Clamping mechanism for feeding and discharging of robot

Abstract

The utility model discloses a clamping mechanism for feeding and discharging of a robot, and belongs to the technical field of industrial robots. The clamping mechanism for feeding and discharging of the robot comprises a robot body, a connecting arm and a clamping assembly, the clamping assembly comprises a transverse plate, a mounting seat is mounted at the bottom end of the transverse plate, two square grooves are formed in the bottom end of the mounting seat, and two moving seats are slidably arranged in the mounting seat; the bottom ends of the two moving seats extend to the outside of the mounting seat through the square grooves correspondingly, the bottom ends of the two moving seats are each provided with a pair of connecting seats, a clamping plate is arranged between the bottom ends of the pair of connecting seats on the same side, circular grooves are formed in the opposite faces of the two clamping plates correspondingly, and rotating discs are rotationally connected into the two circular grooves correspondingly. A motor is installed on the outer side wall of one clamping plate, the output end of the motor is in transmission connection with one rotary table, the practicability of the clamping mechanism can be effectively improved, and the clamping mechanism has high practical value.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot technical field, concretely is a kind of for robot feeding and discharging clamping mechanism. BACKGROUND

[0002] Industrial robot is widely used in industrial field multi-joint manipulator or multi-degree-of-freedom machine device, with certain automaticity, can rely on self power source and control ability to realize various industrial processing manufacturing function.Industrial robot is widely used in electronics, logistics, chemical industry and various industrial fields. With the rapid development of industrial economy, more and more factories begin to introduce industrial robot to carry out clamping operation auxiliary feeding and discharging, to replace manual operation, speed up the feeding and discharging efficiency of goods, reduce error rate.

[0003] Based on the above, the present inventor finds that the following problems exist: the present feeding and discharging clamping mechanism for robot does not have the function of turning over workpiece, when the surface quality of workpiece needs to be detected, the clamping mechanism without turning over function cannot make detection equipment obtain information of the other side of workpiece, manual turning over detection may be needed, which reduces detection efficiency and automation degree.

[0004] Therefore, in view of the above, the present application is improved in view of the existing structure and defects, and provides a feeding and discharging clamping mechanism for robot, so as to achieve the purpose of having more practical value. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of for robot feeding and discharging clamping mechanism, to solve the problems presented in the above background art.

[0006] In view of the above problems, the technical scheme provided by the utility model is as follows:

[0007] A kind of for robot feeding and discharging clamping mechanism, including robot body, connecting arm and clamping assembly, the clamping assembly includes cross plate, the bottom end of the cross plate is equipped with mounting seat, two square grooves are set in the bottom end of the mounting seat, and two mobile seats are slidably arranged in the inside of the mounting seat, the bottom end of two mobile seats is extended to the outside of mounting seat by square groove respectively, a pair of connecting seats is installed at the bottom end of two mobile seats, the bottom end of a pair of connecting seats on the same side is equipped with clamping plate, the inside of opposite side of two clamping plates is equipped with circular groove, two circular grooves are rotatably connected with two rotating discs, and one of the clamping plates is equipped with motor on the outer side wall, and the output end of the motor is transmissionally connected with one of the rotating discs.

[0008] Further, electric telescopic rod is installed in the inside upper end of the connecting seat, the movable end of the electric telescopic rod extends to the outside through the connecting seat, and the movable end of the electric telescopic rod is fixedly connected with the upper end of the clamping plate.

[0009] The beneficial effect of the above further scheme is that by providing four electric telescopic rods, the number of which is consistent with the number of the mounting seats, and clamping the articles by the two clamping plates, and then starting the four electric telescopic rods to push the two clamping plates to move downward, so that the top surface of the clamped articles and the bottom end surface of the mounting seat have a large gap, facilitating subsequent article overturning.

[0010] Further, the two moving seats are both in the shape of "U", and the outer walls near the bottom ends of the two moving seats are respectively gap-fitted with the inner walls of the square grooves.

[0011] Further, a pair of light rods are arranged between the two moving seats, the two ends of the pair of light rods are both extended to the outside through the moving seats and gap-fitted with the through holes of the moving seats, and the two ends of the pair of light rods are respectively fixedly connected with the inner walls of the mounting seat.

[0012] The beneficial effect of the above further scheme is that by providing a pair of light rods, since the two ends of the light rods are fixed with the inner walls of the mounting seat and gap-fitted with the through holes of the moving seats, the moving seats can only move along the axial direction of the light rods.

