Clamping mechanism of conveying manipulator

Abstract

The utility model discloses a conveying manipulator clamping mechanism which comprises a clamping frame, one side of the inner wall of the clamping frame is rotatably matched with a clamping gear, one side of the inner wall of the clamping frame is provided with two tightening toothed plates meshed with the clamping gear, the lower sides of the two tightening toothed plates are fixedly connected with clamping claws, and the clamping claws are fixedly connected with the clamping gear. Two hidden grooves are formed in the sides, close to each other, of the two clamping claws, positioning ejector pins are arranged on the inner walls of the multiple hidden grooves in a sliding fit mode, and two stress plates are fixedly connected to one ends of the multiple positioning ejector pins. By arranging the positioning ejector pin, the stress plate and the tension spring, when the two clamping claws are separated, the limiting block is separated from the jacking block, the stress plate drives the positioning ejector pin to be unfolded in the hidden groove through tension of the tension spring, the positioning ejector pin extrudes a workpiece and positions the workpiece, and due to the fact that the contact area of the positioning ejector pin is small, adsorption cannot be generated; therefore, the workpiece is separated from the clamping claw, and the accurate discharging position is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a clamping mechanism for a conveying robotic arm. Background Technology

[0002] The clamping mechanism of a conveyor robot is a key component used to grasp and fix workpieces. It typically uses a specific mechanical transmission method to precisely control the relative movement of the gripper arms, achieving reliable clamping and releasing of the workpiece. During the operation of the conveyor robot, the clamping mechanism is first positioned in a suitable location by a relevant motion mechanism, so that the grippers at the front end of the gripper arms are close to both sides of the workpiece. Then, the motor drives gears, racks, and other components to make the gripper arms move in a linear motion relative to or opposite to each other on a linear guide rail, causing the grippers to tighten or loosen, completing the grasping and releasing of the workpiece so that it can be accurately conveyed to the designated location afterward.

[0003] A search revealed Chinese patent application CN200920196049.3, which discloses a robotic clamping mechanism. The mechanism includes a motor base and a linear guide rail. Linear guide rail sliders A and B are mounted on the linear guide rail, with left and right clamping arms fixed to sliders A and B respectively. A motor is fixed to the motor base and connected to a central gear. Left and right telescopic racks mesh with the central gear on either side. The left and right telescopic racks extend and retract synchronously with the rotation of the central gear. The left clamping arm is fixedly connected to the left telescopic rack, and the right clamping arm is fixedly connected to the right telescopic rack. This invention, by placing the left and right clamping arms on the linear guide rail, allows for free extension and retraction of the arms, accurate positioning, and low resistance, thus ensuring a firm and stable clamping of the workpiece. Simultaneously, the rotation of the central gear drives the synchronous extension and retraction of the left and right telescopic racks, enabling the left and right clamping arms to extend and retract on both sides around the central gear, allowing for rapid clamping and release of the workpiece.

[0004] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: While the existing technologies can quickly clamp and release workpieces by simultaneously controlling the extension and retraction of both sides, in actual use, static electricity may be generated during contact and friction between the workpiece and the grippers, potentially leading to electrostatic adsorption. Alternatively, if the workpiece itself is adhesive, even if the grippers are programmed to simultaneously release and retract on both sides during unloading, the workpiece may still be attracted to one of the grippers due to its adhesion. This adhesive force can cause the workpiece to shift as the gripper moves, resulting in a deviation from the originally set unloading position and preventing accurate placement at the target location. This can affect the smooth operation of subsequent processes and reduce production efficiency. Therefore, it is essential to design a clamping mechanism for a conveying robot that is both practical and has a positioning effect. Utility Model Content

[0005] The purpose of this invention is to provide a clamping mechanism for a conveying robot to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a clamping mechanism for a conveying robot, including a clamping frame, a clamping gear rotatably engaged on one side of the inner wall of the clamping frame, two tightening tooth plates meshing with the clamping gear on one side of the inner wall of the clamping frame, clamping claws fixedly connected to the lower side of each of the two tightening tooth plates, two hidden grooves opened on the adjacent side of each of the two clamping claws, positioning pins slidably engaged on the inner wall of each of the hidden grooves, two force plates fixedly connected to one end of each of the positioning pins, and multiple tension springs provided between the force plates and the clamping claws;

[0007] A hollow frame is fixedly connected to the lower side of the clamping frame. Two top pressing blocks are slidably fitted on the inner wall of the hollow frame. An adjustment component that cooperates with the two top pressing blocks is provided on the inner wall of the hollow frame. A limiting block that cooperates with the top pressing blocks is fixedly connected to one side of each of the two force plates. A drive motor that cooperates with the clamping gear is provided on one side of the clamping frame.

