Multifunctional clamping mechanism of automatic sorting and carrying manipulator

Abstract

The utility model relates to the technical field of carrying manipulators, in particular to a multifunctional clamping mechanism of an automatic sorting carrying manipulator, which is simple in structure, the shape of a clamping surface can be freely switched between a V shape and a vertical surface, and the practicability is improved. Comprising a clamp which is provided with two clamping jaws capable of being opened and closed. The clamp is characterized in that notches are formed in the inner sides of the two clamping jaws, and through holes communicated with the notches are formed in the outer sides of the two clamping jaws; a sliding block slides in the through hole, and a driving mechanism used for driving the sliding block to move is further arranged in the through hole. When the sliding blocks are flush with the inner sides of the clamping jaws, the sliding blocks shield the notches, and the inner sides of the sliding blocks are clamping faces. And when the sliding block is completely staggered with the notch, the notch is a clamping surface.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of handling manipulator, in particular to a kind of multifunctional clamping mechanism of automatic sorting handling manipulator. BACKGROUND

[0002] With the continuous improvement of industrial automation level, the application of automatic sorting system in logistics, manufacturing and other industries is increasingly widespread. As one of the key components in the automatic sorting system, the performance of manipulator directly affects the efficiency and stability of the whole system. Manipulator realizes the grabbing and handling of different shapes and sizes of objects through its end effector, i.e. clamp. However, most of the existing clamp designs have certain limitations, especially when dealing with special-shaped objects.

[0003] Traditional clamp design usually adopts one or more vertical clamping surfaces, which is very effective for flat or objects with large contact area (such as boxes). However, when facing shaft-shaped or other slender objects, due to the small contact area, the traditional clamp is easy to cause the object to slip or damage, thereby affecting the work efficiency and safety. In addition, for heavy or smooth-surfaced shaft-shaped objects, the problem of insufficient clamping force is more prominent, which not only limits the application range of manipulator, but also increases the operation risk. SUMMARY

[0004] To solve the above technical problems, the utility model provides a kind of multifunctional clamping mechanism of automatic sorting handling manipulator, its structure is simple, the shape of clamping surface can be switched freely between V type and vertical surface, improve practicality.

[0005] The utility model relates to a kind of multifunctional clamping mechanism of automatic sorting handling manipulator, including clamp, the two clamping jaws that can open and close of clamp are with;Its characterized in that, the inner side of two clamping jaws is all set with notch, the outer side of two clamping jaws is provided with the through hole that is communicated with notch;Sliding block is slid in through hole, and driving mechanism for driving sliding block to move is also provided in through hole;

[0006] When sliding block and the inner side of clamping jaw are level, sliding block will cover notch, and the inner side of sliding block is clamping surface;

[0007] When sliding block is completely staggered with notch, notch is clamping surface.

[0008] As a preferred scheme of the utility model, notch is V type.

[0009] As a preferred scheme of the utility model, the inner side of sliding block is provided with protrusion.

[0010] As a preferred scheme of the utility model, protrusion is strip-shaped and distributed side by side.

[0011] The outer side of the through hole is fixed with an end cover.

[0012] As a preferred scheme of the utility model, the driving mechanism comprises:

[0013] A driving rod is rotatably installed on the end cover through a rotating shaft, and a driving shaft is fixed to the other end of the driving rod.

[0014] A strip-shaped plate is fixed to the outer side of the sliding block, and the strip-shaped plate is provided with a strip-shaped hole.

[0015] The driving shaft passes through the strip-shaped hole.

[0016] A power mechanism is used for driving the rotating shaft to rotate.

[0017] As a preferred scheme of the utility model, the power mechanism comprises:

[0018] A linear mechanism is fixed to the end cover, and an output end of the linear mechanism is a rack.

[0019] A gear is fixed to the rotating shaft.

[0020] The rack is engaged with the gear.

[0021] As a preferred scheme of the utility model, the end cover is detachably connected with the clamping jaw.

[0022] As a preferred scheme of the utility model, a bearing is fixed to the end of the driving shaft, and an outer ring of the bearing is in contact with the inner wall of the strip-shaped hole.

[0023] As a preferred scheme of the utility model, a key is arranged between the rotating shaft and the gear.

[0024] Compared with the prior art, the utility model has the beneficial effects that when the sliding block is level with the inner side of the clamping jaw, the sliding block shields the notch on the clamping jaw, at this time, the inner side of the sliding block serves as the main clamping surface, and is suitable for grabbing a planar object or an object with a large contact area; when an axial or other elongated object needs to be grabbed, the driving mechanism is started to push the sliding block to move outward along the through hole until the sliding block is completely staggered with the notch, at this time, the notch on the clamping jaw is exposed to form a new clamping surface, which can better adapt to the shape of the axial object and improve the clamping stability. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic view of the utility model;

[0026] Figure 2 is a front view of Figure 1 ;

[0027] Figure 3 is a sectional view of the utility model;

[0028] Figure 4 is Figure 3 a partial enlarged view of A part in figure 1;

[0029] Figure 5 is a structural schematic view of the clamping jaw;

[0030] Marked in the drawing: 1, clamp; 2, clamping jaw; 3, notch; 4, through hole; 5, sliding block; 6, protrusion; 7, end cover; 8, driving rod; 9, rotating shaft; 10, driving shaft; 11, strip plate; 12, linear mechanism; 13, rack; 14, gear. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purpose, features and advantages of the utility model more apparent and easy to understand, the specific implementation of the utility model is described in detail below in conjunction with the drawings of the specification.

