Clamping jaw structure of carrying manipulator

Abstract

The clamping jaw structure of the carrying mechanical arm relates to the technical field of mechanical arms and comprises a top plate and an air pump, a sliding groove is formed in the lower surface of the top plate, a servo motor is fixed to the right end of a two-way lead screw, a movable block is connected to the outer side of the two-way lead screw in a threaded mode, and a fixed clamping plate is welded to the bottom of the top plate. The air pump is arranged at the upper end of the top plate, an air conveying pipeline is fixed to the air conveying end of the air pump, an air inlet is formed in the front end face of the fixed clamping plate, a cavity is formed in the fixed clamping plate, and a plurality of air holes are formed in the left side and the right side of the fixed clamping plate. The two movable clamping plates are arranged, the two-way lead screw is driven by the servo motor to rotate, the two movable blocks connected to the outer side of the two-way lead screw in a threaded mode move in the sliding groove, and therefore the two movable blocks are controlled to be close to or away from each other, a plurality of objects can be conveniently clamped at the same time, and the working efficiency of the device is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely is a kind of gripper structure of handling manipulator. BACKGROUND

[0002] Manipulator is a kind of can imitate the action function of hand and arm, to grasp, carry object or operate tool according to fixed program, the automatic operation device of feature, it can be programmed to complete various expected work, it has the respective advantages of man and mechanical cell phone machine in structure and performance, manipulator is the earliest appearance industrial robot, it is the earliest appearance modern robot, it can replace the heavy labor of person to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety.

[0003] Prior art patent literature with publication number CN219504795U provides a kind of gripper structure of power-assisted manipulator, the utility model is provided with air pump, sealing box and air hole, air pump is extracted, air in sealing box is extracted, it is helpful to create negative pressure environment in sealing box, by the cooperation of air hole, article is firmly adsorbed in fixed clamping plate left side, so it can be further fixed to article without increasing extrusion force, can avoid that the structure of article itself is damaged by excessive extrusion force, it is convenient to use.But the structure of existing CN219504795U patent is simple, single fixed clamping plate and movable clamping plate are set, single article is clamped and carried only once, and the working efficiency is low, therefore, a kind of gripper structure of handling manipulator is presented. UTILITY MODEL CONTENT

[0004] Based on this, the utility model aims at providing a kind of gripper structure of handling manipulator to solve the problems, such as the structure of existing CN219504795U patent is simple, single fixed clamping plate and movable clamping plate are set, single article is clamped and carried only once, and the working efficiency is low.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of gripper structure of handling manipulator, including top plate and air pump, the lower surface inside of top plate is equipped with sliding slot, and bidirectional screw rod is rotatably connected in the inside of sliding slot, the right end of bidirectional screw rod is fixed with servo motor, the outside of bidirectional screw rod is connected with movable block in screw thread, and the lower end of movable block is integrally provided with movable clamping plate, the bottom of top plate is welded with fixed clamping plate.

[0006] The air pump is arranged at the upper end of the top plate, and the air supply end of the air pump is fixed with an air supply pipeline, the front end surface of the fixed clamping plate is provided with an air inlet, and the inside of the fixed clamping plate is provided with a cavity, and a plurality of air holes are formed on the left and right sides of the fixed clamping plate.

[0007] Preferably, the right end of the bidirectional screw rod is fixedly connected with the output end of the servo motor through a bearing penetrating through the right side of the top plate, and the movable block is slidably connected to the lower side of the top plate through a sliding groove.

[0008] Preferably, two movable clamping plates are arranged, and the fixed clamping plate is arranged between the two movable clamping plates.

[0009] Preferably, rubber antiskid pads are attached to the side of the movable clamping plate close to the fixed clamping plate, and the fixed clamping plate and the movable clamping plate are parallel to each other.

[0010] Preferably, the end of the gas pipeline away from the air pump is inserted into the fixed clamping plate through the air inlet, and the internal cavity of the fixed clamping plate is in communication with the air holes.

[0011] Preferably, the internal cavity is provided with a first reinforcing rib and a second reinforcing rib, the first reinforcing rib and the second reinforcing rib are perpendicular to each other, and the two ends of the first reinforcing rib and the second reinforcing rib are welded to the inner wall of the fixed clamping plate.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] 1. Two movable clamping plates are arranged, the bidirectional screw rod is driven to rotate by the servo motor, the two movable blocks connected with the outer side of the bidirectional screw rod are moved in the sliding groove, the two movable blocks are controlled to approach or move away from each other, multiple articles can be clamped at the same time, and the working efficiency of the device is improved.

