Robot clamping jaw based on intelligent carrying system

Abstract

The robot clamping jaw based on the intelligent carrying system comprises a clamping jaw driving mechanism, the front wall of the clamping jaw driving mechanism is in bolted connection with a connecting frame, the end face position of the connecting frame is in bolted connection with a scanning assembly, and the position, close to the bottom, of the front wall of the connecting frame is in bolted connection with a bearing assembly. The rear wall of the connecting frame is in bolted connection with a mounting frame and wraps the clamping jaw driving mechanism. The scanning assembly is arranged on the clamping jaw, the scanning assembly is matched with the positioning sensor to position and clamp a material box, deviation generated when the material box is clamped is prevented, and therefore the clamping stability is improved, the bearing assembly is arranged at the bottom of the clamping jaw, and when the clamping jaw is used for clamping the material box, the material box is clamped through the bearing assembly. And bottom bearing can be conducted through the bearing assembly, so that stability can be kept in the transferring process.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent carrying application technical field, especially based on intelligent carrying system's robot clamp jaw. BACKGROUND

[0002] The intelligent carrying clamp jaw is a mechanical device capable of automatically completing object grabbing, carrying and placing operations through program control or sensor feedback, and can be regarded as the end effector of a robot, and is usually installed on the motion mechanism of an industrial robot arm or other automated equipment.

[0003] The existing intelligent carrying system utilizes the clamp jaw on the driving arm to clamp and fix the externally fixed material box during operation, and no protective reinforcing structure is provided in the clamping process, so that the material box may fall during transfer, and the clamp jaw needs to face different material boxes during long-term use, so that the external positioning structure needs to be adjusted, thereby delaying the whole carrying efficiency, and therefore, the utility model provides a robot clamp jaw based on an intelligent carrying system. UTILITY MODEL CONTENT

[0004] The utility model provides a robot clamp jaw based on intelligent carrying system, through setting up scanning assembly on the clamp jaw, make it cooperate with positioning sensor can position clamping to material box, prevent the deviation when clamping to material box, thereby improve the stability of clamping, and the bottom of clamp jaw is provided with receiving assembly, so that the clamp jaw can be received at the bottom through the receiving assembly when clamping to material box, so that it can keep stable during transfer.

[0005] To solve the above technical problems, the utility model adopts a technical scheme: provide a robot clamp jaw based on intelligent carrying system, including clamp jaw drive mechanism, the front wall bolted connection of clamp jaw drive mechanism has the connecting frame, the end surface position bolted connection of connecting frame has scanning assembly, the front wall bolted connection of connecting frame near the bottom position has receiving assembly, the rear wall bolted connection of connecting frame has mounting frame, and is wrapped in clamp jaw drive mechanism.

[0006] The utility model further sets up: the clamp jaw drive mechanism includes fixed frame, the top of fixed frame is close to the middle part position and is connected with a plurality of positioning sensors, the top of fixed frame is close to the end surface position and is bolted with drive motor, the drive shaft end surface of drive motor is fixedly connected with driving pulley, the outer wall sleeve of driving pulley is connected with transmission belt, the inner bottom of transmission belt is connected with driven pulley, the inner wall of driven pulley is connected with bidirectional screw rod, and the bidirectional screw rod end surface is rotatably connected to the inner wall of fixed frame, the outer wall of bidirectional screw rod is close to the middle part position and is symmetrically connected with screw block, and the side of two screw blocks is bolted with clamp jaw.

[0007] Through the technical scheme, the driving motor is started, the output shaft drives the rotation of the driving pulley on the end face, the bidirectional screw rod on the driven pulley is driven to rotate in the fixed frame under the transmission of the transmission belt, the threaded block connected by the bolt is relatively slid on the slide rail, the clamping jaw is driven to move relatively, and the material box can be clamped and fixed under the action of the positioning sensor.

[0008] The utility model further sets up: the end face bolt connection of fixed frame has the protective cover, and the wrapping is in the driving pulley, transmission belt and driven pulley.

[0009] Through the technical scheme, the driving motor is started, the output shaft drives the rotation of the driving pulley on the end face, the bidirectional screw rod on the driven pulley is driven to rotate in the fixed frame under the transmission of the transmission belt, the threaded block connected by the bolt is relatively slid on the slide rail, the clamping jaw is driven to move relatively, and the material box can be clamped and fixed under the action of the positioning sensor.

[0010] The utility model further sets up: two threaded blocks are away from the one side of clamping jaw all through bolt connection's slide seat sliding connection in the slide rail outer wall of fixed frame inside setting.

