Multi-clamping-position robot gripper

Abstract

The multi-clamping-position robot gripper comprises a first clamping arm and a second clamping arm which can move, the front end of the first clamping arm and the front end of the second clamping arm are each provided with a first clamping part and a second clamping part, and the second clamping part is located below the first clamping part. The distance between the two first clamping parts is smaller than the distance between the two second clamping parts, third clamping parts are arranged at the rear ends of the first clamping arm and the second clamping arm, and the distance between the two third clamping parts is smaller than the distance between the two first clamping parts. Compared with the prior art, the first clamping part can clamp a workpiece with a high positioning precision requirement, the second clamping part can clamp a square stock, and the third clamping part can clamp a round stock. And due to the design of distances and directions of the first clamping part, the second clamping part and the third clamping part, no interference is generated when the workpieces are clamped by the clamping parts. The whole structure is simple, various types of workpieces can be clamped, the frequency of replacing the clamping jaw is reduced, and therefore the production efficiency is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of clamping jaw manufacturing, especially to a multi-clamping position robot hand claw. BACKGROUND

[0002] At present, automatic mechanical equipment has been widely applied in factories, generally, the clamping jaw on the mechanical arm can only clamp one type of workpiece, when clamping other types of workpieces, other clamping jaws need to be replaced, however, each time the different clamping jaws are replaced, the previous clamping jaw needs to be disassembled, and then the required clamping jaw is found and assembled, which consumes a lot of time, and secondly, one clamping jaw is prepared for each type of workpiece, which increases the manufacturing cost and requires more space for storage. SUMMARY

[0003] The utility model provides a multi-clamping position robot hand claw to solve the problem that the clamping jaw in the prior art can generally only clamp one workpiece.

[0004] The utility model provides a multi-clamping position robot hand claw, including movable first clamping arm and second clamping arm, the front end of first clamping arm and second clamping arm is equipped with first clamping part and second clamping part, second clamping part is located below first clamping part, the distance between two first clamping parts is less than the distance between two second clamping parts, the rear end of first clamping arm and second clamping arm is equipped with third clamping part, and the distance between two third clamping parts is less than the distance between two first clamping parts.

[0005] Preferably, the first clamping part is a positioning block, and the length of the clamping surface on the positioning block is less than the length of the clamping surface of the second clamping part.

[0006] Preferably, the middle position of the clamping surface on the positioning block is provided with a curved surface.

[0007] Preferably, the second clamping part on the first clamping arm is a clamping groove arranged at the front end of the first clamping arm, and the groove wall close to the first clamping and the groove wall close to the third clamping part are both positioning surfaces.

[0008] Preferably, the third clamping part is a V-shaped groove, and the openings of the two V-shaped grooves are oppositely arranged.

[0009] Preferably, the horizontal position of the first clamping part is the same as the horizontal position of the third clamping part.

[0010] Preferably, it further includes a guide rail and a cylinder, the first clamping arm and the second clamping arm are respectively connected with the guide rail in sliding mode, and the cylinder is used to drive the first clamping arm and the second clamping arm to move towards or away from each other.

[0011] Preferably, the first clamping arm and the second clamping arm are fixed on the sliding block by bolts respectively, and the sliding block slides along the guide rail.

[0012] Preferably, a push rod is arranged between the piston rod of the air cylinder and the sliding block, two ends of the push rod are hinged with the sliding block and the piston rod of the air cylinder respectively, and the air cylinder is fixed on the side of the guide rail away from the sliding block.

[0013] Compared with the prior art, in the utility model, the first clamping part can clamp workpieces with high positioning precision requirements, the second clamping part can clamp square materials, and the third clamping part can clamp round materials. The distance and orientation design of the first clamping part, the second clamping part and the third clamping part ensure that interference does not occur when clamping workpieces respectively. The overall structure is simple, can clamp various types of workpieces, is favorable for reducing the frequency of replacing clamping jaws, thereby ensuring production efficiency, and can also reduce the total number of clamping jaws. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical scheme in the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for ordinary skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0015] Figure 1 It is a structural schematic view of the utility model;

[0016] Figure 2 It is a structural schematic view of the utility model clamping workpieces with positioning holes;

[0017] Figure 3 It is a structural schematic view of the utility model clamping square materials;

[0018] Figure 4 It is a structural schematic view of the utility model clamping round materials;

[0019] Figure 5 It is a structural schematic view of the utility model clamping workpieces with positioning holes.

[0020] Reference signs:

[0021] 1. first clamping arm, 2. second clamping arm, 3. guide rail, 4. air cylinder, 5. sliding block, 11. first clamping part, 12. second clamping part, 13. third clamping part, 111. arc surface. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme in the utility model will be clearly and completely described in combination with the drawings in the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0023] Referring to the drawings Figure 1 , the embodiment provides a multi-clamping-position robot hand claw, which comprises a movable first clamping arm 1 and a second clamping arm 2, the first clamping arm 1 and the second clamping arm 2 can move towards each other and can move away from each other, the front ends of the first clamping arm 1 and the second clamping arm 2 are each provided with a first clamping part 11 and a second clamping part 12, the second clamping part 12 is located below the first clamping part 11, the distance between the two first clamping parts 11 is smaller than the distance between the two second clamping parts 12, and the rear ends of the first clamping arm 1 and the second clamping arm 2 are each provided with a third clamping part 13, and the distance between the two third clamping parts 13 is smaller than the distance between the two first clamping parts 11. The utility model discloses the design of the distance and the direction of the first clamping part 11 and the second clamping part 12, ensures that interference is not generated when each clamping part clamps a workpiece, and the position and the distance of the third clamping part 13 can ensure that the first clamping part 11 is not interfered with when clamping a workpiece. The first clamping part 11, the second clamping part 12 and the third clamping part 13 clamp different types of workpieces respectively, can effectively reduce the frequency of replacing the clamping claw, are beneficial to guaranteeing production efficiency, and can also reduce the space occupied by the clamping claw.