[0014] 2. The air pump in the utility model draws out the air in the fixed clamping plate through the gas pipeline, so that the fixed clamping plate is in a negative pressure state, articles can be firmly adsorbed at the air holes, the clamping effect of the movable clamping plate and the fixed clamping plate is combined, the articles are doubly fixed, and the stability of the articles during the carrying process is ensured.

[0015] 3. The first reinforcing rib and the second reinforcing rib are welded to the inner wall of the fixed clamping plate, the compression resistance of the fixed clamping plate is improved, the deformation of the fixed clamping plate under the negative pressure is avoided, and the service life of the device is prolonged. BRIEF DESCRIPTION OF DRAWINGS

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

[0017] Figure 2 It is a schematic view of the bottom of the top plate of the utility model;

[0018] Figure 3 It is a schematic view of the cross-sectional structure of the utility model;

[0019] Figure 4 It is a schematic view of the Figure 3 enlarged structure of position A in the utility model.

[0020] In the figure: 1, top plate; 2, sliding groove; 3, bidirectional screw rod; 4, servo motor; 5, movable block; 6, movable clamping plate; 7, fixed clamping plate; 8, rubber non-slip pad; 9, air pump; 10, air conveying pipeline; 11, air inlet; 12, cavity; 13, air hole; 14, reinforcing rib I; 15, reinforcing rib II. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. The embodiments described below with reference to the drawings are exemplary and are used only for explaining the utility model, and cannot be understood as limiting the utility model.

[0022] The embodiments will be described below according to the overall structure of the utility model.

[0023] Please refer to Figures 1-4 A kind of gripper structure of handling manipulator, including top plate 1 and air pump 9, the lower surface inside of top plate 1 is provided with sliding groove 2, and bidirectional screw rod 3 is rotatably connected in the inside of sliding groove 2, the right end of bidirectional screw rod 3 is fixed with servo motor 4, movable block 5 is screw-connected on the outside of bidirectional screw rod 3, and movable clamping plate 6 is integrally arranged at the lower end of movable block 5, the right end of bidirectional screw rod 3 is fixedly connected with the output end of servo motor 4 by bearing and passes through the right side of top plate 1, and movable block 5 is slidably connected below top plate 1 by sliding groove 2, movable block 5 screw-connected on the outside of bidirectional screw rod 3 moves in the inside of sliding groove 2 by the rotation of bidirectional screw rod 3 driven by servo motor 4, so as to drive two movable clamping plates 6 to approach or move away from each other, fixed clamping plate 7 is welded on the bottom of top plate 1, movable clamping plate 6 is provided with two, and fixed clamping plate 7 is arranged between the two movable clamping plates 6, articles are located between movable clamping plate 6 and fixed clamping plate 7, by the arrangement of two movable clamping plates 6 and fixed clamping plate 7, multiple articles can be clamped simultaneously, improve the working efficiency of manipulator, rubber non-slip pad 8 is bonded on the side of movable clamping plate 6 close to fixed clamping plate 7, and fixed clamping plate 7 and movable clamping plate 6 are parallel to each other, the damage to articles caused by fixed clamping plate 7 and movable clamping plate 6 when clamping articles can be reduced by the arrangement of rubber non-slip pad 8.

[0024] The air pump 9 is arranged at the upper end of the top plate 1, and the air outlet end of the air pump 9 is fixed with an air conveying pipeline 10, the front end surface of the fixed clamping plate 7 is provided with an air inlet 11, and the inside of the fixed clamping plate 7 is provided with a cavity 12, and a plurality of air holes 13 are arranged on the left and right sides of the fixed clamping plate 7, one end of the air conveying pipeline 10 away from the air pump 9 is inserted into the inside of the fixed clamping plate 7 through the air inlet 11, and the cavity 12 in the inside of the fixed clamping plate 7 is communicated with the air holes 13, and the air pump 9 draws out the air in the inside of the fixed clamping plate 7 through the air conveying pipeline 10, so that the inside of the fixed clamping plate 7 is in a negative pressure state, which is convenient for firmly adsorbing the articles at the air holes 13, and the clamping effect of the movable clamping plate 6 and the fixed clamping plate 7 makes the articles be double-fixed, so that the articles will not fall off during the carrying process, and the inside of the cavity 12 is provided with a reinforcing rib 14 and a reinforcing rib 15, and the reinforcing rib 14 and the reinforcing rib 15 are perpendicular to each other, and the two ends of the reinforcing rib 14 and the reinforcing rib 15 are welded with the inner wall of the fixed clamping plate 7, and the fixed clamping plate 7 is easy to deform in the negative pressure state, therefore, the reinforcing rib 14 and the reinforcing rib 15 can enhance the pressure resistance of the fixed clamping plate 7, avoid the deformation of the fixed clamping plate 7, and improve the service life of the device.

