Three-jaw clamping jaw robot

Abstract

The utility model provides a three-jaw clamping jaw robot. Comprising a coupling block, a frame plate is mounted on the coupling block, a mounting plate A is mounted on the frame plate, a mounting plate B is mounted below the frame plate, and a chuck A is mounted on the mounting plate A. Two groups of adjustable inner support type clamping jaws are arranged on the upper portion, the distance between one group of adjustable inner support type clamping jaws and the other group of adjustable inner support type clamping jaws can be adjusted through the adjusting mechanism, so that the adjustable inner support type clamping jaws can adapt to grabbing tasks of more workpieces with different shapes and sizes, stable grabbing is achieved, meanwhile, the double-end air cylinder and the clamping heads are installed on the lower portion, additional operation flexibility is provided for the robot, and the working efficiency is improved. And in addition, the position detectors are arranged on the three sets of clamps, the position states of the clamps can be accurately monitored in real time, it is ensured that each grabbing action can be accurately in place, and the workpiece grabbing efficiency and the workpiece grabbing stability are effectively improved.

Description

Technical Field

[0001] This utility model relates to gripper robots, and more particularly to three-claw gripper robots, belonging to the field of robot technology. Background Technology

[0002] A gripper robot is an automated mechanical device capable of grasping and placing objects. It typically consists of a mechanical structure, a drive system, a control system, and gripper devices. It can replace manual labor in repetitive, high-precision, or hazardous environments to complete tasks such as material handling, parts assembly, and item sorting, thereby improving production efficiency and quality while reducing labor intensity and costs.

[0003] Publication number CN214520252U discloses a robot gripper, including a mounting plate connected to a robot arm. Two gripping plates slide on the side of the mounting plate away from the robot arm, arranged symmetrically. Each gripping plate has a first groove on its opposite surface. A second groove is formed on the inner wall of the first groove facing outwards. Both the first and second grooves connect to the two sides of the gripping plates. The second groove is located between the inner walls of the two ends of the first groove. A drive assembly is provided on the mounting plate to drive the two gripping plates to slide towards or away from each other. This robot gripper effectively increases the gripping flange type of the robot arm.

[0004] However, the number of grippers in this type of robot is the same as that of traditional robot grippers, with only one set of grippers. This means that it can only be adapted to gripping objects of specific types and sizes, and it is difficult to adapt to a wider range of object sizes. In addition, most traditional grippers are external grippers, which are not good in terms of gripping effect and stability for some objects with stable internal structures that are suitable for internal support and fixation. They also have low flexibility and will affect the workpiece gripping efficiency and gripping stability.

[0005] Therefore, a three-claw gripper robot was proposed. Utility Model Content

[0006] In view of this, the present invention provides a three-claw gripper robot to solve or alleviate the technical problems existing in the prior art, and at least provides a beneficial option.

[0007] The technical solution of this utility model is implemented as follows: a three-claw gripper robot includes a coupling block, a frame plate mounted on the coupling block, an mounting plate A mounted on the frame plate, a mounting plate B mounted below the frame plate, a gripper A mounted on the mounting plate A, a gripper head A connected to the gripper A via a gripper sliding mechanism, a detection plate A mounted on the surface of the gripper head A, an L-shaped plate A mounted on the mounting plate A, a position detector A installed inside the L-shaped plate A, and a mounting plate C connected to the side of the mounting plate A via an adjustment mechanism; a device is mounted on top of the mounting plate C. A chuck B is provided, and the chuck B is connected to a chuck head B via a jaw sliding mechanism. A detection plate B is mounted on the surface of the chuck head B. An L-shaped plate B is mounted on a mounting plate C, and a position detector B is installed inside the L-shaped plate B. A double-headed cylinder is mounted below the mounting plate B, and a position detector C is installed inside the double-headed cylinder. The output end of the double-headed cylinder is connected to a chuck head C and a chuck head D via a jaw sliding mechanism. A detection plate C is mounted on the side of the chuck head D. An L-shaped plate C is mounted below the mounting plate B, and a position detector D is installed inside the L-shaped plate C.