[0024] As another embodiment of the utility model: referring to the drawings Figure 2 , the first clamping part 11 is a positioning block, and the length of the clamping surface on the positioning block is smaller than the length of the clamping surface of the second clamping part 12. Referring to the drawings Figure 5 , the positioning block can be clamped into a positioning hole (a workpiece with a positioning hole) on the workpiece, and the positioning block can be clamped into a positioning hole (a workpiece with a positioning hole) on the workpiece. The workpiece of this type has relatively high positioning accuracy requirements. When the second clamping part 12 clamps a workpiece, the longer clamping surface can more stably clamp the workpiece.

[0025] As another embodiment of the utility model: the middle position of the clamping surface on the positioning block is provided with an arc surface 111.

[0026] An embodiment of the second clamping part 12: referring to the drawings Figure 3 , the second clamping part 12 on the first clamping arm 1 is a clamping groove arranged at the front end of the first clamping arm 1, the groove wall close to the first clamping and the groove wall close to the third clamping part 13 are both positioning surfaces, and the groove bottom of the clamping groove is a clamping surface. When clamping a square material, the positioning surface of the clamping groove can position the square material, and then the clamping surface clamps the square material.

[0027] One embodiment of the third clamping part 13: refer to the drawings Figure 4 The third clamping part 13 is a V-shaped groove, and the openings of the two V-shaped grooves are oppositely arranged, through the structure design, different diameter round materials can be clamped.

[0028] As another embodiment of the utility model: the horizontal position of the first clamping part 11 and the horizontal position of the third clamping part 13 are same.

[0029] As another embodiment of the utility model: this embodiment still includes guide rail 3 and air cylinder 4, first clamping arm 1 and second clamping arm 2 are slidably connected with guide rail 3 respectively, and air cylinder 4 is used to drive first clamping arm 1 and second clamping arm 2 to move towards or away from each other.

[0030] As another embodiment of the utility model: first clamping arm 1 and second clamping arm 2 are fixed on sliding block 5 respectively through bolt, and sliding block 5 slides along guide rail 3.The structure design is convenient for replacing first clamping arm 1 and second clamping arm 2.

[0031] One embodiment of the air cylinder 4 driving the movement of the sliding block 5: a push rod is arranged between the piston rod of the air cylinder 4 and the sliding block 5, both ends of the push rod are hingedly connected with the sliding block 5 and the piston rod of the air cylinder 4 respectively, and the air cylinder 4 is fixed on the side of the guide rail 3 far away from the sliding block 5.The piston rod of the air cylinder 4 is stretched forward and then pushes the two sliding blocks 5 to slide away from each other through the push rod, so that the first clamping arm 1 and the second clamping arm 2 are opened; the piston rod of the air cylinder 4 is retracted backward and then pushes the two sliding blocks 5 to slide towards each other through the push rod, so that the first clamping arm 1 and the second clamping arm 2 are folded.

[0032] One embodiment of the air cylinder 4 driving the movement of the sliding block 5: the air cylinder 4 is a double-outlet air cylinder, and the two piston rods of the double-outlet air cylinder are fixed with the two sliding blocks 5 respectively.

[0033] Specifically, the square material is a workpiece with two parallel planes as clamping positions, and the round material is a workpiece with a round column as a clamping position.

[0034] Finally, it should be noted that: the above examples are only used to illustrate the technical scheme of the utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical scheme recorded in the foregoing examples, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the spirit and scope of the technical scheme of each embodiment of the utility model.

Claims

1. A multi-grip robotic gripper, comprising: The first clamping arm and the second clamping arm are movable, the front end of the first clamping arm and the second clamping arm are respectively provided with a first clamping part and a second clamping part, the second clamping part is below the first clamping part, the distance between the two first clamping parts is less than the distance between the two second clamping parts, the rear end of the first clamping arm and the second clamping arm is respectively provided with a third clamping part, and the distance between the two third clamping parts is less than the distance between the two first clamping parts.

2. The multi-grip robotic gripper of claim 1, wherein, The first clamping part is a positioning block, and the length of the clamping surface on the positioning block is less than the length of the clamping surface of the second clamping part.

3. The multi-grip robotic gripper of claim 2, wherein, The middle position of the clamping surface on the positioning block is provided with an arc surface.

4. The multi-grip robotic gripper of claim 3, wherein, The second clamping part on the first clamping arm is a clamping groove arranged at the front end of the first clamping arm, and the groove wall close to the first clamping part and the groove wall close to the third clamping part are both positioning surfaces.

5. The multi-grip robotic gripper of claim 4, wherein, The third clamping part is a V-shaped groove, and the openings of the two V-shaped grooves are oppositely arranged.

6. The multi-grip robotic gripper of claim 5, wherein, The horizontal position of the first clamping part is the same as that of the third clamping part.

7. The multi-grip robotic gripper of claim 1, wherein, Further comprising a guide rail and a gas cylinder, the first clamping arm and the second clamping arm are respectively connected with the guide rail in sliding mode, and the gas cylinder is used to drive the first clamping arm and the second clamping arm to move towards or away from each other.

8. The multi-grip robotic gripper of claim 7, wherein, The first clamping arm and the second clamping arm are respectively fixed on the sliding block through bolts, and the sliding block slides along the guide rail.

9. The multi-grip robotic gripper of claim 8, wherein, A push rod is arranged between the piston rod of the gas cylinder and the sliding block, the two ends of the push rod are respectively hinged with the sliding block and the piston rod of the gas cylinder, and the gas cylinder is fixed on the side of the guide rail away from the sliding block.

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