Clamp of transfer robot

Abstract

The utility model discloses a transfer robot clamp which comprises a bottom plate, a containing groove is formed in the top of the bottom plate, an auxiliary clamping assembly is arranged in the containing groove, a main clamping assembly is arranged at the top of the bottom plate, and the main clamping assembly comprises two fixing vertical plates arranged on the left side and the right side of the top of the bottom plate. A through hole is formed in the outer surface of the fixed vertical plate, a threaded cylinder is rotationally arranged in the through hole, a threaded rod is inserted in the threaded cylinder, the ends, close to each other, of the two threaded rods are fixedly connected with clamping plates correspondingly, the auxiliary clamping assembly comprises a sliding groove formed in the inner bottom wall of the storage groove, a two-way screw is arranged in the sliding groove, and the two-way screw is fixedly connected with the sliding groove. A sliding block is arranged outside the two-way screw rod in a threaded and sleeving mode, a rotating base is arranged at the top of the sliding block, and a clamping rod is rotationally arranged in the rotating base; according to the device, clamping and limiting can be conducted in four directions of the surface of an object, the clamping stability is high, and the situation that when the object with the high gravity center collides or brakes suddenly, the object shakes or even topples over is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of carrying robot, especially relates to a carrying robot's clamp. BACKGROUND

[0002] The carrying robot is an automatic product for replacing manual carrying by applying robot movement track, and the most common AGV trolley is also called carrying robot, the AGV trolley moves by sensing the track route on the ground by sensor, and the AGV trolley top can place the article that needs to be carried, and the carrying robot moves strictly according to the track route on the ground, and the advantage lies in stable running speed and steady operation.

[0003] The utility model discloses a kind of special clamps of carrying robot, the device is pulled by pulling handle to pull support rod, spring contracts, inserts limiting rod into the through hole corresponding to support rod, can limit support rod, article is placed into carrying robot top, by taking out limiting rod, spring rebound makes fixed clamping block adhere to article outer side surface, fixed clamping block is provided with rack, which can increase the friction of clamping, such structure is convenient for clamping and disassembling of article;The inventor finds that the above device has certain deficiencies when in use: 1), only the article is clamped from its front and rear two directions, and the clamping stability is not high enough, if the center of gravity of article is higher, and the device collides or sudden stop occurs, article is easy to shake, even dump, 2), the device is manually operated more, more cumbersome, not enough convenient, and the rebound of spring in the device will drive fixed clamping block to hit article surface, and the operation of taking out two limiting rods is not necessarily synchronous (if it is synchronous, then the operation process is required higher, and the use convenience is lower), two fixed clamping blocks hit article surface respectively, which is not conducive to the safety and clamping stability of article;For this reason, we design a kind of carrying robot's clamp. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of carrying robot's clamp to solve the problems raised in the above background art.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] The utility model provides a kind of gripper of carrying robot, including bottom plate, the top center position of bottom plate is opened with receiving slot along length direction, the inside of the receiving slot is equipped with auxiliary clamping component, the top of bottom plate is equipped with main clamping component, the main clamping component includes two fixed vertical boards fixedly arranged in the top left and right sides of bottom plate, the center of the outer surface of fixed vertical board is penetrated and is equipped with through-hole, threaded cylinder is rotatably arranged in through-hole, the left and right ends of threaded cylinder are equipped with limit ring respectively, threaded rod is penetrated and is inserted in threaded cylinder, and threaded rod is matched with threaded cylinder, and the end of two threaded rods mutually close is fixedly connected with clamping plate respectively.

[0007] The auxiliary clamping component includes a chute opened in the bottom wall of the receiving slot, a bidirectional screw rod rotatably arranged in the chute, two sliding blocks threadedly sleeved on the outside of the bidirectional screw rod, a rotating base fixedly arranged on the top of the sliding blocks, the rotating base being a rectangular housing structure with open top and side surfaces, a connecting rod arranged between the inner walls of the left and right sides of the rotating base, a connecting protrusion rotatably sleeved on the outside of the connecting rod, and a clamping rod arranged on one side surface of the connecting protrusion.

[0008] As a preferred embodiment of the utility model: a first gear is sleeved on the outside of the limit ring away from the clamping plate, a second gear meshed with the first gear is arranged below the first gear, the first gear and the second gear are rotatably arranged on the outside surface of the fixed vertical board, motor mounting plates are respectively arranged on the left and right side surfaces of the bottom plate, the motor mounting plates are L-shaped structures, a second motor is arranged on the outside surface of the motor mounting plate, the output shaft of the second motor penetrates the motor mounting plate and is connected with the second gear.