[0008] More preferably, the chuck sliding mechanism includes a guide groove, a slider, a cover plate, a connecting block, and a connecting cover. The guide groove is disposed inside the chuck A, chuck B, and double-headed cylinder. The slider is slidably disposed within the guide groove. The cover plate is installed above the chuck A, chuck B, and double-headed cylinder. The connecting block is installed above the slider. The connecting cover is sleeved on the surface of the connecting block. The connecting block is installed below the chucks A, chuck B, chuck C, and chuck D.

[0009] More preferably, the adjustment mechanism includes a slide rail, a groove block, an electric push rod, a protrusion, a connecting hook, a connecting column, and a tension spring. The slide rail is installed below the mounting plate A, the groove block is slidably installed on the surface of the slide rail, the groove block is installed below the mounting plate C, the electric push rod and the connecting column are both installed below the mounting plate A, the protrusion and the connecting hook are both installed below the mounting plate C, the output end of the protrusion and the electric push rod are connected, and the tension spring is disposed between the connecting hook and the connecting column.

[0010] More preferably, the detection plate A, detection plate B and detection plate C are all provided with holes and slots.

[0011] More preferably, one end of the tension spring is connected to the connecting hook, and the other end of the tension spring is connected to the connecting post.

[0012] More preferably, the chuck C and the chuck D are arranged opposite to each other.

[0013] More preferably, the cover plate is provided with a through groove, and the connecting block is slidably installed in the through groove.

[0014] The present invention has the following advantages due to the adoption of the above technical solution:

[0015] In this invention, two sets of adjustable internal support grippers are provided at the top, and the distance between one set and the other set can be adjusted by an adjustment mechanism, thereby adapting to a wider range of workpiece gripping tasks with different shapes and sizes to achieve stable gripping. At the same time, the double-headed cylinder and gripper installed at the bottom provide the robot with additional operational flexibility, greatly expanding the robot's application scenarios and working capabilities. In addition, position detectors are set on all three sets of grippers, which can accurately monitor the position status of the grippers in real time, ensuring that each gripping action is accurate and in place, effectively improving workpiece gripping efficiency and gripping stability.

[0016] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is an exploded view of the clamp A in this utility model;

[0020] Figure 3 In this utility model Figure 2 Partial structural diagram;

[0021] Figure 4 This is an exploded structural diagram of the clamp B in this utility model;

[0022] Figure 5 In this utility model Figure 4 Partial structural diagram;

[0023] Figure 6 This is a schematic diagram of the upward-facing structure of this utility model;

[0024] Figure 7 For the present utility model Figure 6 Enlarged view of point A in the middle;

[0025] Figure 8 This is a schematic diagram of the rear-view structure of this utility model;

[0026] Figure 9 This is a top view of the structure of this utility model.

[0027] Reference numerals: 1. Coupling block; 2. Frame plate; 3. Mounting plate A; 4. Mounting plate B; 5. Clamping plate A; 6. Guide groove; 7. Slider; 8. Cover plate; 9. Connecting block; 10. Connecting cover; 11. Chuck A; 12. Detection plate A; 13. L-shaped plate A; 14. Position detector A; 15. Slide rail; 16. Mounting plate C; 17. Groove block; 18. Electric push rod; 19. Protrusion; 20. Connecting hook; 21. Connecting column; 22. Tension spring; 23. Clamping plate B; 24. Chuck B; 25. Double-headed cylinder; 26. Position detector C; 27. Chuck C; 28. Chuck D; 29. ​​Detection plate C; 30. L-shaped plate C; 31. Position detector D; 32. L-shaped plate B; 33. Position detector B; 34. Detection plate B. Detailed Implementation

