Clamping jaw for industrial robot

Abstract

The utility model discloses a clamping jaw for an industrial robot. The clamping jaw comprises a base, a fixing frame fixedly connected to the lower portion of the base, an external connecting plate embedded and clamped in the fixing frame, and clamping plates symmetrically arranged on the inner side of the upper end outside the base. The external connection plate is attached to the lower portion of the base, and a limiting structure used for the external connection plate is arranged on the inner side of the rear outer end of the fixing frame; an adjustable clamping structure is arranged on the inner side of the upper end of the base, and a pressure sensing anti-disengaging structure is arranged on the adjustable clamping structure. The limiting structure comprises an adjusting rod, a movable plate and a limiting plate, and the adjusting rod is connected to the inner side of the rear end of the fixing frame in a clamped and non-detachable mode. According to the clamping jaw for the industrial robot, the clamping jaw for the industrial robot can be conveniently installed and fixed, clamping and self-locking are facilitated, clamping is prevented from being affected by faults of a driving element and the like, the clamping force is conveniently controlled through pressure sensing, workpiece deformation caused by too large clamping force is avoided, an anti-skid pad is conveniently replaced, and the anti-falling effect of the clamping jaw is good.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a gripper for industrial robots. Background Technology

[0002] Industrial robots can perform tasks automatically, relying on their own power and control capabilities to achieve various functions, improving the efficiency and quality of production and processing. They are widely used in various industrial fields such as electronics, logistics, and chemicals. As the end effector of the robot, the robot gripper plays the role of a bridge connecting the robot and the workpiece.

[0003] For example, Chinese utility model patent CN217292367U discloses a gripper for an industrial robot, including an operating table. An electric push rod is installed on one side of the surface of the operating table, and a sliding plate is installed at the output end of the electric push rod. A clamping mechanism is provided on one side of the surface of the operating table. The clamping mechanism includes a mounting block, a sleeve, and a telescopic rod. The telescopic rod extends into the sleeve, and the telescopic rod and the sleeve are elastically connected by a spring. This utility model, through the clamping mechanism, can clamp objects with a certain arc shape on the surface, thus improving the practicality of the device.

[0004] However, existing industrial robot grippers still have some problems during use, such as being inconvenient to install and fix, the possibility of affecting gripping due to drive component failure, and the phenomenon of workpiece deformation due to excessive gripping force. Therefore, we propose an industrial robot gripper to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this utility model is to provide a gripper for industrial robots to solve the problems mentioned in the background art. Existing grippers for industrial robots still have some problems during use, such as being inconvenient to install and fix, the possibility of affecting gripping due to drive component failure, and the phenomenon of workpiece deformation due to excessive gripping force.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a gripper for an industrial robot, comprising a base, a fixed frame fixedly connected to the base, an outer connecting plate nested and engaged within the fixed frame, and clamping plates symmetrically arranged on the inner side of the upper outer end of the base;

[0007] Also includes:

[0008] The outer plate is fitted to the base, and the inner side of the rear outer end of the fixing frame is provided with a limiting structure for the outer plate.

[0009] An adjustable clamping structure is provided on the inner side of the upper end of the base, and a pressure-sensitive anti-detachment structure is provided on the adjustable clamping structure.

[0010] Preferably, the limiting structure includes an adjusting rod, a movable plate, and a limiting plate. The adjusting rod is locked and non-detachably connected to the inner rear end of the fixed frame, and the outer end of the adjusting rod is threadedly connected to the movable plate, which is locked to the fixed frame. The front side of the movable plate is fixedly connected to the limiting plate, which is nested and fitted with the fixed frame.

[0011] Preferably, an anti-slip strip is attached to the upper front end of the adjusting rod, and the anti-slip strip is fixedly connected to the fixing frame by adhesive bonding.

[0012] Preferably, the adjustable clamping structure includes a worm gear, a worm, a fixed plate, a motor, a limiting plate, and a clamping plate. The worm gear is rotatably connected to the inner side of the upper outer end of the base, and the worm gear is provided with a worm, a fixed plate, a motor, and a limiting plate that serve as driving and limiting components. A clamping plate that engages with the base is fixedly connected to the outside of the worm gear.

[0013] Preferably, the worm gear is meshed with the worm wheel, and a fixing plate that is fixedly connected to the base is attached to the worm gear. The lower coupling of the worm gear is connected to a motor, and a limiting plate that is fixed to the base screws is attached to the outer clamp of the motor.

[0014] Preferably, the pressure-sensitive anti-detachment structure includes a pressure sensor, an anti-slip pad, and a rubber block. The pressure sensor is fixedly installed on the upper inner side of the clamping plate, and the clamping plate and the pressure sensor are fitted with an anti-slip pad. The outer end of the anti-slip pad is attached to a rubber block that is snapped into place with the clamping plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are: the gripper of the industrial robot is easy to install and fix, easy to clamp and lock, avoids the gripping being affected by the failure of the drive component, easy to control the clamping force by sensing pressure, avoids the workpiece being deformed due to excessive clamping force, and easy to replace the anti-slip pad, so that the anti-detachment effect is good.