[0009] As a further preferred embodiment of the utility model: a first motor is arranged on the front side surface of the bottom plate, the output shaft of the first motor penetrates into the chute and is connected with one end of the bidirectional screw rod.

[0010] As a further preferred embodiment of the utility model: a magnetic strip is embedded on the top of the end of the clamping rod close to the connecting protrusion, and an iron sheet matched with the magnetic strip is embedded on the inside wall of the rotating base.

[0011] As a further preferred embodiment of the utility model: the two limit rings are rotatably arranged on the left and right side surfaces of the fixed vertical board.

[0012] As a further preferred embodiment of the utility model: two guide columns are also penetrated and inserted into the fixed vertical board, a limiting block is arranged on the end of the guide column away from the clamping plate, and the other end of the guide column is fixedly connected with the surface of the clamping plate.

[0013] As a further preferred embodiment of the utility model: the sliding blocks are slidably arranged in the inside of the chute, and the rotating base is slidably arranged in the inside of the receiving slot.

[0014] As a further preferred scheme of the utility model: the connecting rod is located below the center line of the left and right two inner walls of the rotating base.

[0015] As a further preferred scheme of the utility model: when the clamping rods rotate to the vertical state, the lower parts of the sides of the two clamping rods that are far away from each other respectively abut against the inner side walls of the corresponding rotating bases.

[0016] The utility model has the advantages of:

[0017] 1, the two clamping plates arranged in the device can clamp the object from the left and right sides, and the two clamping rods can clamp the object from the front and back sides after being unfolded, so the object can be clamped and limited from four directions on the surface, the clamping stability is high, and the situation that the object shakes or even falls when the object with high gravity center collides or suddenly brakes is avoided.

[0018] 2, when the device is used, the two clamping rods are unfolded to the vertical state, then the object is placed at the top center of the base plate, then the second motor is started, the second motor drives the second gear to rotate, then the first gear is driven to rotate, then the clamping plate is driven to rotate through the limiting ring under the action of the threaded connection, the clamping plate can be driven to move through the threaded rod under the action of the threaded connection, that is, the two clamping plates are controlled to approach each other and clamp the object from the left and right sides, the first motor is started, the first motor drives the bidirectional screw rod to rotate, then the two sliders approach each other, then the two clamping rods approach each other through the rotating base, and the object is clamped from the front and back sides, the clamping is stable, the effect is good, the overall operation process is high in automation degree, manual operation is less, operation is simple and convenient, and work efficiency is improved. In addition, the clamping rod arranged in the device can also be rotated into the interior of the storage groove when not in use, has the function of folding and storage, reduces the space occupation structure, and is convenient to store and move. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification, are used together with the embodiments of the utility model to explain the utility model, and do not constitute the limitation on the utility model. In the drawings:

[0020] Figure 1 It is the perspective view of the overall structure of the utility model;

[0021] Figure 2 It is the structural schematic diagram of the overall structure of the utility model in another state;

[0022] Figure 3 It is Figure 1 It is the enlarged view of A in the middle;

[0023] Figure 4 It is Figure 2 It is the enlarged view of B in the middle;

[0024] Figure 5 The partial structure of the utility model is shown in the exploded view.

[0025] 1, bottom plate; 2, clamping plate; 3, fixed vertical plate; 4, guide column; 5, clamping rod; 6, limit block; 7, threaded rod; 8, connecting lug; 9, storage groove; 10, sliding groove; 11, first motor; 12, bidirectional screw; 13, sliding block; 14, rotating base; 15, limit ring; 16, first gear; 17, second gear; 18, motor mounting plate; 19, second motor; 20, iron sheet; 21, connecting rod; 22, magnetic stripe. DETAILED DESCRIPTION

[0026] The utility model will be further explained in detail in combination with drawings. These drawings are all simplified schematic diagrams, and only schematically show the basic structure of the utility model, so they only show the structure related to the utility model.