[0011] Through the technical scheme, the driving motor is started, the output shaft drives the rotation of the driving pulley on the end face, the bidirectional screw rod on the driven pulley is driven to rotate in the fixed frame under the transmission of the transmission belt, the threaded block connected by the bolt is relatively slid on the slide rail, the clamping jaw is driven to move relatively, and the material box can be clamped and fixed under the action of the positioning sensor.

[0012] The utility model further sets up: scanning subassembly includes the corner code of bolt connection in the end face of connecting frame, the side wall bolt connection of corner code has the connecting plate, the side wall bolt connection of connecting plate is close to the position of end face and has the camera, the side wall bolt connection of connecting plate is away from the position of camera and has the baffle.

[0013] Through the technical scheme, the driving motor is started, the output shaft drives the rotation of the driving pulley on the end face, the bidirectional screw rod on the driven pulley is driven to rotate in the fixed frame under the transmission of the transmission belt, the threaded block connected by the bolt is relatively slid on the slide rail, the clamping jaw is driven to move relatively, and the material box can be clamped and fixed under the action of the positioning sensor.

[0014] The utility model further sets up: the receiving component includes the receiving plate of installation in the bottom position of connecting frame, the front wall of connecting frame is close to the fixed block A of bottom corner place symmetry bolt connection, the top of two fixed block A all bolt connection has the protection column A, the front wall of connecting frame is close to the fixed block B of middle position bolt connection, the top of fixed block B is close to the side wall position symmetry bolt connection and has the protection column B.

[0015] Through the technical scheme, the driving motor is started, the output shaft drives the rotation of the driving pulley on the end face, the bidirectional screw rod on the driven pulley is driven to rotate in the fixed frame under the transmission of the transmission belt, the threaded block connected by the bolt is relatively slid on the slide rail, the clamping jaw is driven to move relatively, and the material box can be clamped and fixed under the action of the positioning sensor.

[0016] The utility model further sets up: the top of the bearing plate detachable installation has the protection rubber layer.

[0017] Through the above technical scheme, it is used to protect the contact surface of the material box and the bearing plate, and prevent damage in the process of friction.

[0018] The utility model further sets up: the mounting frame includes the side frame of bolt connection in the both sides of connecting frame, the both sides of two side frame away from the connecting frame are bolted and are connected with the mounting plate, the rear wall of mounting plate is bolted and is connected with the connecting seat.

[0019] Through the above technical scheme, the side frame can be used to install and fix the mounting plate, and the clamping jaw driving mechanism can be protected inside to protect it, and the connecting seat can be used to connect the whole mechanism to the external driving arm.

[0020] The utility model has the advantages that:

[0021] 1. The robot clamping jaw based on intelligent carrying system is provided with a scanning assembly on the clamping jaw, so that it can position and clamp the material box in cooperation with the positioning sensor, prevent deviation when clamping the material box, and improve the stability of clamping.

[0022] 2. The robot clamping jaw based on intelligent carrying system is provided with a bearing assembly at the bottom of the clamping jaw, so that the clamping jaw can bear the bottom through the bearing assembly when clamping the material box, and can keep stable during transfer. DRAWINGS

[0023] Figure 1 It is the structure diagram of the robot clamping jaw based on intelligent carrying system of the utility model;

[0024] Figure 2 It is the structure diagram of the scanning assembly in the robot clamping jaw based on intelligent carrying system of the utility model;

[0025] Figure 3 It is the structure diagram of the bearing assembly in the robot clamping jaw based on intelligent carrying system of the utility model;

[0026] Figure 4 It is the structure diagram of the clamping jaw driving mechanism in the robot clamping jaw based on intelligent carrying system of the utility model;

[0027] Figure 5 It is the first explosion diagram of the clamping jaw driving mechanism in the robot clamping jaw based on intelligent carrying system of the utility model;

[0028] Figure 6 It is the second explosion diagram of the clamping jaw driving mechanism in the robot clamping jaw based on intelligent carrying system of the utility model.