[0032] In the following description, many specific details are set forth in order to provide a thorough understanding of the utility model, but the utility model can also be implemented in other ways different from the description herein, and those skilled in the art can make similar generalization without departing from the connotation of the utility model, therefore the utility model is not limited by the specific embodiments disclosed below.

[0033] Secondly, the "embodiment" referred to here means that the specific features, structures or characteristics can be contained in at least one implementation of the utility model. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is separate or alternative to other embodiments.

[0034] EMBODIMENT

[0035] Referring to Figures 1-5 The embodiment provides a multifunctional clamping mechanism of an automatic sorting and carrying manipulator, which comprises a clamp 1, the clamp 1 can adopt a pneumatic clamping jaw 2 or a device composed of a lead screw structure, and any device capable of driving the clamping jaw 2 to move; the clamp 1 is provided with two clamping jaws 2 capable of being opened and closed; characterized in that the inner side of the two clamping jaws 2 is provided with a notch 3, and the outer side of the two clamping jaws 2 is provided with a through hole 4 in communication with the notch 3; a sliding block 5 is slidably arranged in the through hole 4, and a driving mechanism for driving the sliding block 5 to move is further arranged in the through hole 4;

[0036] When the sliding block 5 is flush with the inner side of the clamping jaw 2, the sliding block 5 blocks the notch 3, and the inner side of the sliding block 5 is a clamping surface;

[0037] When the sliding block 5 is completely staggered with the notch 3, the notch 3 is a clamping surface;

[0038] The specific operation process of the device is as follows: when the sliding block 5 is flush with the inner side of the clamping jaw 2, the sliding block 5 blocks the notch 3 on the clamping jaw 2, at this time, the inner side of the sliding block 5 serves as the main clamping surface, which is suitable for grabbing planar or objects with large contact area; when it is necessary to grab shaft-shaped or other elongated objects, the driving mechanism is started to push the sliding block 5 to move outward along the through hole 4 until the sliding block 5 is completely disengaged from the notch 3, at this time, the notch 3 on the clamping jaw 2 is exposed to form a new clamping surface, which can better adapt to the shape of the shaft-shaped object and improve the clamping stability.

[0039] As a preferred scheme of the utility model, referring to Figure 5 , the notch 3 is V-shaped, and the V-shaped notch 3 can adapt to shaft-shaped objects of different diameters, without frequent replacement of the clamping jaw 2 or adjustment of the clamping mode, thereby improving the versatility and flexibility of the clamping mechanism.

[0040] As a preferred scheme of the utility model, referring to Figure 1 , the inner side of the sliding block 5 is provided with a protrusion 6, and the design of the protrusion 6 can increase the friction between the inner side of the sliding block 5 and the grabbed object, thereby improving the clamping force and preventing the object from slipping during the carrying process.

[0041] As a preferred scheme of the utility model, the protrusions 6 are strip-shaped and arranged side by side, and the protrusions 6 are arranged in the horizontal direction, and the strip-shaped protrusions 6 in the horizontal direction can significantly increase the friction between the inner side of the sliding block 5 and the grabbed object, especially in the vertical direction, thereby preventing the object from slipping during the carrying process.

[0042] As a preferred scheme of the utility model, referring to Figure 1 and Figure 4 , the outer side of the through hole 4 is fixed with an end cover 7, and the end cover 7 can effectively block dust, impurities and foreign matters in the outside from entering the inside of the through hole 4, thereby protecting the sliding block 5 and the driving mechanism from pollution and prolonging the service life thereof.

[0043] As a preferred scheme of the utility model, referring to Figure 4 , the driving mechanism comprises:

[0044] a driving rod 8, one end of which is rotatably installed on the end cover 7 through a rotating shaft 9, and the other end of which is fixed with a driving shaft 10;

[0045] a strip-shaped plate 11, which is fixed to the outer side of the sliding block 5 and is provided with a strip-shaped hole;

[0046] the driving shaft 10 passes through the strip-shaped hole;

[0047] a power mechanism, which is used to drive the rotating shaft 9 to rotate;

[0048] The specific working process of the driving mechanism is as follows: the power mechanism is started, the driving shaft 9 is rotated, the rotation of the driving shaft 9 drives the driving rod 8 to rotate around the axis of the driving shaft 9, the rotation of the driving rod 8 drives the driven shaft 10 to move along the strip-shaped hole, the movement of the driven shaft 10 is restricted by the strip-shaped plate 11, the rotational motion is converted into the linear motion of the sliding block 5, and the sliding block 5 is gradually disengaged from the notch 3 in the through hole 4

