Turnover structure for robot gripper

Abstract

The utility model relates to the technical field of manipulators, in particular to a turnover structure for a robot gripper, and solves the problem that the material processing effect and reliability are affected by excessive turnover when the turnover structure of the robot gripper in the prior art is used. An overturning structure for a robot gripper comprises a rack and a mechanical arm, the surface of the mechanical arm is fixedly connected with a driving gear, an adjusting groove is formed in the surface of the rack, an H-shaped adjusting block is arranged in the adjusting groove through an adjusting mechanism, the surface of the adjusting block is in threaded connection with a threaded rod, and one end of the threaded rod is fixedly connected with an extension rod; a stress gear is arranged on the surface of the extension rod through a mounting mechanism, the driving gear is meshed with the stress gear, two anti-falling discs are fixedly connected to the surface of the driving gear, and one side of the stress gear is located between the two anti-falling discs. The material is physically limited by the barrier plate, so that the material processing effect is prevented from being influenced by excessive overturning of the material.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technology field especially relates to a robot gripper is with turnover structure. BACKGROUND

[0002] The robot gripper is the important terminal executor of robot, is mainly used for grabbing, carrying and operating object, this is the most basic function, can according to task demand to grab the object of different shape, size and weight, such as industrial production line to grab parts, grab package in logistics scene etc., can place the object of grabbing to specified position accurately, satisfy high-precision operation requirement, like electronic component assembly, place tiny component to circuit board specific position accurately, can work under a variety of complex environments, such as high temperature, low temperature, poisonous and harmful etc. Special environment, replace artificial to complete dangerous or object operation task under the bad condition, grab object through the opening and closing of mechanical gripper, simple structure, and the grabbing force is larger, is suitable for grabbing the object of regular shape, has explicit grabbing surface, such as square workpiece, cylindrical parts etc. According to the different driving modes, it can be divided into pneumatic gripper, electric gripper and hydraulic gripper, and the vacuum principle is used to generate suction force to adsorb objects, which has the advantages of fast grabbing speed and no damage to the surface of the object, and is commonly used for grabbing objects with smooth surfaces, such as glass, plastic plates, paper, etc. However, it has high requirements for the sealing of the object, and the grabbing weight is limited, and the object is adsorbed by magnetic force, which has strong grabbing force and does not need to be in close contact with the surface of the object, and can be used to grab objects made of ferromagnetic materials, such as steel parts. However, it may affect some objects that are easily magnetized or sensitive to magnetism, and impurities such as iron filings may be adsorbed during the adsorption process. It is usually made of flexible materials such as silicone and rubber, which can adapt to the shape of the object and can grab irregular and fragile objects such as fruits and handicrafts. It has good flexibility and adaptability, but the grabbing force is relatively small.

[0003] In the prior art, after the material is adsorbed by the robot gripper, the material needs to be turned over, then the material is processed, and after processing, the material is put down and the robot gripper is reset, and the next material is grabbed and adsorbed for processing.

[0004] However, the existing robot gripper turnover structure is prone to over-turning during use, which affects the processing of the robot gripper to grab the material, and affects the effect and reliability of the material processing of the robot gripper. Utility model content

[0005] The utility model aims at providing a robot gripper turnover structure, which solves the problem of over-turning of the robot gripper turnover structure in the prior art, which affects the material processing effect and reliability.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme:

[0007] A robot gripper is overturned structure, including frame and manipulator, the surface of manipulator is fixedly connected with drive gear, the surface of frame is equipped with adjusting groove, the inside of adjusting groove is equipped with the adjusting block that is H-shaped through adjusting mechanism, the surface of adjusting block is screw connected with screw rod, one end of screw rod is fixedly connected with extension rod, the surface of extension rod is equipped with stress gear through mounting mechanism, drive gear is engaged with stress gear, the surface of drive gear is fixedly connected with two anti -drop disc, one side of stress gear is located between two anti -drop disc.