[0029] In the figure: 1, jaw driving mechanism; 101, fixed frame; 1011, protective cover; 1012, slide rail; 102, positioning sensor; 103, driving motor; 104, driving pulley; 105, transmission belt; 106, driven pulley; 107, bidirectional screw rod; 108, threaded block; 109, jaw; 2, connecting frame; 3, scanning assembly; 301, angle code; 302, connecting plate; 303, camera; 304, baffle; 4, receiving assembly; 401, receiving plate; 4011, protective rubber layer; 402, fixed block A; 403, protective column A; 404, fixed block B; 405, protective column B; 5, mounting frame; 501, side frame; 502, mounting plate; 503, connecting seat. DETAILED DESCRIPTION

[0030] The advantages and features of the present application will be more easily understood by those skilled in the art from the preferred embodiments of the present application in conjunction with the accompanying drawings, so as to define the protection scope of the present application more clearly and explicitly.

[0031] As Figures 1-6As shown, the robot gripper based on the intelligent conveying system comprises a gripper driving mechanism 1, the gripper driving mechanism 1 comprises a fixed frame 101, the end face of the fixed frame 101 is bolted with a protective cover 1011, and is wrapped around a driving pulley 104, a transmission belt 105 and a driven pulley 106, so as to facilitate the protection of the driving pulley 104, the transmission belt 105 and the driven pulley 106 inside the protective cover 1011, prevent external dust or water vapor from affecting mechanical movement, increase the service life, a plurality of positioning sensors 102 are symmetrically bolted on the top of the fixed frame 101 close to the middle position, a driving motor 103 is bolted on the top of the fixed frame 101 close to the end face position, the driving shaft end face of the driving motor 103 is fixedly connected with the driving pulley 104, the outer wall of the driving pulley 104 is sleeved with the transmission belt 105, the inner bottom of the transmission belt 105 is sleeved with the driven pulley 106, the inner wall of the driven pulley 106 is interference connected with a bidirectional screw rod 107, and the end face of the bidirectional screw rod 107 is rotationally connected with the inner wall of the fixed frame 101, the outer wall of the bidirectional screw rod 107 is symmetrically screw connected with a threaded block 108 close to the middle position, the outer wall of the sliding rail 1012 provided inside the fixed frame 101 is slidingly connected with the two threaded blocks 108 away from the gripper 109 through the bolted sliding seat, so as to facilitate stable sliding of the threaded block 108 on the sliding rail 1012 during movement, improve the clamping stability of the material box, and the two threaded blocks 108 are bolted with a gripper 109 on one side, the driving motor 103 is started, the output shaft drives the rotation of the driving pulley 104 on the end face, so as to drive the bidirectional screw rod 107 on the driven pulley 106 to rotate in the fixed frame 101 under the transmission of the transmission belt 105, so that the bolted threaded block 108 slides on the sliding rail 1012, and drives the relative movement of the gripper 109, and under the action of the positioning sensor 102, the material box can be clamped and fixed.

[0032] As Figure 2As shown, the front wall of the jaw driving mechanism 1 is bolted with a connecting frame 2, the end face of the connecting frame 2 is bolted with a scanning assembly 3, the scanning assembly 3 includes an angle code 301 bolted on the end face of the connecting frame 2, the side wall of the angle code 301 is bolted with a connecting plate 302, the side wall of the connecting plate 302 close to the end face is bolted with a camera 303, the side wall of the connecting plate 302 away from the camera 303 is bolted with a baffle 304, the camera 303 is used to scan the external material box, so as to cooperate with the positioning sensor 102, so that the jaw driving mechanism 1 can quickly and accurately clamp the scanned material box, the rear wall of the connecting frame 2 is bolted with a mounting frame 5, and is wrapped in the jaw driving mechanism 1, the mounting frame 5 includes side frames 501 bolted on both sides of the connecting frame 2, two side frames 501 away from the connecting plate 2 are bolted with mounting plates 502, the rear wall of the mounting plate 502 is bolted with a connecting seat 503, the side frame 501 can be used to install and fix the mounting plate 502, and the jaw driving mechanism 1 can be protected inside, and the connecting seat 503 can be used to connect the whole mechanism to the external driving arm.

[0033] As shown in the figure, Figure 3 The front wall of the connecting frame 2 close to the bottom position is bolted with a receiving assembly 4, the receiving assembly 4 includes a receiving plate 401 installed at the bottom of the connecting frame 2, the top of the receiving plate 401 is detachably mounted with a protective rubber layer 4011, which is used to protect the contact surface of the material box and the receiving plate 401, preventing damage during friction, the front wall of the connecting frame 2 close to the bottom corner is symmetrically bolted with a fixed block A 402, the top of the two fixed blocks A 402 is bolted with a protective column A 403, the front wall of the connecting frame 2 close to the middle position is bolted with a fixed block B 404, the top of the fixed block B 404 close to the side wall is symmetrically bolted with a protective column B 405, the protective column A 403 and the protective column B 405 can be used to protect the contact surface of the material box placed on the receiving plate 401 in advance, avoid damaging the surface during clamping or movement, and improve the stability during carrying.