[0016] 1. The device is equipped with a base, a fixed frame, an external plate, and an adjusting rod. The fixed frame is fixedly connected to the base, and the external plate, which is nested and fitted with the base, is nested and fitted inside the fixed frame. The adjusting rod is non-removably connected to the inner rear end of the fixed frame. The adjusting rod is threadedly connected to a movable plate that is symmetrically fitted with the fixed frame. A limiting plate that is nested and fitted with the fixed frame is fixedly connected to the front of the movable plate. An anti-slip strip that is glued and fixed to the fixed frame is fitted to the upper front end of the adjusting rod. Therefore, it is convenient to install and fix the industrial robot with grippers.

[0017] 2. It is equipped with a base, worm gear, worm and fixing plate. There are two worm gears rotatably connected to the inner side of the upper outer end of the base. The worm gears are meshed with the worm that is mounted on the lower side of the motor. The fixing plate is fixedly connected to the base and attached to the worm. The clamping plate is fixedly connected to the outside of the worm gear and engaged in the base. Therefore, it is easy to clamp and lock, and avoid the clamping being affected by the failure of the drive component.

[0018] 3. It is equipped with a clamping plate, a pressure sensor, an anti-slip pad, and a rubber block. The pressure sensor is fixedly installed on the inner side of the upper end of the clamping plate, and the anti-slip pad is attached to the outside of the clamping plate and the pressure sensor. The rubber block is attached to the outside of the anti-slip pad and is attached to the clamping plate. Therefore, it is easy to control the clamping force by sensing the pressure, avoid excessive clamping force that may cause workpiece deformation, and facilitate the replacement of the anti-slip pad, so as to have a good anti-dislodgement effect. Attached Figure Description

[0019] Figure 1 This is a frontal cross-sectional view of the present invention.

[0020] Figure 2 This is a front view structural diagram of the present invention;

[0021] Figure 3 This is a top view sectional structural diagram of the present invention;

[0022] Figure 4 This is a top view of the three-dimensional structure of the connection between the fixed frame and the outer plate of this utility model;

[0023] Figure 5 This is a front view cross-sectional structural diagram of the connection between the anti-slip mat and the clamping plate of this utility model.

[0024] In the diagram: 1. Base; 2. Fixing frame; 3. External plate; 4. Adjusting rod; 5. Movable plate; 6. Limiting plate; 7. Worm gear; 8. Worm; 9. Fixing plate; 10. Motor; 11. Limiting plate; 12. Clamping plate; 13. Pressure sensor; 14. Anti-slip pad; 15. Rubber block; 16. Anti-slip strip. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-5This utility model provides a technical solution: a gripper for an industrial robot, comprising a base 1, a fixed frame 2, an outer plate 3, an adjusting rod 4, a movable plate 5, a limiting plate 6, a worm gear 7, a worm 8, a fixed plate 9, a motor 10, a limiting plate 11, a clamping plate 12, a pressure sensor 13, an anti-slip pad 14, a rubber block 15, and an anti-slip strip 16. The fixed frame 2 is fixedly connected to the base 1, and the outer plate 3 is nested and engaged within the fixed frame 2. The clamping plates 12 are symmetrically arranged on the inner side of the upper outer end of the base 1. The outer plate 3 is fitted against the base 1, and the inner side of the rear outer end of the fixed frame 2 is provided with a limiting device for the outer plate 3. The fixed structure includes an adjusting rod 4, a movable plate 5, and a limiting plate 6. The adjusting rod 4 is locked and non-detachably connected to the inner rear end of the fixed frame 2. An adjustable clamping structure is provided on the inner upper end of the base 1. The adjustable clamping structure is provided with a pressure-sensitive anti-detachment structure. The adjustable clamping structure includes a worm gear 7, a worm 8, a fixed plate 9, a motor 10, a limiting plate 11, and a clamping plate 12. The worm gear 7 is rotatably connected to the inner upper outer end of the base 1. The pressure-sensitive anti-detachment structure includes a pressure sensor 13, an anti-slip pad 14, and a rubber block 15. The pressure sensor 13 is fixedly installed on the inner upper end of the clamping plate 12.

[0027] To address the problems in existing technologies, such as the inconvenience of using grippers to install and fix industrial robots, potential gripping issues due to drive component malfunctions, and workpiece deformation caused by excessive gripping force, this embodiment employs the following technical solution: Figure 1 , Figure 2 and Figure 4 The operator can first carry the industrial robot with the gripper next to the industrial robot, then take the gripper and nest it on the outer plate 3 of the connecting arm of the industrial robot, and make the outer plate 3 fit against the base 1. Then, the fixed frame 2 can be rotated and the non-detachable adjusting rod 4 can be engaged, so that it can rotate under the anti-slip condition of the fixed anti-slip strip 16 attached inside the fixed frame 2. Since the left and right ends of the adjusting rod 4 are threaded with symmetrical movable plates 5, the movable plates 5 are engaged and connected to the inner side of the outer end of the fixed frame 2, and the front of the movable plate 5 is fixedly connected with a limiting plate 6, the rotation of the adjusting rod 4 makes it easy for the movable plate 5 to move inward under the engagement and limitation of the fixed frame 2, so that the movable plate 5 drives the limiting plate 6 to move inward until the limiting plate 6 is nested and fitted inside the outer plate 3, limiting the connection between the outer plate 3 and the fixed frame 2, thereby facilitating the installation and fixing of the gripper of the industrial robot.