[0013] Further, the front and back surfaces of the mounting seat are both provided with limiting grooves, a limiting strip is slidingly connected between the pair of limiting grooves, the outer walls of the two ends of the limiting strip are respectively gap-fitted with the inner walls of the two limiting grooves, a square block is mounted at the upper end of the limiting strip, a pair of connecting rods are hinged to the front and back surfaces of the square block, and the two connecting rods on the same side are respectively hinged to the front and back surfaces of one of the moving seats away from the square block.

[0014] The beneficial effect of the above further scheme is that since the outer walls of the two ends of the limiting strip are respectively gap-fitted with the inner walls of the two limiting grooves, when the limiting strip continuously moves upward in the limiting groove, the square block is continuously pushed to move upward, and under the action of the connecting rods, the two moving seats are respectively moved toward the center.

[0015] Further, two pairs of hydraulic rods are mounted at the upper end of the horizontal plate, the movable ends of the two pairs of hydraulic rods are both extended to the outside through the horizontal plate, and the movable ends of the two pairs of hydraulic rods are both provided with connecting strips, and the bottom ends of the two connecting strips are fixedly connected with the upper end of the limiting strip.

[0016] The beneficial effect of the above further scheme is that by mounting two pairs of hydraulic rods, when the two pairs of hydraulic rods are started, the movable ends of the two pairs of hydraulic rods drive the connecting strips to move upward, since the connecting strips are connected with the limiting strip, the limiting strip is stably moved upward in the limiting groove.

[0017] Further, the robot body comprises a control base, the upper end of the control base is provided with a moving mechanical arm, one end of the moving mechanical arm is fixedly connected with the upper end of a connecting arm, and the bottom end of the connecting arm is fixedly connected with the upper end of a horizontal plate.

[0018] The beneficial effect of the further scheme is that the bottom end of the connecting arm is fixedly connected with the upper end of the horizontal plate, so that the installation between the clamping assembly and the robot body is realized, thereby facilitating the subsequent robot body cooperating with the clamping assembly to feed or discharge the material.

[0019] Compared with the prior art, the beneficial effect of the utility model is: the mechanism is used for robot feeding and discharging clamping, through starting two pairs of hydraulic rods, the movable end drives the connecting strip to move upward, because the connecting strip is connected with the limiting strip, so that the limiting strip stably moves upward in the limiting groove, and the square block is continuously moved upward, and under the action of the connecting rod, the two moving seats move along the axial direction of the light rod, so that the two moving seats are close to the center, because the bottom end of the two moving seats is provided with the connecting seat, the movable end of the electric telescopic rod in the connecting seat is fixedly connected with the clamping plate, so that the two clamping plates clamp the article, then four electric telescopic rods are started, the two clamping plates are moved downward, so that the top surface of the clamped article and the bottom end surface of the mounting seat have a large spacing, so as to facilitate the subsequent article turning over, when a pair of clamping plates clamp the article, the opposite surface of the two rotating discs is in contact with the surface of the article, because the rotating disc is rotatably connected in the circular groove of the clamping plate, when the motor is started to drive one of the rotating discs to rotate, the turning over of the article is realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A three-dimensional structure schematic view of the mechanism is provided for the utility model;

[0021] Figure 2 A three-dimensional structure schematic view of the clamping assembly of the mechanism is provided for the utility model;

[0022] Figure 3 A bottom view three-dimensional structure schematic view of the clamping assembly of the mechanism is provided for the utility model;

[0023] Figure 4 A sectional view of the mounting seat of the mechanism is provided for the utility model;

[0024] Figure 5 A side sectional structure schematic view of the clamping plate of the mechanism is provided for the utility model.