[0008] According to the above technical solution, the adjustment assembly includes two partition plates fixedly connected to the inner wall of the hollow frame, a bidirectional lead screw rotatably fitted on the partition plates and threadedly fitted with the two top pressure blocks, a worm gear fixedly connected to the bidirectional lead screw, and a worm gear rotatably fitted on one side of the inner wall of the hollow frame and meshing with the worm gear.

[0009] According to the above technical solution, two guide openings are provided on one side of the clamping frame, and the inner walls of the two guide openings are slidably fitted with guide blocks that are fixedly connected to the two tightening tooth plates.

[0010] According to the above technical solution, the other end of each positioning pin is fixedly connected with a protective pad, and the protective pad is bonded to the positioning pin.

[0011] According to the above technical solution, two stabilizing rods are fixedly connected to opposite sides of the two clamping claws, and a reinforcement port that slides with the stabilizing rods is opened on one side of the two force plates.

[0012] According to the above technical solution, a knob ring is fixedly connected to one end of the worm gear, and an anti-slip ring is fixedly connected to the knob ring. One end of the worm gear extends to one side of the hollow frame and is rotatably engaged.

[0013] According to the above technical solution, a scale line is provided on one side of each of the two top pressing blocks, and the scale line is matched with the hollow frame.

[0014] 1. This utility model, by setting a positioning pin, a force plate, and a tension spring, when the two clamping claws separate, the limiting block and the top pressing block separate. The tension of the tension spring causes the force plate to drive the positioning pin to unfold in the hidden groove. The positioning pin squeezes the workpiece and positions the workpiece. Because the contact area of ​​the positioning pin is small, it will not produce adsorption, thereby separating the workpiece from the clamping claws and ensuring accurate material release position.

[0015] 2. This utility model, by means of a mechanism, allows the rotation of a worm gear to drive the rotation of a worm wheel and a bidirectional lead screw. Since the two pressure blocks are threadedly engaged with the bidirectional lead screw, the rotation of the bidirectional lead screw will push the two pressure blocks to move within the hollow frame to adjust the spacing, thereby accommodating workpieces of different widths and improving the applicability of the clamping mechanism. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional cross-sectional structure of the clamping frame of this utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional cross-sectional structure of the hollow frame of this utility model;

[0020] Figure 4 This is a three-dimensional structural diagram of the clamping frame of this utility model from a bottom view;

[0021] In the diagram: 1. Clamping frame; 2. Clamping gear; 3. Tightening toothed plate; 4. Clamping claw; 5. Hidden groove; 6. Positioning pin; 7. Force plate; 8. Tension spring; 9. Hollow frame; 10. Top pressure block; 11. Adjustment component; 111. Divider plate; 112. Two-way lead screw; 113. Worm gear; 114. Worm; 12. Limiting block; 13. Drive motor; 14. Guide port; 15. Guide block; 16. Protective pad; 17. Stabilizing rod; 18. Reinforcing port; 19. Knob ring; 20. Anti-slip ring; 21. Scale line. Detailed Implementation

[0022] 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.

[0023] Please see Figure 1-4 The present invention provides a technical solution: a clamping mechanism for a conveying robot, comprising a clamping frame 1, a clamping gear 2 rotatably fitted on one side of the inner wall of the clamping frame 1, two tightening tooth plates 3 meshing with the clamping gear 2 on one side of the inner wall of the clamping frame 1, clamping claws 4 fixedly connected to the lower side of each of the two tightening tooth plates 3, two hidden grooves 5 opened on the adjacent side of each of the two clamping claws 4, positioning pins 6 slidably fitted on the inner wall of each of the hidden grooves 5, two force plates 7 fixedly connected to one end of each of the multiple positioning pins 6, and multiple tension springs 8 provided between the force plates 7 and the clamping claws 4;

[0024] A hollow frame 9 is fixedly connected to the lower side of the clamping frame 1. Two top pressure blocks 10 are slidably fitted on the inner wall of the hollow frame 9. An adjustment component 11 that cooperates with the two top pressure blocks 10 is provided on the inner wall of the hollow frame 9. A limiting block 12 that cooperates with the top pressure block 10 is fixedly connected to one side of each of the two force plates 7. A drive motor 13 that cooperates with the clamping gear 2 is provided on one side of the clamping frame 1.