[0008] Preferably, the adjusting mechanism comprises an insertion rod passing through the surface of the adjusting block, and the surface of the frame is provided with a plurality of insertion grooves, and one end of the insertion rod is located in the inside of the adjacent insertion grooves.

[0009] Preferably, one end of the insertion rod is elastically connected to the surface of the adjusting block through a compression spring.

[0010] Preferably, the mounting mechanism comprises four synchronous grooves provided on the surface of the extension rod, and the inner side of the stress gear is fixedly connected with four synchronous rods, and the synchronous rods are located in the inside of the adjacent synchronous grooves.

[0011] Preferably, one end of the extension rod is screw connected with a nut, and the surface of the nut is fixedly connected with a blocking plate.

[0012] Preferably, the surface of the anti -drop disc is rotatably connected with a roller.

[0013] The utility model has the following beneficial effects:

[0014] When the manipulator is used, the material can be conveniently grabbed by vacuum or magnetic adsorption, then overturned by the internal structure of the frame, the material processing is facilitated, and the screw rod can be driven to rotate during the material overturning process, so that the blocking plate on the screw rod physically limits the material, preventing the material from being overturned excessively and affecting the material processing effect. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0016] Figure 1 It is the structural schematic diagram of the utility model;

[0017] Figure 2 It is Figure 1 The side surface schematic diagram of

[0018] Figure 3 for Figure 2 side view of the anti-off disc in the middle;

[0019] Figure 4 for Figure 1 side view of the adjusting mechanism in the middle;

[0020] Figure 5 for Figure 1 side view of the mounting mechanism in the middle.

[0021] In the figure: 1, frame; 2, mechanical hand; 3, driving gear; 4, adjusting groove; 5, adjusting mechanism; 6, adjusting block; 7, screw rod; 8, extension rod; 9, mounting mechanism; 10, force gear; 11, anti-off disc; 12, roller; 501, insertion rod; 502, insertion groove; 503, compression spring; 901, synchronous groove; 902, synchronous rod; 903, nut; 904, blocking plate. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail by combining with the drawings and examples. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0023] Referring to Figures 1-5The utility model provides a kind of turnover structure for robot gripper, including frame 1 and manipulator 2, in prior art, manipulator 2 is the mechanical structure that material is clamped and grabbed in production and processing engineering, it is existing mature technology, electrical element that the operation of driving manipulator 2 is protected by frame 1, in actual use process, manipulator 2 can be turned over by the structure inside frame 1, to facilitate driving material to turn over processing, the surface of manipulator 2 is fixedly connected with driving gear 3, in the process of turning over of manipulator 2, manipulator 2 will also be rotated, to be able to drive driving gear 3 is rotated, driving gear 3 can drive the stress gear 10 engaged with it to rotate when rotating, the surface of frame 1 is provided with adjusting groove 4, adjusting groove 4 is provided with the adjusting block 6 of H shape by adjusting mechanism 5 inside, in actual use, the position of adjusting block 6 can be adjusted according to different processing materials, the position of adjusting block 6 is determined by adjusting mechanism 5 after adjusting block 6 is adjusted to slide in adjusting groove 4, the surface of adjusting block 6 is threadedly connected with screw rod 7, screw rod 7 on adjusting block 6 moves along with the movement of adjusting block 6, so that the change determination of the position of adjusting block 6 is also in the change determination of the position of screw rod 7, one end of screw rod 7 is fixedly connected with extension rod 8, screw rod 7 is fixed with extension rod 8, so the rotation of screw rod 7 also drives extension rod 8 to rotate, the movement of screw rod 7 also drives extension rod 8 to move, the surface of extension rod 8 is provided with stress gear 10 by mounting mechanism 9, when needing to limit different materials, stress gear 10 can be installed on extension rod 8 by mounting mechanism 9, then stress gear 10 is moved by moving adjusting block 6, so that stress gear 10 is engaged with driving gear 3, so that driving gear 3 can drive stress gear 10 to rotate, driving gear 3 is engaged with stress gear 10, the surface of driving gear 3 is fixedly connected with two anti-drop discs 11, one side of stress gear 10 is located between two anti-drop discs 11, anti-drop disc 11 can prevent stress gear 10 from disengaging from driving gear 3 in the process that driving gear 3 drives stress gear 10 to rotate, ensure that driving gear 3 stably drives stress gear 10 to move, stress gear 10 can drive extension rod 8 to rotate by mounting mechanism 9, the rotation of extension rod 8 can drive screw rod 7 to rotate, screw rod 7 is threadedly connected with adjusting block 6, so in the rotation of screw rod 7, screw rod 7 will move towards the outside of frame 1, in this process, stress gear 10 does not move along with extension rod 8 by mounting mechanism 9, to conveniently ensure that stress gear 10 is continuously rotated by the force of driving gear 3, so that one end of extension rod 8 moves below material, blocks material to continue to rotate, limits the turnover of manipulator 2, prevents manipulator 2 from turning over excessively.

