Industrial robot clamping jaw

Abstract

The utility model discloses an industrial robot clamping jaw, which relates to the field of industrial robots, and comprises a mounting shell, a clamping mechanism is arranged in the mounting shell, the clamping mechanism comprises two racks arranged front and back, the racks are in sliding connection with the inner wall of the mounting shell, a straight gear is meshed between the two racks, one side of each rack is fixedly connected with an extension rod, and the extension rod is fixedly connected with the mounting shell. And one end of the extension rod extends out of the mounting shell and is fixedly connected with a clamping block. The device has the beneficial effects that when a workpiece is clamped, a straight gear moves horizontally to drive two racks to move horizontally at the same time, when a clamping block on one rack does not move after making contact with the workpiece, the straight gear continues to move and rotate at the moment, the other rack continues to move horizontally, and finally the clamping block makes contact with the workpiece, so that the device adapts to the stepped side edge of the workpiece; by means of the clamping mode, the workpiece can be prevented from deviating, and the clamping stability is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot field, in particular to a kind of industrial robot gripper. BACKGROUND

[0002] Industrial robot is widely used in industrial field multi-joint manipulator or multi-degree-of-freedom machine device, with certain automaticity, can realize various industrial processing manufacturing functions by relying on self power source and control ability, industrial robot gripper is generally driven by pneumatic or electric system, the hand device for grabbing or fixing workpiece.

[0003] For example, the patent literature with the announcement number CN221089066U discloses an industrial robot gripper structure, the gripper is clamped to workpiece by two clamping rods, the clamping rod is overall rectangular plate, and the rectangular plate is used as clamping component in the current majority robot, and there are more special-shaped workpieces in industrial manufacturing, for example, the part with ladder-shaped one side or two sides, if clamping component of rectangular plate is used to clamp two sides of the workpiece, the workpiece can be offset due to uneven force, and clamping is not stable enough. SUMMARY

[0004] The utility model discloses a kind of industrial robot grippers to solve the above problems.

[0005] The utility model discloses the above-mentioned purposes are achieved by the following technical solutions:

[0006] An industrial robot gripper, including connecting seat, the bottom of connecting seat is fixedly connected with square tube, the both ends of square tube are provided with the movable rod that is distributed left and right symmetrically, the movable rod is inverted L shape, the horizontal section of movable rod is slidably connected in square tube, the vertical section of movable rod is fixedly connected with installation shell at the bottom, installation shell is provided with clamping mechanism, clamping mechanism includes two forwardly arranged racks, rack is slidably connected with the inner wall of installation shell, the straight gear is engaged between the two racks, the one side of rack is fixedly connected with extension rod, the one end of extension rod extends from installation shell and is fixedly connected with clamping block, installation shell is provided with the translation mechanism for driving straight gear to move, straight gear is rotatably installed on translation mechanism, square tube is provided with the adjusting mechanism for the relative movement of two movable rods, and the bottom of square tube is provided with compression mechanism.

[0007] Preferably, the translation mechanism includes a one-way screw rod, the one-way screw rod is rotatably connected inside the installation shell, the one-way screw rod is threadedly connected with a translation block, the translation block is slidably connected with the inner wall of the installation shell, the straight gear is rotatably connected to the top of the translation block, the one side of the installation shell is fixedly connected with a translation motor, and the output end of the translation motor is fixedly connected with the one-way screw rod.

[0008] Preferably, the adjusting mechanism comprises an adjusting motor fixedly connected to the top of the square tube, an output shaft of the adjusting motor extending into the square tube and fixedly connected with a driving bevel gear, the driving bevel gear meshing with a driven bevel gear, the driven bevel gear fixedly connected with a bidirectional screw rod, and the bidirectional screw rod rotatably connected with two support seats fixedly connected to the inner wall of the square tube.

[0009] Preferably, the pressing mechanism comprises a mounting plate fixedly connected to the bottom of the square tube, the mounting plate fixedly connected with an air cylinder at the bottom, and the output end of the air cylinder fixedly connected with a pressing plate.

[0010] Preferably, the square tube is fixedly connected with guide blocks at the front and back sides, the movable rods are fixedly connected with fixed blocks at the front and back sides, the fixed blocks are fixedly connected with guide rods at one side, and the guide rods penetrate through the guide blocks and are in sliding connection with the guide blocks.