[0049] As a preferred scheme of the utility model, referring to Figure 4 , the power mechanism comprises:

[0050] The linear mechanism 12 is fixed to the end cover 7, and the output end of the linear mechanism 12 is a rack 13; and the linear mechanism 12 adopts a cylinder, an oil cylinder or an electric telescopic rod and the like;

[0051] The gear 14 is fixed to the rotating shaft 9;

[0052] The rack 13 is engaged with the gear 14;

[0053] The power mechanism operates as follows: the linear mechanism 12 is started, the rack 13 is pushed to perform linear motion, the linear motion of the rack 13 drives the gear 14 to rotate through the engagement with the gear 14, the rotation of the gear 14 drives the rotating shaft 9 to rotate, thereby driving the sliding block 5 to move.

[0054] As a preferred scheme of the utility model, the end cover 7 and the clamping jaw 2 are detachably connected, and the fixing modes of the two can be bolt connection or buckle connection and the like; when the end cover 7 is detached, the driving mechanism and the sliding block 5 and the like can be removed together, thereby facilitating the maintenance of the above components.

[0055] As a preferred scheme of the utility model, the driven shaft 10 is fixed with a bearing at the end portion, and the outer ring of the bearing is in contact with the inner wall of the strip-shaped hole; the use of the bearing can significantly reduce the frictional resistance between the driven shaft 10 and the inner wall of the strip-shaped hole, so that the movement of the sliding block 5 is smoother, and energy loss is reduced.

[0056] As a preferred scheme of the utility model, a key is arranged between the rotating shaft 9 and the gear 14; the arrangement of the key can ensure that the rotating shaft 9 and the gear 14 do not slide relative to each other, guarantee synchronous rotation of the two, and improve the reliability of transmission.

[0057] It should be understood that, during the development of any actual implementation, numerous implementation decisions can be made, such as in any engineering or design project. Such development efforts, while possibly complex and time-consuming, would be of a routine nature of design, manufacture, and production for those of ordinary skill having the benefit of this disclosure.

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A multifunctional clamping mechanism of an automatic sorting and carrying robot, comprising a clamp (1) with two openable and closable clamping jaws (2); characterized in that, The inner side of each of the two clamping jaws (2) is provided with a notch (3), and the outer side of each of the two clamping jaws (2) is provided with a through hole (4) in communication with the notch (3); a sliding block (5) is slidably arranged in the through hole (4), and a driving mechanism for driving the sliding block (5) to move is further arranged in the through hole (4); When the sliding block (5) is flush with the inner side of the clamping jaw (2), the sliding block (5) covers the notch (3), and the inner side of the sliding block (5) is a clamping surface; When the sliding block (5) is completely offset from the notch (3), the notch (3) is a clamping surface.

2. The multi-functional gripping mechanism of the automatic sorting and carrying robot hand according to claim 1, characterized in that, The notch (3) is V-shaped.

3. The multi-functional gripping mechanism of the automatic sorting and carrying robot hand according to claim 1, characterized in that, The inner side of the sliding block (5) is provided with a protrusion (6).

4. The multi-functional gripping mechanism of the automatic sorting and carrying robot hand according to claim 3, characterized in that, The protrusion (6) is in the form of a strip and is arranged side by side.

5. The multi-functional gripping mechanism of the automatic sorting and carrying robot hand according to claim 1, characterized in that, The outer side of the through hole (4) is fixed with an end cover (7).

6. A multi-functional gripping mechanism for an automatic sorting and handling robot as claimed in claim 5, wherein, The driving mechanism comprises: A driving rod (8) is rotatably installed on the end cover (7) through a rotating shaft (9), and a driving shaft (10) is fixed to the other end of the driving rod (8); A strip-shaped plate (11) is fixed to the outer side of the sliding block (5), and the strip-shaped plate (11) is provided with a strip-shaped hole; The driving shaft (10) penetrates through the strip-shaped hole; A power mechanism is arranged for driving the rotating shaft (9) to rotate.

7. The multi-functional gripping mechanism of the automatic sorting and handling robot as claimed in claim 6, wherein The power mechanism comprises: A linear mechanism (12) is fixed to the end cover (7), and the output end of the linear mechanism (12) is a rack (13); A gear (14) is fixed to the rotating shaft (9); The rack (13) is engaged with the gear (14).

8. The multi-functional gripping mechanism of the automatic sorting and handling robot as claimed in claim 5, wherein The end cover (7) is detachably connected with the clamping jaw (2).

9. The multi-functional gripping mechanism of the automatic sorting and handling robot as claimed in claim 6, wherein A bearing is fixed to the end of the driving shaft (10), and the outer ring of the bearing is in contact with the inner wall of the strip-shaped hole.

10. The multi-functional gripping mechanism of the automatic sorting and handling robot as claimed in claim 7, wherein A key is arranged between the rotating shaft (9) and the gear (14).

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