[0027] Please refer to Figures 1-5 In the embodiment of the utility model, a clamp of a carrying robot comprises a bottom plate 1, a storage groove 9 is formed in the top center position of the bottom plate 1 along the length direction, an auxiliary clamping assembly is arranged in the inside of the storage groove 9, a main clamping assembly is arranged on the top of the bottom plate 1, the main clamping assembly comprises two fixed vertical plates 3 fixedly arranged on the top of the bottom plate 1 left and right, a through hole is formed in the center of the outer surface of the fixed vertical plate 3, a threaded cylinder is rotatably arranged in the through hole, limit rings 15 are arranged on the left and right ends of the threaded cylinder respectively, the two limit rings 15 are rotatably arranged on the outer surfaces of the left and right sides of the fixed vertical plate 3 respectively, threaded rods 7 matched with the threaded cylinder are inserted and arranged in the threaded cylinder, clamping plates 2 are fixedly connected to the ends of the two threaded rods 7 close to each other respectively, two guide columns 4 are also inserted and arranged in the fixed vertical plate 3, limit blocks 6 are arranged on the ends of the guide columns 4 away from the clamping plates 2, and the other ends of the guide columns 4 are fixedly connected to the surfaces of the clamping plates 2.

[0028] The auxiliary clamping assembly comprises a sliding groove 10 formed in the bottom wall of the receiving groove 9, a bidirectional screw 12 rotatably arranged in the sliding groove 10, two sliding blocks 13 threadedly sleeved with the outer part of the bidirectional screw 12, the sliding blocks 13 being slidingly arranged in the inner part of the sliding groove 10, a rotating base 14 fixedly arranged on the top of the sliding blocks 13, the rotating base 14 being slidingly arranged in the inner part of the receiving groove 9, the rotating base 14 being a rectangular shell structure with the top surface and the side surface being open, a connecting rod 21 arranged between the left and right inner walls of the rotating base 14, a connecting protrusion 8 rotatably sleeved with the outer part of the connecting rod 21, a clamping rod 5 arranged on one side surface of the connecting protrusion 8, and the connecting rod 21 being arranged directly below the center line between the left and right inner walls of the rotating base 14, so that part of the outer side surface of the clamping rod 5 can abut against the inner side wall of the rotating base 14, that is, when the clamping rod 5 is rotated to the vertical state, the lower parts of the mutually faraway side surfaces of the two clamping rods 5 abut against the inner side walls of the corresponding rotating bases 14 respectively, so as to limit the rotation angle of the clamping rod 5 and enable the clamping rod 5 in the vertical state to stably clamp the object.

[0029] A magnetic strip 22 is embedded in the top of one end of the clamping rod 5 close to the connecting protrusion 8, and an iron sheet 20 matched with the magnetic strip 22 is embedded in the upper part of the inner side wall of the rotating base 14; when the clamping rod 5 is rotated to the vertical state, the magnetic strip 22 abuts against the iron sheet 20, and the stability of the clamping rod 5 in the vertical state is improved through the adsorption of the magnetic strip 22 and the iron sheet 20, that is, the stability of the clamping rod 5 when moving with the sliding block 13 is improved.

[0030] A first gear 16 is sleeved with the outer part of the limiting ring 15 away from the clamping plate 2, a second gear 17 is arranged below the first gear 16 and engaged with the first gear 16, the first gear 16 and the second gear 17 are both rotatably arranged on the outer side surface of the fixed vertical plate 3, motor mounting plates 18 are arranged on the left and right side surfaces of the bottom plate 1, the motor mounting plates 18 are L-shaped structures, second motors 19 are arranged on the outer side surfaces of the motor mounting plates 18, the output shafts of the second motors 19 penetrate through the motor mounting plates 18 and are connected with the second gear 17.

[0031] A first motor 11 is arranged on the front side surface of the bottom plate 1, the output shaft of the first motor 11 penetrates into the sliding groove 10 and is connected with one end of the bidirectional screw 12.

[0032] The two clamping plates 2 arranged in the device can clamp the object from the left and right sides of the object, and the two clamping rods 5 can clamp the object from the front and back sides of the object after being unfolded, so that the object can be clamped and limited from four directions on the surface of the object, the clamping stability is high, and the object with high gravity center can be prevented from shaking or even falling when colliding or suddenly braking.