[0025] Working principle: when in use, the servo motor 4 is started through the controller, the servo motor 4 drives the two-way screw rod 3 to rotate forward, so that the two movable blocks 5 connected with the outside of the two-way screw rod 3 are close to each other, until the articles are clamped between the movable clamping plate 6 and the fixed clamping plate 7, since the movable clamping plate 6 is provided with two, the device can clamp two articles at the same time, then the air pump 9 is started, the air pump 9 draws out the air in the inside of the fixed clamping plate 7 through the air conveying pipeline 10, so that the inside of the fixed clamping plate 7 is in a negative pressure state, which is convenient for firmly adsorbing the articles at the air holes 13, and the clamping effect of the movable clamping plate 6 and the fixed clamping plate 7 makes the articles be double-fixed, so that the articles will not fall off during the carrying process, and the inner wall of the fixed clamping plate 7 is welded with the reinforcing rib 14 and the reinforcing rib 15 which are perpendicular to each other, so that the pressure resistance of the fixed clamping plate 7 is enhanced, and the deformation of the fixed clamping plate 7 under the action of negative pressure is avoided.

[0026] The control mode of the device is automatically controlled through the controller, and the control circuit of the controller can be realized through simple programming by the person skilled in the art, which belongs to the prior art known by the person skilled in the art, so the control mode and circuit connection of the device will not be explained in detail.

[0027] The contents not described in detail in the specification belong to the prior art known by the person skilled in the art.

[0028] The terms "central", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only simplified descriptions for facilitating the description of the utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the protection scope of the utility model.

[0029] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement and the like made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A gripper structure of a handling robot, comprising a top plate (1) and a gas pump (9), characterized in that: The lower surface of the top plate (1) is internally provided with a sliding groove (2), and a bidirectional screw rod (3) is rotatably connected inside the sliding groove (2). The right end of the bidirectional screw rod (3) is fixedly provided with a servo motor (4). The outer side of the bidirectional screw rod (3) is threadedly connected with a movable block (5), and the lower end of the movable block (5) is integrally provided with a movable clamping plate (6). The bottom of the top plate (1) is welded with a fixed clamping plate (7). The air pump (9) is arranged at the upper end of the top plate (1), and the gas delivery end of the air pump (9) is fixedly provided with a gas delivery pipeline (10). The front end face of the fixed clamping plate (7) is provided with an air inlet (11), and the inside of the fixed clamping plate (7) is provided with a cavity (12). The left and right sides of the fixed clamping plate (7) are provided with a plurality of air holes (13).

2. A gripper structure for a handling robot according to claim 1, characterized in that The right end of the bidirectional screw rod (3) is fixedly connected with the output end of the servo motor (4) through a bearing penetrating through the right side of the top plate (1), and the movable block (5) is slidably connected below the top plate (1) through the sliding groove (2).

3. The gripper structure of claim 1, wherein: The movable clamping plate (6) is provided with two, and the fixed clamping plate (7) is arranged between the two movable clamping plates (6).

4. The gripper structure of claim 1, wherein: The side of the movable clamping plate (6) close to the fixed clamping plate (7) is bonded with a rubber non-slip pad (8), and the fixed clamping plate (7) and the movable clamping plate (6) are parallel to each other.

5. The gripper structure of claim 1 wherein: The end of the gas delivery pipeline (10) away from the air pump (9) is inserted into the inside of the fixed clamping plate (7) through the air inlet (11), and the cavity (12) in the fixed clamping plate (7) is in communication with the air holes (13).

6. The gripper structure of a transfer robot according to claim 1, wherein: The inside of the cavity (12) is provided with a reinforcing rib one (14) and a reinforcing rib two (15), and the reinforcing rib one (14) and the reinforcing rib two (15) are perpendicular to each other, and the two ends of the reinforcing rib one (14) and the reinforcing rib two (15) are welded with the inner wall of the fixed clamping plate (7).

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