[0011] Preferably, the clamping blocks are fixedly connected with rubber pads at one side, and the rubber pads are provided with anti-skid lines.

[0012] The beneficial effects are that when clamping the workpiece, the translation of the spur gear can simultaneously drive the translation of the two racks, when the clamping block on one rack is in contact with the workpiece and no longer moves, the spur gear continues to move and rotate, so that the other rack continues to translate, and finally the clamping block is in contact with the workpiece, thereby adapting to the stepped side of the workpiece, and the clamping mode can prevent the workpiece from deviating and ensure the stability of clamping.

[0013] The additional technical features and advantages of the utility model will be more obvious in the following description, or can be understood through the specific practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0014] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification, and are used together with the following specific embodiments to explain the utility model, but do not constitute a limitation on the utility model. In the drawings:

[0015] Figure 1 is a perspective view of the industrial robot clamping jaw described in the utility model;

[0016] Figure 2 is a front view of the industrial robot clamping jaw described in the utility model;

[0017] Figure 3 is a front view of the internal structure of the mounting shell of the industrial robot clamping jaw described in the utility model;

[0018] Figure 4 is a top view of the internal structure of the mounting shell of the industrial robot clamping jaw described in the utility model;

[0019] Figure 5 is the square tube internal structure front view of the industrial robot clamping jaw of the utility model;

[0020] Figure 6 is the clamping workpiece state plan view of the industrial robot clamping jaw of the utility model.

[0021] The figure mark is explained as follows: 1, connecting seat; 2, square tube; 201, guide block; 3, movable rod; 301, fixed block; 302, guide rod; 4, installation shell; 5, clamping mechanism; 501, rack; 502, straight gear; 503, extension rod; 504, clamping block; 6, translation mechanism; 601, one-way screw rod; 602, translation block; 603, translation motor; 7, adjusting mechanism; 701, adjusting motor; 702, driving bevel gear; 703, driven bevel gear; 704, two-way screw rod; 705, support seat; 8, pressing mechanism; 801, installation plate; 802, air cylinder; 803, pressing plate; 9, workpiece. DETAILED DESCRIPTION

[0022] 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, not all the embodiments.

[0023] In the description of the utility model, it is understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0024] The utility model will be further described below with reference to the drawings:

[0025] As Figures 1-6As shown, an industrial robot clamping jaw, including connecting seat 1, connecting seat 1 is used to install the jaw on the robot, the bottom of connecting seat 1 is fixedly connected with square tube 2, both ends of square tube 2 are provided with left and right symmetrical movable rods 3, movable rod 3 is inverted L-shaped, the horizontal section of movable rod 3 is slidingly connected in square tube 2, the bottom of the vertical section of movable rod 3 is fixedly connected with mounting shell 4, clamping mechanism 5 is arranged in mounting shell 4, clamping mechanism 5 includes two front and rear arranged racks 501, rack 501 is slidingly connected with the inner wall of mounting shell 4, a spur gear 502 is engaged between the two racks 501, an extension rod 503 is connected with a rack 501 side through a screw, one end of extension rod 503 extends out of mounting shell 4 and is connected with a clamping block 504 through a screw, a translation mechanism 6 for driving the movement of spur gear 502 is arranged in mounting shell 4, when the spur gear 502 translates, it will simultaneously push the two racks 501 to move, when one of the racks 501 can no longer move, at this time, continue to move the spur gear 502, the spur gear 502 translates while rotating, the spur gear 502 will drive the other rack 501 to continue to move, until the other rack 501 also cannot continue to move, thus realizing that the two extension rods 503 extend out of mounting shell 4 to different lengths to adapt to the stepped side of workpiece 9, a rubber pad is fixedly connected with one side of clamping block 504, anti-skid lines are arranged on the rubber pad, the friction between clamping block 504 and workpiece 9 is improved, and the stability of clamping is improved, the spur gear 502 is rotatably arranged on the translation mechanism 6, an adjusting mechanism 7 for relatively moving the two movable rods 3 is arranged in square tube 2, the distance between the two movable rods 3 is adjusted through the adjusting mechanism 7, and then the distance between the two mounting shells 4 is adjusted to adapt to workpieces 9 of different sizes, thereby expanding the application range, a pressing mechanism 8 is installed at the bottom of square tube 2, the pressing mechanism 8 is used for preliminarily fixing the workpiece 9, so that the workpiece 9 is prevented from deviating during clamping.

