Robot carrying equipment with clamping grippers convenient to replace

Abstract

The utility model belongs to the technical field of robot carrying equipment, and particularly relates to robot carrying equipment with a clamping gripper convenient to replace, which comprises a base, an adjusting structure is mounted on the bottom surface of the base, a mechanical arm structure is mounted at the top of the base, and a clamping structure is mounted at the top of the mechanical arm structure. The clamping structure comprises a driving disassembly and assembly unit and a clamping unit, the clamping unit is arranged at one end of the driving disassembly and assembly unit, the driving disassembly and assembly unit comprises a fourth control motor, the output end of the fourth control motor is connected with a clamping arm, and a limiting rod is installed on the side, away from the fourth control motor, of the clamping arm; one end of the back of the limiting rod is connected with a limiting table, and a mounting plate is mounted at one end of the back of the limiting table. According to the robot carrying equipment with the clamping grippers convenient to replace, the limiting rods are utilized. And a limiting table and a mounting plate are in thread limiting connection with the clamping arm and the output end of the fourth control motor, so that the clamping arm is convenient to disassemble and replace.

Description

Technical Field

[0001] This utility model relates to the field of robot handling equipment technology, specifically a robot handling device that facilitates the replacement of gripper handles. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] Existing industrial robot fixtures are usually fixed with bolts. When workers need to install the fixture, they often need to use multiple bolts to fix the position of the fixture. However, this fixing method requires workers to tighten several bolts one by one during loading and unloading, which is time-consuming and laborious and is a problem that needs to be improved.

[0004] As disclosed in Chinese Patent CN219255605U, a quick-change fixture connection device for industrial robots is proposed. By connecting a fixed connecting frame to the bottom of the industrial robot body, rotating the connecting threaded rod in the fixed limiting frame to both sides, placing the replacement connecting frame at the bottom of the fixed limiting frame, rotating the connecting threaded rod towards the replacement connecting frame and placing it in the arc groove of the fixed limiting frame, passing the drive shaft rod through the clamping device body, and fixing the replacement connecting frame to the bottom of the fixed limiting frame by rotating the connecting nut, the time for changing fixtures will be reduced to a certain extent when the operator changes the clamping device.

[0005] However, in the use of existing robotic handling equipment, replacement is often required when changing the items being handled or when the gripping components malfunction and need to be disassembled and repaired. This replacement method needs to be simple and quick to ensure work efficiency.

[0006] Therefore, we urgently need to provide a robotic handling device that allows for easy replacement of gripper hands. Utility Model Content

[0007] The purpose of this utility model is to provide a robotic handling device with an easy-to-change gripper, in order to solve the problem mentioned in the background art that when using robotic handling devices, it is usually necessary to replace the items being handled or when the gripper parts malfunction and need to be disassembled and repaired. This replacement method needs to be simple and quick to ensure work efficiency.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a robotic handling device that facilitates the replacement of gripping hands, comprising a base, an adjustment structure mounted on the bottom surface of the base, a robotic arm structure mounted on the top of the base, and a gripping structure mounted on the top of the robotic arm structure.

[0009] The clamping structure includes a drive assembly / disassembly unit and a clamping unit, with the clamping unit disposed at one end of the drive assembly / disassembly unit.

[0010] The drive assembly / disassembly unit includes a control motor four, the output end of which is connected to a clamping arm. A limit rod is installed on the side of the clamping arm away from the control motor four. A limit platform is connected to one end of the back of the limit rod, and an mounting plate is installed on one end of the back of the limit platform.

[0011] Preferably, the clamping unit includes an asynchronous motor, the output end of which is connected to a gear shaft, the end of which, away from the output end of the asynchronous motor, is connected to a clamping plate, and a linkage rod is connected to the middle of the clamping plate.

[0012] Preferably, the limiting rod is connected to the limiting hole inside the limiting groove on one side of the clamping arm; the outer surface of the limiting platform is engaged with the inside of the limiting groove on one side of the clamping arm; the mounting plate is detachably connected to the threaded hole on one side of the clamping arm via threads; and the end of the linkage rod away from the clamping plate is hinged to the middle of the end of the clamping arm away from the control motor. The output end of the control motor is connected to the clamping arm via a disc, and the limiting rod, limiting platform, and mounting plate are detachably connected to it, thereby achieving rapid disassembly of the clamping part.