[0025] Please see Figure 3 The adjustment assembly 11 includes two partition plates 111 fixedly connected to the inner wall of the hollow frame 9, a bidirectional lead screw 112 rotatably fitted on the partition plates 111 and threadedly fitted with two top pressing blocks 10, a worm wheel 113 fixedly connected to the bidirectional lead screw 112, and a worm 114 rotatably fitted on one side of the inner wall of the hollow frame 9 and meshing with the worm wheel 113. By rotating the worm 114, the worm wheel 113 and the bidirectional lead screw 112 can be driven to rotate, so that the bidirectional lead screw 112 pushes the top pressing blocks 10 to expand to different degrees from the inside of the hollow frame 9, thereby enabling the processing of workpieces of different widths.

[0026] Please see Figure 4 Two guide openings 14 are provided on one side of the clamping frame 1. The inner walls of the two guide openings 14 are slidably fitted with guide blocks 15 that are fixedly connected to the two tightening tooth plates 3. When the tightening tooth plates 3 inside the clamping frame 1 move, the guide blocks 15 will move accordingly inside the guide openings 14, thereby improving the stability of the movement of the tightening tooth plates 3.

[0027] Please see Figure 2 The other end of each positioning pin 6 is fixedly connected with a protective pad 16. The protective pad 16 is bonded to the positioning pin 6. When the two clamping claws 4 move in opposite directions, the positioning pin 6 squeezes the workpiece, and the protective pad 16 is between the workpieces, which can protect the workpiece from being squeezed.

[0028] Please see Figure 1Two stabilizing rods 17 are fixedly connected to opposite sides of the two clamping claws 4. One side of each of the two force plates 7 is provided with a reinforcement opening 18 that slides with the stabilizing rod 17. When the force plate 7 moves, the reinforcement opening 18 on its upper side will slide on the outside of the stabilizing rod 17, thereby improving the smoothness of the movement of the force plate 7.

[0029] Please see Figure 3 One end of the worm gear 114 is fixedly connected to a knob ring 19, and an anti-slip ring 20 is fixedly connected to the knob ring 19. One end of the worm gear 114 extends to one side of the hollow frame 9 and rotates to engage. The worm gear 114 can be easily operated by holding the knob ring 19, and the anti-slip ring 20 can be used to ensure smooth operation when holding the knob ring 19.

[0030] Please see Figure 3 Each of the two pressure blocks 10 has a scale line 21 on one side. The scale line 21 cooperates with the hollow frame 9. When the pressure block 10 is adjusted, the operator can adjust the position of the pressure block 10 more accurately by cooperating with the scale line 21 and the hollow frame 9.

[0031] The implementation principle of this application is as follows: When this clamping mechanism is in use, it is first connected to the corresponding robot and connected to the power supply. Then, the two clamping jaws 4 are moved to the outside of the workpiece, and the drive motor 13 is started. The drive motor 13 drives the clamping gear 2 to rotate. Since the two tightening tooth plates 3 mesh with the clamping gear 2, the rotation of the clamping gear 2 will drive the two tightening tooth plates 3 to move in the same direction, thereby tightening the two clamping jaws 4 to fix the workpiece. When it is released, the drive motor 13 is started in reverse to achieve simultaneous release.

[0032] First, adjust the top pressure block 10 from the hollow frame 9 to the corresponding position. During the tightening process of the clamping claw 4, the force plate 7 and the positioning pin 6 will move accordingly. When the limiting block 12 contacts the top pressure block 10, the top pressure block 10 restricts the limiting block 12, so that the positioning pin 6 is compressed and hidden in the hidden groove 5. At the same time, one end of the positioning pin 6 contacts the two sides of the workpiece to play a limiting role. When the two clamping claws 4 separate, the limiting block 12 separates from the top pressure block 10. The tension of the tension spring 8 causes the force plate 7 to drive the positioning pin 6 to unfold in the hidden groove 5. The positioning pin 6 squeezes the workpiece. Because the contact area of ​​the positioning pin 6 is small, it is not easy to produce adsorption, thereby separating the workpiece from the clamping claw 4 and ensuring accurate material release position.