[0026] The translation mechanism 6 includes a one-way screw rod 601, the one-way screw rod 601 is connected inside the mounting shell 4 through a bearing, a translation block 602 is threadedly connected on the one-way screw rod 601, the translation block 602 is slidingly connected with the inner wall of the mounting shell 4, and the spur gear 502 is rotatably connected to the top of the translation block 602. Specifically, a rotating shaft is fixedly connected to the bottom of the spur gear 502, a circular hole is formed in the top of the translation block 602, the rotating shaft is in interference fit with the circular hole, so that the spur gear 502 can rotate, and the friction between the rotating shaft and the circular hole ensures that the spur gear 502 will not rotate randomly. A translation motor 603 is connected to one side of the mounting shell 4 through a bolt, and the output end of the translation motor 603 is fixedly connected with the one-way screw rod 601.

[0027] The adjusting mechanism 7 comprises an adjusting motor 701 which is connected to the top of the square tube 2 through bolts, the output shaft of the adjusting motor 701 extends into the square tube 2 and is fixedly connected with a driving bevel gear 702, the driving bevel gear 702 is engaged with a driven bevel gear 703, the driven bevel gear 703 is fixedly connected with a bidirectional screw rod 704 inside, the bidirectional screw rod 704 is connected with two support seats 705 through bearings, the support seats 705 are connected to the inner wall of the square tube 2 through screws, the two ends of the bidirectional screw rod 704 are respectively screwed into the horizontal sections of the two movable rods 3, when the bidirectional screw rod 704 rotates, the two movable rods 3 are driven to move close to or away from each other, so as to adjust the distance between the two clamping mechanisms 5, so as to adapt to workpieces 9 of different sizes.

[0028] The pressing mechanism 8 comprises a mounting plate 801 which is connected to the bottom of the square tube 2 through screws, the bottom of the mounting plate 801 is connected with a pneumatic cylinder 802 through screws, the output end of the pneumatic cylinder 802 is fixedly connected with a pressing plate 803, before clamping the workpiece 9, the pneumatic cylinder 802 drives the pressing plate 803 to move downward to press the workpiece 9, so as to avoid the workpiece 9 from being deviated when the clamping block 504 clamps the workpiece 9.

[0029] The front and rear sides of the square tube 2 are connected with guide blocks 201 through screws, the front and rear sides of the movable rod 3 are connected with fixed blocks 301 through screws, one side of the fixed block 301 is welded with a guide rod 302, the guide rod 302 penetrates through the guide block 201 and is connected with the guide block 201 in a sliding manner, the guide rod 302 plays a guiding and supporting role for the movable rod 3, so that the movable rod 3 moves more stably.

[0030] Working principle: when using, the connecting seat 1 is installed on the industrial robot, the industrial robot drives the whole clamp to move, first, the clamp is moved above the workpiece 9, according to the size of the workpiece 9, the distance between the two clamping mechanisms 5 is adjusted first, the driving bevel gear 702 is driven to rotate through adjusting the motor 701, the driving bevel gear 702 drives the driven bevel gear 703 to rotate, the bidirectional screw rod 704 is driven to rotate by the driven bevel gear 703, the two movable rods 3 are driven to move close to each other or move away from each other by the bidirectional screw rod 704, the movable rod 3 drives the installation shell 4 to move, the installation shell 4 drives the clamping mechanism 5 to move, so that the distance between the two clamping mechanisms 5 is adjusted, then the two clamping mechanisms 5 are located on both sides of the workpiece 9, the cylinder 802 is located above the workpiece 9, the cylinder 802 drives the pressing plate 803 to move down, the workpiece 9 is pressed and fixed by the pressing plate 803, the unidirectional screw rod 601 is driven to rotate by the translation motor 603, the rod translation block 602 is moved by the unidirectional screw rod 601, the straight gear 502 is moved to the direction of the workpiece 9 by the rod translation block 602, when the clamping block 504 does not contact the workpiece 9, the straight gear 502 moves while pushing the two racks 501 to move, when one clamping block 504 contacts the workpiece 9, since the workpiece 9 does not move, the rack 501 corresponding to the clamping block 504 does not move any more, the straight gear 502 continues to move, at this time, the straight gear 502 rotates and continues to drive the other rack 501 to move, so that the other clamping block 504 contacts the workpiece 9, after the two clamping blocks 504 contact the workpiece 9, the two racks 501 do not move any more, at this time, the pushing force of the straight gear 502 to the two racks 501 is applied to the workpiece 9 through the extension rod 503 and the clamping block 504, that is, the clamping block 504 applies pressure to the workpiece 9, so that the workpiece 9 is clamped by the clamping blocks 504 in the clamping mechanisms 5 on both sides.