[0025] In the figure: 100, robot body; 1001, operation base; 1002, moving mechanical arm; 200, connecting arm; 300, clamping assembly; 3001, horizontal plate; 3002, mounting seat; 3003, square groove; 3004, light pole; 3005, moving seat; 3006, connecting seat; 3007, clamping plate; 3008, round groove; 3009, rotating disc; 3010, motor; 3011, electric telescopic rod; 3012, limiting groove; 3013, limiting strip; 3014, square block; 3015, connecting rod; 3016, hydraulic rod; 3017, connecting strip. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] Please refer to Figures 1-5The utility model provides a technical scheme: a kind of for robot feeding and discharging clamping mechanism, including robot body 100, connecting arm 200 and clamping assembly 300, clamping assembly 300 includes cross plate 3001, the bottom end of cross plate 3001 is equipped with mounting seat 3002, two square grooves 3003 are dug in the bottom end of mounting seat 3002, and two mobile seats 3005 are slidably arranged in the inside of mounting seat 3002, the bottom end of two mobile seats 3005 is extended to the outside of mounting seat 3002 by square groove 3003 respectively, the bottom end of two mobile seats 3005 is equipped with a pair of connecting seat 3006, and the bottom end between a pair of connecting seat 3006 of same side is equipped with clamping plate 3007, the inside of opposite side of two clamping plates 3007 is dug with circular groove 3008, and the inside of two circular grooves 3008 is rotatably connected with turntable 3009, the outside wall of one clamping plate 3007 is equipped with motor 3010, and transmission is connected between the output end of motor 3010 and one of turntable 3009, and the inside upper end of connecting seat 3006 is equipped with electric telescopic rod 3011, the movable end of electric telescopic rod 3011 extends to outside by penetrating connecting seat 3006, and the movable end of electric telescopic rod 3011 is fixedly connected with the upper end of clamping plate 3007, two mobile seats 3005 can slide in the inside of mounting seat 3002, when the distance between a pair of mobile seats 3005 is adjusted, the distance between a pair of clamping plates 3007 is adjusted, so as to clamp article, start four electric telescopic rods 3011, push two clamping plates 3007 to move downwards, so that the top surface of the clamped article and the bottom end surface of mounting seat 3002 have larger interval, to facilitate subsequent article overturning, when a pair of clamping plates 3007 clamp article, the opposite side of two turntables 3009 is in contact with the surface of article, because the circular groove 3008 of clamping plate 3007 is rotatably connected with turntable 3009, when starting motor 3010 and driving one of turntable 3009 to rotate, the overturning of article is realized in turn.

[0028] The technical solutions in the embodiments of the utility model will be described clearly and completely in conjunction with the drawings of the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0029] Please refer to Figures 1-5The utility model provides a technical scheme: two mobile seat 3005 all are in "U" shape, and two mobile seat 3005 are close to the outer wall of bottom end respectively with the inner wall clearance fit of square groove 3003, and one pair of light pole 3004 is equipped between two mobile seat 3005, and the both ends of one pair of light pole 3004 all extend to outside and are with the clearance fit of the through -hole of mobile seat 3005, and the both ends of one pair of light pole 3004 are fixedly connected with the inner wall both sides of mounting seat 3002 respectively, and the front and back of mounting seat 3002 all are equipped with limit groove 3012, and the both ends outer wall of limit strip 3013 are fixedly connected with the inner wall clearance fit of two limit groove 3012 between a pair of limit groove 3012, and the upper end of limit strip 3013 is installed with square 3014, and the front and back of square 3014 are hinged with a pair of connecting rod 3015, and the both ends of a pair of two on the same side are hinged with the front and back of one of mobile seat 3005 respectively away from square 3014, and the upper end of horizontal plate 3001 is installed with two pairs of hydraulic pole 3016, and the movable end of two pairs of hydraulic pole 3016 all extend to outside and are with the through -hole of horizontal plate 3001, and the movable end of two pairs of hydraulic pole 3016 all is installed with connecting strip 3017, and the bottom end of two connecting strip 3017 is fixedly connected with the upper end of limit strip 3013, when starting two pairs of hydraulic pole 3016, make its movable end drive connecting strip 3017 and move upwards, because connecting strip 3017 is connected with limit strip 3013, thereby makes limit strip 3013 in limit groove 3012 stable and moves up, and constantly moves up square 3014 under the action of connecting rod 3015, and makes two mobile seat 3005 move along the axial direction of light pole 3004, makes two mobile seat 3005 respectively close to the center, because the bottom end of two mobile seat 3005 is installed with connecting seat 3006, and the movable end of electric telescopic rod 3011 in connecting seat 3006 is fixedly connected with clamping plate 3007, thereby makes two clamping plate 3007 clamp the article.

[0030] 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. Obviously, the described embodiments are only part of the embodiments of the utility model and not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0031] Please refer to Figures 1-5The utility model provides a technical scheme: robot body 100 includes control base 1001, the upper end of control base 1001 is installed, one end bottom surface of mobile mechanical arm 1002 is fixedly connected with the upper end of connecting arm 200, the bottom of connecting arm 200 is fixedly connected with the upper end of transverse plate 3001, because the bottom of connecting arm 200 is fixedly connected with the upper end of transverse plate 3001, to realize the installation between clamping assembly 300 and robot body 100, to facilitate subsequent robot body 100 cooperation clamping assembly 300 and material loading or unloading.