[0024] Further, the adjusting mechanism 5 comprises an insertion rod 501 penetrating the surface of the adjusting block 6, and the surface of the rack 1 is provided with a plurality of insertion grooves 502, one end of the insertion rod 501 is located inside the adjacent insertion groove 502, when the position of the adjusting block 6 needs to be adjusted, the insertion rod 501 needs to be pulled out of the insertion groove 502, so that the position of the adjusting block 6 is not fixed, and then the adjusting block 6 is moved until the position of the adjusting block 6 is adjusted, and then the insertion rod 501 is inserted into the insertion groove 502 again, so that the position of the adjusting block 6 is limited and fixed, and the position of the screw rod 7 on the adjusting block 6 is stable.

[0025] Further, one end of the insertion rod 501 is elastically connected to the surface of the adjusting block 6 through a compression spring 503, and when the position of the adjusting block 6 needs to be determined by inserting the insertion rod 501 into the insertion groove 502, the insertion rod 501 can also be provided with a force through the compression spring 503 during this process, so that the insertion rod 501 cannot easily come off the insertion groove 502 during use, and an external force is required to come off the insertion groove 502.

[0026] Further, the mounting mechanism 9 comprises four synchronous grooves 901 provided on the surface of the extension rod 8, and the inner side of the force gear 10 is fixedly connected with four synchronous rods 902, the synchronous rod 902 is located inside the adjacent synchronous groove 901, when the force gear 10 needs to be mounted on the extension rod 8, the synchronous rod 902 and the synchronous groove 901 can be used to drive the extension rod 8 to rotate when the force gear 10 is forced to rotate, so that the extension rod 8 can rotate synchronously with the force gear 10, and when the extension rod 8 is driven by the screw rod 7 to move outward from the rack 1, the synchronous rod 902 can also be conveniently moved in the synchronous groove 901 to ensure that the force gear 10 is not affected and continues to be driven by the driving gear 3.

[0027] Further, one end of the extension rod 8 is threadedly connected with a nut 903, and the surface of the nut 903 is fixedly connected with a blocking plate 904, when the material needs to be blocked by the extension rod 8 to prevent the manipulator 2 from rotating too much, the blocking plate 904 can be conveniently used to block the material, and the nut 903 is used to fix one end of the extension rod 8, so that the blocking plate 904 is fixed on the extension rod 8 without affecting the installation of the force gear 10.

[0028] Further, the surface of the anti-falling disc 11 is rotatably connected with a roller 12, and the anti-falling disc 11 can reduce the friction between the anti-falling disc 11 and the force gear 10 during use through the roller 12, so that the force gear 10 can be conveniently rotated to drive the extension rod 8 to rotate.