[0028] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0029] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0030] like Figure 1-9 As shown, this utility model embodiment provides a three-jaw gripper robot, including a coupling block 1, a frame plate 2 mounted on the coupling block 1, an mounting plate A3 mounted on the frame plate 2, an mounting plate B4 mounted below the frame plate 2, a gripper A5 mounted on the mounting plate A3, a gripper head A11 connected to the gripper head A11 via a jaw sliding mechanism, a detection plate A12 mounted on the surface of the gripper head A11, an L-shaped plate A13 mounted on the mounting plate A3, a position detector A14 mounted inside the L-shaped plate A13, and a mounting plate C16 connected to the side of the mounting plate A3 via an adjustment mechanism; a gripper head B23 is mounted above the mounting plate C16, gripping... Disc B23 is connected to chuck B24 via a jaw sliding mechanism; a detection plate B34 is mounted on the surface of chuck B24; an L-shaped plate B32 is mounted on mounting plate C16; a position detector B33 is installed inside the L-shaped plate B32; a double-headed cylinder 25 is mounted below mounting plate B4; a position detector C26 is installed inside the double-headed cylinder 25; the output end of the double-headed cylinder 25 is connected to chuck C27 and chuck D28 via a jaw sliding mechanism; a detection plate C29 is mounted on the side of chuck D28; an L-shaped plate C30 is mounted below mounting plate B4; a position detector D31 is installed inside the L-shaped plate C30.

[0031] In one embodiment, the chuck sliding mechanism includes a guide groove 6, a slider 7, a cover plate 8, a connecting block 9, and a connecting cover 10. The guide groove 6 is disposed inside the chuck A5, chuck B23, and double-headed cylinder 25. The slider 7 is slidably disposed in the guide groove 6. The cover plate 8 is installed above the chuck A5, chuck B23, and double-headed cylinder 25. The connecting block 9 is installed above the slider 7. The connecting cover 10 is sleeved on the surface of the connecting block 9. The connecting block 9 is installed below the chuck A11, chuck B24, chuck C27, and chuck D28.

[0032] In one embodiment, the adjustment mechanism includes a slide rail 15, a groove block 17, an electric push rod 18, a protrusion 19, a connecting hook 20, a connecting post 21, and a tension spring 22. The slide rail 15 is installed below the mounting plate A3, the groove block 17 is slidably installed on the surface of the slide rail 15, and the groove block 17 is installed below the mounting plate C16. The electric push rod 18 and the connecting post 21 are both installed below the mounting plate A3, and the protrusion 19 and the connecting hook 20 are both installed below the mounting plate C16. The output end of the protrusion 19 and the electric push rod 18 are connected, and the tension spring 22 is disposed between the connecting hook 20 and the connecting post 21.

[0033] In one embodiment, detection plate A12, detection plate B34 and detection plate C29 are all provided with holes and slots.

[0034] In one embodiment, one end of the tension spring 22 is connected to the connecting hook 20, and the other end of the tension spring 22 is connected to the connecting post 21.

[0035] In one embodiment, chuck C27 and chuck D28 are arranged opposite each other.

[0036] In one embodiment, the cover plate 8 is provided with a through groove, and the connecting block 9 is slidably installed in the through groove.

[0037] In operation, this utility model works as follows: When using the internal support clamp, first adjust the distance between mounting plate A3 and mounting plate C16, thereby adjusting the distance between clamping plates A5 and B23. Start the electric push rod 18 to drive mounting plate C16 and slotted block 17 to slide along slide rail 15. During this process, the upper clamping plate B23 is adjusted in position. After the position adjustment is complete, the workpiece is in a suitable clamping position. Then, pneumatically drive clamping plates A5 and B23, causing three sets of sliders 7 to slide synchronously outward along guide groove 6. This causes multiple sets of chucks A11 and B24 above the sliders 7 to expand outward, providing support and clamping force from within the workpiece. During the sliding of chucks A11 and B24, the positions of detection plates A12 and B34 change, causing the slots above detection plates A12 and B34 to move, and the lower detection slots are then adjusted. After the position detector A14 and position detector B33 detect the change in the position of the slot, they can accurately monitor and ensure that the gripping action is accurate. After the work is completed, the electric push rod 18 is reset. Under the action of the tension spring 22, the electric push rod 18 will assist the mounting plate C16 to slide in the opposite direction. When using chucks C27 and D28, the workpiece is ensured to be clamped between chucks C27 and D28. Then, the double-headed cylinder 25 is activated and the slider 7 is pushed to slide inward along the guide groove 6, which in turn drives the upper chucks C27 and D28 to slide inward, thereby applying pressure to both sides of the workpiece and clamping it. During this process, the position detector C26 will detect whether the slider 7 inside the double-headed cylinder 25 is in working state. At the same time, the movement of chuck D28 will drive the detection plate C29 to move, thereby driving the upper slot to move. With the help of position detector D31, they can accurately monitor and ensure that the gripping action is accurate.