[0033] When clamping workpieces of different widths, the worm gear 114 can be rotated by rotating the knob ring 19. Since the worm gear 114 meshes with the worm wheel 113, the rotation of the worm gear 114 will drive the worm wheel 113 to rotate. Since the double-acting screw 112 is fixedly connected to the worm wheel 113, the rotation of the worm wheel 113 will drive the double-acting screw 112 to rotate. Since the two pressure blocks 10 are threadedly engaged with the double-acting screw 112, the rotation of the double-acting screw 112 will push the two pressure blocks 10 to move within the hollow frame 9 to adjust the spacing, so as to adapt to workpieces of different widths and improve the applicability of the clamping mechanism. Moreover, the scale line 21 on the pressure block 10 is engaged with the hollow frame 9, which makes it convenient for the operator to adjust the position of the pressure block 10 more accurately.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model 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 this utility model should be included within the protection scope of this utility model.

Claims

1. A clamping mechanism of a transfer robot, comprising a clamping frame (1), characterized in that: A clamping gear (2) is rotatably fitted on one side of the inner wall of the clamping frame (1). Two tightening tooth plates (3) that mesh with the clamping gear (2) are provided on one side of the inner wall of the clamping frame (1). A clamping claw (4) is fixedly connected to the lower side of each of the two tightening tooth plates (3). Two hidden grooves (5) are opened on the adjacent side of each of the two clamping claws (4). A positioning pin (6) is slidably fitted on the inner wall of each of the hidden grooves (5). Two force plates (7) are fixedly connected to one end of each of the positioning pins (6). A plurality of tension springs (8) are provided between the force plates (7) and the clamping claws (4). A hollow frame (9) is fixedly connected to the lower side of the clamping frame (1). Two top pressing blocks (10) are slidably fitted on the inner wall of the hollow frame (9). An adjustment component (11) that cooperates with the two top pressing blocks (10) is provided on the inner wall of the hollow frame (9). A limiting block (12) that cooperates with the top pressing block (10) is fixedly connected to one side of each of the two force plates (7). A drive motor (13) that cooperates with the clamping gear (2) is provided on one side of the clamping frame (1).

2. A gripping mechanism for a transfer robot as claimed in claim 1, characterized in that: The adjusting assembly (11) includes two partition plates (111) fixedly connected to the inner wall of the hollow frame (9), a double-acting screw (112) rotatably fitted on the partition plates (111) and threadedly fitted to the two top pressure blocks (10), a worm gear (113) fixedly connected to the double-acting screw (112), and a worm (114) rotatably fitted on one side of the inner wall of the hollow frame (9) and meshing with the worm gear (113).

3. A gripping mechanism for a transfer robot as claimed in claim 1, wherein: Two guide openings (14) are provided on one side of the clamping frame (1), and the inner walls of the two guide openings (14) are slidably fitted with guide blocks (15) that are fixedly connected to the two tightening tooth plates (3).

4. The gripping mechanism of a transfer robot according to claim 1, characterized in that: The other end of each positioning pin (6) is fixedly connected to a protective pad (16), and the protective pad (16) is bonded to the positioning pin (6).

5. The gripping mechanism of a transfer robot according to claim 1, characterized in that: Two stabilizing rods (17) are fixedly connected to opposite sides of the two clamping claws (4), and one side of each of the two force plates (7) is provided with a reinforcing opening (18) that slides with the stabilizing rods (17).

6. A gripping mechanism for a transfer robot as claimed in claim 2, wherein: One end of each worm (114) is fixedly connected to a knob ring (19), and an anti-slip ring (20) is fixedly connected to the knob ring (19). One end of the worm (114) extends to one side of the hollow frame (9) and is rotatably engaged.

7. The clamping mechanism of a conveying robot according to claim 1, characterized in that: Each of the two top pressing blocks (10) has a scale line (21) on one side, and the scale line (21) is matched with the hollow frame (9).

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