[0029] In summary:

[0030] In the use of the mechanical arm 2 to process the material, the mechanical arm 2 can be turned over by the electrical elements inside the frame 1 to facilitate the processing of the material. Before processing the material, different diameters of the force receiving gear 10 need to be selected according to the different materials, then the synchronization rod 902 on the force receiving gear 10 is aligned with the synchronization groove 901, and then the synchronization rod 902 is inserted into the synchronization groove 901, so that the force receiving gear 10 is installed on the extension rod 8. One end of the extension rod 8 is blocked by the nut 903, and then the insertion rod 501 is pulled out of the insertion groove 502. The adjusting block 6 inside the adjusting groove 4 is moved to make the adjusting block 6 drive the force receiving gear 10 to approach the driving gear 3 until the driving gear 3 is engaged. At this time, the force receiving gear 10 is clamped by the two anti-drop discs 11, and then the insertion rod 501 is released. The insertion rod 501 moves by the elastic force of the compression spring 503, so that the insertion rod 501 can enter the adjacent insertion groove 502, so that the position of the adjusting block 6 is determined and cannot be changed. At this time, the mechanical arm 2 is started, and the mechanical arm 2 can drive the material to turn over. When the material turns over, the mechanical arm 2 can also drive the driving gear 3 to rotate. When the driving gear 3 rotates, the force of the anti-drop disc 11 on the force receiving gear 10 is reduced by the roller 12, so that the screw rod 7 rotates, and the blocking plate 904 at one end of the extension rod 8 moves and protrudes to a position capable of blocking the rotation of the material. After the material is processed, the mechanical arm 2 is reset to rotate and drive the blocking plate 904 back to the original position, so that the mechanical arm 2 can obtain a physical limiting structure during the turning process, preventing the mechanical arm 2 from rotating excessively. Through the above structure, when the mechanical arm 2 is needed to turn over the material, the blocking plate 904 on the frame 1 can be moved by the mechanical arm 2 to limit the material, so that the turning of the mechanical arm 2 does not cause the material to be unable to be normally processed, so that the material is better processed, and the blocking plate 904 can be reset when the mechanical arm 2 is reset to rotate, so that the material can be repeatedly limited to ensure that the material is normally processed during the turning of the mechanical arm 2.

[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 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. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. A turnover structure for a robot gripper, comprising a frame (1) and a robot hand (2), characterized in that, The surface of the mechanical arm (2) is fixedly connected with a driving gear (3), the surface of the rack (1) is provided with an adjusting groove (4), the inside of the adjusting groove (4) is provided with an H-shaped adjusting block (6) through an adjusting mechanism (5), the surface of the adjusting block (6) is screw-connected with a screw rod (7), one end of the screw rod (7) is fixedly connected with an extension rod (8), the surface of the extension rod (8) is provided with a force gear (10) through a mounting mechanism (9), the driving gear (3) is engaged with the force gear (10), the surface of the driving gear (3) is fixedly connected with two anti-off discs (11), one side of the force gear (10) is located between the two anti-off discs (11).

2. The turnover structure for a robot gripper according to claim 1, characterized in that The adjusting mechanism (5) comprises an insertion rod (501) penetrating the surface of the adjusting block (6), the surface of the rack (1) is provided with a plurality of insertion grooves (502), and one end of the insertion rod (501) is located in the inside of the adjacent insertion groove (502).

3. The turnover structure for a robot gripper according to claim 2, characterized in that One end of the insertion rod (501) is elastically connected with the surface of the adjusting block (6) through a compression spring (503).

4. The turnover structure for a robot gripper according to claim 1, wherein The mounting mechanism (9) comprises four synchronous grooves (901) provided on the surface of the extension rod (8), the inner side of the force gear (10) is fixedly connected with four synchronous rods (902), and the synchronous rods (902) are located in the adjacent synchronous grooves (901).

5. The turnover structure for a robot gripper according to claim 1, wherein One end of the extension rod (8) is screw-connected with a nut (903), and the surface of the nut (903) is fixedly connected with a blocking plate (904).

6. The turnover structure for a robot gripper according to claim 1, wherein The surface of the anti-off disc (11) is rotatably connected with a roller (12).

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