[0038] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A three-jaw gripper robot, characterized in that: The system includes a coupling block (1), a frame plate (2) mounted on the coupling block (1), an mounting plate A (3) mounted on the frame plate (2), a mounting plate B (4) mounted below the frame plate (2), a clamping plate A (5) mounted on the mounting plate A (3), a chuck A (11) connected to the chuck A (11) via a chuck sliding mechanism, a detection plate A (12) mounted on the surface of the chuck A (11), an L-shaped plate A (13) mounted on the mounting plate A (3), a position detector A (14) mounted inside the L-shaped plate A (13), and a mounting plate C (16) connected to the side of the mounting plate A (3) via an adjustment mechanism; a clamping plate B (23) mounted above the mounting plate C (16), and the clamping plate B (23) is connected to the chuck via a chuck sliding mechanism. A chuck sliding mechanism is connected to a chuck B (24); a detection plate B (34) is mounted on the surface of the chuck B (24); an L-shaped plate B (32) is mounted on the mounting plate C (16); a position detector B (33) is installed inside the L-shaped plate B (32); a double-headed cylinder (25) is mounted below the mounting plate B (4); a position detector C (26) is installed inside the double-headed cylinder (25); the output end of the double-headed cylinder (25) is connected to a chuck C (27) and a chuck D (28) through a chuck sliding mechanism; a detection plate C (29) is mounted on the side of the chuck D (28); an L-shaped plate C (30) is mounted below the mounting plate B (4); a position detector D (31) is installed inside the L-shaped plate C (30).

2. The three-jaw gripper robot according to claim 1, characterized in that: The chuck sliding mechanism includes a guide groove (6), a slider (7), a cover plate (8), a connecting block (9), and a connecting cover (10). The guide groove (6) is located inside the chuck A (5), chuck B (23), and double-headed cylinder (25). The slider (7) is slidably located in the guide groove (6). The cover plate (8) is installed above the chuck A (5), chuck B (23), and double-headed cylinder (25). The connecting block (9) is installed above the slider (7). The connecting cover (10) is fitted onto the surface of the connecting block (9). The connecting block (9) is installed below the chuck A (11), chuck B (24), chuck C (27), and chuck D (28).

3. The three-jaw gripper robot according to claim 1, characterized in that: The adjustment mechanism includes a slide rail (15), a groove block (17), an electric push rod (18), a protrusion (19), a connecting hook (20), a connecting column (21), and a tension spring (22). The slide rail (15) is installed below the mounting plate A (3). The groove block (17) is slidably installed on the surface of the slide rail (15). The groove block (17) is installed below the mounting plate C (16). The electric push rod (18) and the connecting column (21) are both installed below the mounting plate A (3). The protrusion (19) and the connecting hook (20) are both installed below the mounting plate C (16). The output end of the protrusion (19) is connected to the electric push rod (18). The tension spring (22) is disposed between the connecting hook (20) and the connecting column (21).

4. The three-jaw gripper robot according to claim 1, characterized in that: The detection plates A (12), B (34) and C (29) are all provided with holes and slots.

5. The three-jaw gripper robot according to claim 3, characterized in that: One end of the tension spring (22) is connected to the connecting hook (20), and the other end of the tension spring (22) is connected to the connecting post (21).

6. The three-jaw gripper robot according to claim 1, characterized in that: The chucks C (27) and D (28) are arranged opposite to each other.

7. The three-jaw gripper robot according to claim 2, characterized in that: The cover plate (8) is provided with a through groove, and the connecting block (9) is slidably installed in the through groove.

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