[0032] Specifically, the working principle of the robot loading and unloading clamping mechanism is as follows: when the two pairs of hydraulic rods 3016 are started during use, the movable end of the hydraulic rod 3016 drives the connecting strip 3017 to move upward, because the connecting strip 3017 is connected with the limiting strip 3013, the limiting strip 3013 is stably moved upward in the limiting groove 3012, and the square block 3014 is continuously moved upward, and under the action of the connecting rod 3015, the two moving seats 3005 move along the axial direction of the light rod 3004, so that the two moving seats 3005 can slide in the inside of the mounting seat 3002, when the distance between the two moving seats 3005 is adjusted, the distance between the two clamping plates 3007 is adjusted, and the object is clamped, when the two moving seats 3005 move towards the center, because the bottom end of the two moving seats 3005 is connected with the connecting seat 3006, the movable end of the electric telescopic rod 3011 in the connecting seat 3006 is fixedly connected with the clamping plate 3007, so that the two clamping plates 3007 clamp the object, four electric telescopic rods 3011 are started, the two clamping plates 3007 are pushed to move downward, so that the top surface of the clamped object and the bottom surface of the mounting seat 3002 have a large gap, to facilitate subsequent object turnover, when the two clamping plates 3007 clamp the object, the opposite surface of the two rotating discs 3009 is in contact with the surface of the object, because the rotating disc 3009 is rotatably connected in the circular groove 3008 of the clamping plate 3007, when the motor 3010 is started to drive one of the rotating discs 3009 to rotate, the turnover of the object is realized.

Claims

1. A robot pick-and-place gripping mechanism, comprising: The utility model provides a robot, including robot body (100), connecting arm (200) and clamping assembly (300), the clamping assembly (300) includes crosspiece (3001), the bottom of crosspiece (3001) is installed with mounting seat (3002), the bottom of mounting seat (3002) is equipped with two square grooves (3003), and the inside of mounting seat (3002) is slidably equipped with two mobile seats (3005), and the bottom of two mobile seats (3005) extends to the outside of mounting seat (3002) through square groove (3003) respectively, and the bottom of two mobile seats (3005) is installed with a pair of connecting seat (3006) respectively, and the bottom of a pair of connecting seat (3006) of the same side is equipped with clamping plate (3007), and the inside of opposite side of two clamping plate (3007) is equipped with circular groove (3008) respectively, and the inside of two circular groove (3008) is rotatably connected with turntable (3009), and the outside wall of one clamping plate (3007) is installed with motor (3010), and the output of motor (3010) is transmission connection with one turntable (3009).

2. The robot loading and unloading clamping mechanism according to claim 1, wherein, The inside upper end of connecting seat (3006) is installed with electric telescopic rod (3011), the movable end of electric telescopic rod (3011) extends to the outside through connecting seat (3006), and the movable end of electric telescopic rod (3011) is fixedly connected with the upper end of clamping plate (3007).

3. The robot loading and unloading clamping mechanism according to claim 2, wherein, Two mobile seats (3005) are all '' U ” shape, and the outer wall of two mobile seats (3005) is close to the bottom and is gap matched with the inner wall of square groove (3003) respectively.

4. The robot loading and unloading clamping mechanism according to claim 3, characterized in that, A pair of light poles (3004) are arranged between two mobile seats (3005), and the two ends of a pair of light poles (3004) extend to the outside through mobile seat (3005) and are gap matched with the through hole of mobile seat (3005), and the two ends of a pair of light poles (3004) are fixedly connected with the inner wall of mounting seat (3002) respectively.

5. The robot loading and unloading clamping mechanism according to claim 4, wherein, The front and back of mounting seat (3002) are equipped with limiting slot (3012), a pair of limiting slot (3012) are slidably connected with limiting strip (3013), the two end outer walls of limiting strip (3013) are gap matched with the inner walls of two limiting slot (3012) respectively, the upper end of limiting strip (3013) is installed with square (3014), the front and back of square (3014) are hingedly connected with a pair of connecting rods (3015), and the one end of the two away from square (3014) of the same side is hingedly connected with the front and back of one mobile seat (3005) respectively.

6. The robot loading and unloading clamping mechanism according to claim 5, wherein, The upper end of crosspiece (3001) is installed with two pairs of hydraulic rods (3016), and the movable ends of two pairs of hydraulic rods (3016) extend to the outside through crosspiece (3001), and the movable ends of two pairs of hydraulic rods (3016) are installed with connecting strip (3017), and the bottom of two connecting strip (3017) is fixedly connected with the upper end of limiting strip (3013).

7. The robot loading and unloading gripping mechanism according to claim 1, wherein, The robot body (100) comprises a control base (1001), the upper end of the control base (1001) is provided with a mobile mechanical arm (1002), one end of the mobile mechanical arm (1002) is fixedly connected with the upper end of a connecting arm (200), and the bottom end of the connecting arm (200) is fixedly connected with the upper end of a horizontal plate (3001).

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