[0028] like Figure 1 , Figure 2 , Figure 3 and Figure 5After the gripper of the industrial robot is installed and fixed, it can be moved outside the workpiece to be clamped by the movement of the connecting arm of the industrial robot. Then, it can be operated by the motor 10 installed in the control base 1. Since the motor 10 is attached to the limiting plate 11 which is fixed to the base 1 by screws, the motor 10 is connected to the worm 8 via a coupling, and the worm 8 is attached to the fixing plate 9 which is fixed to the base 1. The left and right sides of the worm 8 are meshed with worm wheels 7 which are rotatably connected to the base 1. The clamping plate 12 located in the base 1 is fixedly connected to the outside of the worm wheel 7. Therefore, the operation of the motor 10 under the limitation of the limiting plate 11 makes it easy to drive the worm 8 to rotate under the attachment limitation of the fixing plate 9, so that the worm 8 drives the worm wheel 7 to rotate in the base 1, thereby driving the clamping plate 12 to rotate, so that the workpiece can be clamped by the clamping plate 12.

[0029] like Figure 1 and Figure 5 During the clamping process, the self-locking performance of the meshing of the worm gear 7 and the worm 8 helps to avoid interference with clamping due to malfunctions of the motor 10. The operation can be carried out through the pressure sensor 13 fixedly installed on the inner side of the upper end of the clamping plate 12. Since the clamping plate 12 and the pressure sensor 13 are fitted with anti-slip pads 14, and rubber blocks 15 that are snapped together with the clamping plate 12 are attached to the outside of the anti-slip pads 14, the pressure is transmitted through the anti-slip pads 14 to control the clamping force of the jaws on the workpiece, avoiding deformation of the workpiece due to excessive clamping force. The anti-slip performance of the rubber blocks 15 also helps to prevent the clamped workpiece from falling off. The anti-slip pads 14 can be pulled out to disconnect the snapping between the rubber blocks 15 and the clamping plate 12 for replacement of the anti-slip pads 14, thus improving the anti-falling effect. All the electrical components mentioned above are existing technologies and will not be described in detail here.

[0030] The contents not described in detail in this specification are existing technologies known to those skilled in the art. All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0031] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripper for an industrial robot, comprising a base (1), a fixed frame (2) fixedly connected to the base (1), an outer plate (3) nested and engaged within the fixed frame (2), and a clamping plate (12) symmetrically arranged on the inner side of the upper outer end of the base (1); Its features are, Also includes: The outer plate (3) is attached to the base (1) and the inner side of the rear outer end of the fixing frame (2) is provided with a limiting structure for the outer plate (3); An adjustable clamping structure is provided on the inner side of the upper end of the base (1), and a pressure-sensitive anti-detachment structure is provided on the adjustable clamping structure.

2. The gripper for an industrial robot according to claim 1, characterized in that: The limiting structure includes an adjusting rod (4), a movable plate (5), and a limiting plate (6). The adjusting rod (4) is locked and non-detachably connected to the inner rear end of the fixed frame (2). The outer end of the adjusting rod (4) is threadedly connected to the movable plate (5) which is locked to the fixed frame (2). The front side of the movable plate (5) is fixedly connected to the limiting plate (6) which is nested and fitted with the fixed frame (2).

3. The gripper for an industrial robot according to claim 2, characterized in that: An anti-slip strip (16) is attached to the upper front end of the adjusting rod (4), and the anti-slip strip (16) is fixedly connected to the fixing frame (2) by adhesive bonding.

4. The gripper for an industrial robot according to claim 1, characterized in that: The adjustable clamping structure includes a worm gear (7), a worm (8), a fixing plate (9), a motor (10), a limiting plate (11), and a clamping plate (12). The worm gear (7) is rotatably connected to the inner side of the upper outer end of the base (1). The worm gear (7) is provided with a worm (8), a fixing plate (9), a motor (10), and a limiting plate (11) that serve as driving and limiting components. The clamping plate (12) that engages with the base (1) is fixedly connected to the outside of the worm gear (7).

5. A gripper for an industrial robot according to claim 4, characterized in that: The worm (8) is meshed with the worm wheel (7), and a fixing plate (9) fixedly connected to the base (1) is attached to the worm (8). A motor (10) is connected to the lower coupling of the worm (8), and a limiting plate (11) fixed to the base (1) by screws is attached to the outside of the motor (10).

6. A gripper for an industrial robot according to claim 1, characterized in that: The pressure-sensitive anti-detachment structure includes a pressure sensor (13), an anti-slip pad (14), and a rubber block (15). The pressure sensor (13) is fixedly installed on the upper inner side of the clamping plate (12), and the clamping plate (12) and the pressure sensor (13) are fitted with an anti-slip pad (14). The outer end of the anti-slip pad (14) is attached to a rubber block (15) that snaps into the clamping plate (12).

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