the clamping jaw (2), and a plurality of mounting blocks (4) are symmetrically installed on both sides. A mounting hole (13) communicating with the other side is provided on the side of the mounting block (4) away from the clamping jaw (2). A mounting ring (9) is detachably installed in the inner cavity of the mounting hole (13). A plurality of fixing plates (11) are fixedly installed in an annular shape on one end of the mounting ring (9). A plurality of positioning holes (6) adapted to the mounting hole (13) are provided on the side of the clamping jaw (2) close to the anti-slip pad (3). The positioning column (8) is detachably mounted in the inner cavity of the mounting hole (13); a deformation block (12) is fixedly mounted on the side of the fixing plate (11) away from the inner wall of the positioning hole (6); a plurality of extrusion blocks (16) for extruding the deformation block (12) are fixedly mounted on the outer wall of the positioning column (8) in an annular distribution; the deformation block (12) is arranged in a trapezoidal structure, and the large end of the deformation block (12) is fixedly connected to the outer wall of the fixing plate (11).

2. The industrial robot gripper structure according to claim 1, characterized in that: The fixing plate (11) is bent and arranged on a side away from the deformation block (12), and the fixing plate (11) is composed of a metal elastic member.

3. The industrial robot gripper structure according to claim 1, characterized in that: A limiting plate (5) is fixedly mounted on one end of the positioning column (8) away from the inner cavity of the positioning hole (6), and a receiving hole (14) is fixedly opened on one side of the mounting block (4) away from the clamping jaw (2) and communicates with the inner cavity of the mounting hole (13), wherein the inner diameter of the receiving hole (14) is larger than the inner diameter of the mounting hole (13).

4. The industrial robot gripper structure according to claim 3, characterized in that: The outer wall of the mounting ring (9) is fixedly mounted with a plurality of elastic sheets (10) distributed in an annular shape, and the outer wall of the limiting plate (5) is fixedly mounted with a plurality of extrusion strips (7) for extruding the elastic sheets (10) distributed in an annular shape.

5. The industrial robot gripper structure according to claim 4, characterized in that: A plurality of limiting balls (15) are rotatably mounted on the side of the extrusion strip (7) away from the limiting plate (5).

6. The industrial robot gripper structure according to claim 4, characterized in that: The elastic piece (10) is provided with a limiting groove on one side close to the mounting ring (9) and communicated with the top of the elastic piece (10).

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