[0031] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. An industrial robot gripper, comprising a connecting base (1), characterized in that: The bottom of the connecting seat (1) is fixedly connected to a square tube (2). The two ends of the square tube (2) are provided with symmetrically distributed movable rods (3). The movable rods (3) are inverted L-shaped. The horizontal section of the movable rod (3) is slidably connected inside the square tube (2). The bottom of the vertical section of the movable rod (3) is fixedly connected to a mounting shell (4). A clamping mechanism (5) is provided inside the mounting shell (4). The clamping mechanism (5) includes two racks (501) arranged front and rear. The racks (501) are slidably connected to the inner wall of the mounting shell (4). The two racks (501) are... A spur gear (502) is meshed with the rack (501). An extension rod (503) is fixedly connected to one side of the rack (501). One end of the extension rod (503) extends out of the mounting shell (4) and is fixedly connected to a clamping block (504). A translation mechanism (6) for driving the spur gear (502) to move is provided inside the mounting shell (4). The spur gear (502) is rotatably mounted on the translation mechanism (6). An adjustment mechanism (7) for moving the two movable rods (3) relative to each other is provided inside the square tube (2). A clamping mechanism (8) is installed at the bottom of the square tube (2).

2. The industrial robot gripper according to claim 1, characterized in that: The translation mechanism (6) includes a one-way lead screw (601), which is rotatably connected inside the mounting housing (4). A translation block (602) is threaded onto the one-way lead screw (601), and the translation block (602) is slidably connected to the inner wall of the mounting housing (4). A spur gear (502) is rotatably connected to the top of the translation block (602). A translation motor (603) is fixedly connected to one side of the mounting housing (4), and the output end of the translation motor (603) is fixedly connected to the one-way lead screw (601).

3. The industrial robot gripper according to claim 1, characterized in that: The adjustment mechanism (7) includes an adjustment motor (701), which is fixedly connected to the top of the square tube (2). The output shaft of the adjustment motor (701) extends into the inside of the square tube (2) and is fixedly connected to a drive bevel gear (702). The drive bevel gear (702) meshes with a driven bevel gear (703). A double-acting screw (704) is fixedly connected inside the driven bevel gear (703). Two support seats (705) are rotatably connected to the double-acting screw (704). The support seats (705) are fixedly connected to the inner wall of the square tube (2). The two ends of the double-acting screw (704) are respectively threaded into the horizontal sections of the two movable rods (3).

4. The industrial robot gripper according to claim 1, characterized in that: The clamping mechanism (8) includes a mounting plate (801), which is fixedly connected to the bottom of the square tube (2). A cylinder (802) is fixedly connected to the bottom of the mounting plate (801), and a pressure plate (803) is fixedly connected to the bottom of the output end of the cylinder (802).

5. The industrial robot gripper according to claim 1, characterized in that: The square tube (2) is fixedly connected to guide blocks (201) on both the front and rear sides. The movable rod (3) is fixedly connected to fixing blocks (301) on both the front and rear sides. A guide rod (302) is fixedly connected to one side of the fixing block (301). The guide rod (302) passes through the guide block (201) and is slidably connected to the guide block (201).

6. The industrial robot gripper according to claim 1, characterized in that: A rubber pad is fixedly connected to one side of the clamping block (504), and the rubber pad is provided with anti-slip texture.

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