[0034] The utility model discloses when using, utilize external drive arm to adjust the whole clamping jaw to the appropriate position to utilize camera 303 to the scanning of external material box to make it cooperate with positioning sensor 102, make clamping jaw drive mechanism 1 can carry out the quick corresponding of scanned material box to the resistance of material box, make it place on the receiving plate 401, then start drive motor 103, its output shaft drive end face's driving pulley 104 rotation to drive the rotation of driven pulley 106 on the transmission belt 105 under the transmission of two -way screw rod 107 in the inside fixed frame 101, thereby make bolted thread block 108 on the slide rail 1012 relative sliding, and drive clamping jaw 109 relative movement, and under the action of positioning sensor 102, can clamp and fix material box, finally utilize external drive arm to transfer material box to the corresponding position.

[0035] The above is only the embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent flow conversion using the utility model specification and attached drawing contents, or direct or indirect application in other related technical fields, are all included in the patent protection range of the utility model.

Claims

1. Robot gripper based on an intelligent handling system, comprising a gripper drive mechanism (1), characterised in that: The clamping jaw driving mechanism (1) comprises a fixed frame (101), a plurality of positioning sensors (102) are symmetrically bolted on the top of the fixed frame (101) near the middle position, a driving motor (103) is bolted on the top of the fixed frame (101) near the end face position, the driving shaft end face of the driving motor (103) is fixedly connected with a driving pulley (104), the outer wall of the driving pulley (104) is sleeved with a transmission belt (105), the inner bottom of the transmission belt (105) is sleeved with a driven pulley (106), the inner wall of the driven pulley (106) is interference-connected with a bidirectional screw rod (107), and the end face of the bidirectional screw rod (107) is rotatably connected with the inner wall of the fixed frame (101), the outer wall of the bidirectional screw rod (107) is symmetrically screwed with a threaded block (108) near the middle position, and the side of the two threaded blocks (108) is bolted with a clamping jaw (109). The front wall of the clamping jaw driving mechanism (1) is bolted with a connecting frame (2), the end face of the connecting frame (2) is bolted with a scanning assembly (3), the scanning assembly (3) comprises an angle code (301) bolted on the end face of the connecting frame (2), the side wall of the angle code (301) is bolted with a connecting plate (302), the side wall of the connecting plate (302) is bolted with a camera (303) near the end face position, and the side wall of the connecting plate (302) is bolted with a baffle (304) away from the camera (303). The front wall of the connecting frame (2) is bolted with a bearing assembly (4) near the bottom position, the rear wall of the connecting frame (2) is bolted with a mounting frame (5), and the connecting frame (2) is wrapped around the clamping jaw driving mechanism (1).

2. The smart handling system based robotic gripper as claimed in claim 1, wherein: The end face of the fixed frame (101) is bolted with a protective cover (1011), and the protective cover (1011) is wrapped around the driving pulley (104), the transmission belt (105) and the driven pulley (106).

3. The smart handling system based robotic gripper as claimed in claim 1, wherein: The side of the two threaded blocks (108) away from the clamping jaw (109) is slidably connected to the outer wall of the slide rail (1012) arranged inside the fixed frame (101) through the bolted sliding seat.

4. The smart handling system based robotic gripper as claimed in claim 1, wherein: The bearing assembly (4) comprises a bearing plate (401) mounted on the bottom position of the connecting frame (2), the front wall of the connecting frame (2) is symmetrically bolted with a fixed block A (402) near the bottom corner, the top of the two fixed blocks A (402) is bolted with a protective column A (403), the front wall of the connecting frame (2) is bolted with a fixed block B (404) near the middle position, and the top of the fixed block B (404) is symmetrically bolted with a protective column B (405) near the side wall position.

5. The smart handling system based robotic gripper as claimed in claim 4, wherein: The top of the bearing plate (401) is detachably mounted with a protective rubber layer (4011).

6. The smart handling system based robotic gripper as claimed in claim 1, wherein: The mounting frame (5) comprises side frames (501) bolted on both sides of the connecting frame (2), the side of the two side frames (501) away from the connecting frame (2) is bolted with a mounting plate (502), and the rear wall of the mounting plate (502) is bolted with a connecting seat (503).

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