[0033] Specifically, the device is used, two clamping rods 5 are unfolded to be vertical, then the object is placed at the top center of the bottom plate 1, then the second motor 19 is started, the second motor 19 drives the second gear 17 to rotate, in turn drives the first gear 16 to rotate, in turn drives the threaded cylinder to rotate through the limiting ring 15, under the action of the threaded connection, the clamping plate 2 can be driven to move through the threaded rod 7, that is, the two clamping plates 2 are controlled to approach each other, the object is clamped from the left and right sides of the object, the first motor 11 is started, the first motor 11 drives the bidirectional screw rod 12 to rotate, in turn drives the two sliding blocks 13 to approach each other, in turn drives the two clamping rods 5 to approach each other through the rotation of the base 14, the object is clamped from the front and rear sides of the object, the clamping is stable, the effect is good, the overall operation process is high in automation degree, manual operation is less, operation is simple and convenient, and the work efficiency is improved. In addition, the clamping rod 5 of the device can also be turned back to the inside of the storage groove 9 when not in use, as shown, has the function of folding storage, reduces the space occupation structure, and is convenient to store and move. Figure 1 As shown, has the function of folding storage, reduces the space occupation structure, and is convenient to store and move.

[0034] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A gripper of a transport robot, comprising a base plate (1); characterized in that: The top center position of the bottom plate (1) is provided with a receiving groove (9) in the length direction, the inside of the receiving groove (9) is provided with an auxiliary clamping assembly, the top of the bottom plate (1) is provided with a main clamping assembly, the main clamping assembly comprises two fixed vertical plates (3) fixedly arranged on the left and right sides of the top of the bottom plate (1), a through hole is formed in the center of the outer surface of the fixed vertical plate (3), a threaded cylinder is rotatably arranged in the through hole, limit rings (15) are arranged at the left and right ends of the threaded cylinder, threaded rods (7) matched with the threaded cylinder are inserted into the threaded cylinder, and the ends of the two threaded rods (7) close to each other are fixedly connected with clamping plates (2) respectively. The auxiliary clamping assembly comprises a sliding groove (10) formed in the bottom wall of the receiving groove (9), a bidirectional screw rod (12) is rotatably arranged in the sliding groove (10), the outer thread of the bidirectional screw rod (12) is sleeved with two sliding blocks (13), the top of the sliding block (13) is fixedly provided with a rotating base (14), the rotating base (14) is a rectangular shell structure with the top surface and the side surface being open, a connecting rod (21) is arranged between the left and right side inner walls of the rotating base (14), the outer side of the connecting rod (21) is rotatably sleeved with a connecting protrusion (8), and the side surface of the connecting protrusion (8) is provided with a clamping rod (5).

2. The gripper of claim 1, wherein: The outer side of the limit ring (15) away from the clamping plate (2) is sleeved with a first gear (16), the lower side of the first gear (16) is provided with a second gear (17) matched with the first gear (16), the first gear (16) and the second gear (17) are rotatably arranged on the outer side surface of the fixed vertical plate (3), and the left and right side surfaces of the bottom plate (1) are respectively provided with motor mounting plates (18), the motor mounting plates (18) are L-shaped structures, the outer side surface of the motor mounting plate (18) is provided with a second motor (19), and the output shaft of the second motor (19) penetrates through the motor mounting plate (18) and is connected with the second gear (17).

3. A gripper for a transport robot according to claim 2, characterized in that: The front surface of the bottom plate (1) is provided with a first motor (11), the output shaft of the first motor (11) penetrates into the sliding groove (10) and is connected with one end of the bidirectional screw rod (12).

4. A gripper for a transport robot according to claim 3, characterized in that: The top of the end of the clamping rod (5) close to the connecting protrusion (8) is embedded with a magnetic stripe (22), and the inner side wall of the rotating base (14) is embedded with an iron sheet (20) matched with the magnetic stripe (22).

5. The gripper of claim 1, wherein: The two limit rings (15) are rotatably arranged on the left and right outer surfaces of the fixed vertical plate (3).

6. A gripper for a transport robot according to claim 5, characterized in that: Two guide columns (4) are further inserted into the fixed vertical plate (3), the end of the guide column (4) away from the clamping plate (2) is provided with a limiting block (6), and the other end of the guide column (4) is fixedly connected with the surface of the clamping plate (2).

7. A gripper for a handling robot according to claim 6, characterized in that: The sliding block (13) is slidably arranged in the inside of the sliding groove (10), and the rotating base (14) is slidably arranged in the inside of the receiving groove (9).

8. A gripper for a transport robot according to claim 7, characterized in that: The connecting rod (21) is located directly below the center line between the left and right side inner walls of the rotating base (14). The connecting rod (21) is located directly below the center line between the left and right side inner walls of the rotating base (14).

9. The gripper of claim 1, wherein: When the clamping rods (5) are rotated to the vertical state, the lower parts of the mutually distanced sides of the two clamping rods (5) respectively abut against the inner side walls of the corresponding rotating bases (14).

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