[0013] Preferably, the robotic arm structure includes a control motor one, the output end of which is connected to a large arm, a control motor two is installed at the end of the large arm away from the control motor one, the output end of the control motor two is connected to a forearm, and a control motor three is detachably installed at the middle of the end of the forearm away from the control motor two, the output end of which is connected to an articulated arm.

[0014] Preferably, the first control motor is installed in the middle of the base, and the fourth control motor is installed in the middle of the articulated arm. The first, second, and third control motors can flexibly adjust the angles of the upper arm, forearm, and articulated arm.

[0015] Preferably, the adjustment structure includes a base, an electric push rod is installed in the center of the front of the base, a connecting plate is connected to the output end of the electric push rod, sliders are installed in the center of the top surface of the base near the left and right ends, and a bottom plate is connected to the top of the connecting plate.

[0016] Preferably, the top surface of the base plate is fixedly connected to the bottom end of the base, the outer surface of the slider is slidably connected to the top surface of the base near the left and right ends by opening sliding grooves, and the electric push rod is detachably installed and connected to the center of the front of the base.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. This robotic handling device, which facilitates the replacement of gripper arms, utilizes a clamping structure with limiting rods, limiting platforms, and mounting plates to provide threaded limiting connections for the gripper arms and the four output ends of the control motor, thereby enabling easy disassembly and replacement of the gripper arms.

[0019] 2. This robot handling equipment, which facilitates the replacement of grippers, uses an electric push rod to push the connecting plate and move the base plate by adjusting the structure. When the base plate moves, it causes the slider to slide on the inner wall of the L-shaped grooves on the top surface of the base near the left and right ends, which facilitates flexible and stable adjustment of the robot's position. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present utility model;

[0021] Figure 2 This is an enlarged view of the internal structure of the adjustment structure of this utility model;

[0022] Figure 3 This is an enlarged view of the robotic arm structure of this utility model;

[0023] Figure 4 This is an enlarged view of the clamping structure of this utility model;

[0024] Figure 5 This is an enlarged view of the clamping structure for disassembly and fixing of this utility model.

[0025] In the diagram: 1. Base; 101. Base; 102. Electric push rod; 103. Connecting plate; 104. Slider; 105. Base plate; 201. Control motor one; 202. Upper arm; 203. Control motor two; 204. Lower arm; 205. Control motor three; 206. Articulated arm; 301. Control motor four; 302. Clamping arm; 303. Limiting rod; 304. Limiting platform; 305. Mounting plate; 306. Asynchronous motor; 307. Gear shaft; 308. Clamping plate; 309. Linkage rod. Detailed Implementation

[0026] 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.

[0027] Please see Figures 1-5This utility model provides a technical solution: Example 1:

[0028] A robotic handling device that facilitates the replacement of gripper hands includes a base 1, an adjustment structure mounted on the bottom surface of the base 1, a robotic arm structure mounted on the top of the base 1, and a gripping structure mounted on the top of the robotic arm structure.

[0029] The clamping structure includes a drive assembly / disassembly unit and a clamping unit. The clamping unit is located at one end of the drive assembly / disassembly unit. The drive assembly / disassembly unit includes a control motor 301. A clamping arm 302 is connected to the output end of the control motor 301. A limit rod 303 is installed on the side of the clamping arm 302 away from the control motor 301. A limit platform 304 is connected to one end of the back of the limit rod 303. An mounting plate 305 is installed on one end of the back of the limit platform 304. The clamping unit includes an asynchronous motor 306. A gear shaft 307 is connected to the output end of the asynchronous motor 306. A clamping plate 308 is connected to the end of the gear shaft 307 away from the output end of the asynchronous motor 306. A linkage rod 309 is connected to the middle of the clamping plate 308.

[0030] The limiting rod 303 is connected to the limiting hole inside the limiting groove on one side of the clamping arm 302. The outer surface of the limiting platform 304 is snapped into the limiting groove on one side of the clamping arm 302. The mounting plate 305 is detachably connected to the threaded hole on one side of the clamping arm 302 by threads. The end of the linkage rod 309 away from the clamping plate 308 is hinged to the middle of the end of the clamping arm 302 away from the control motor 301.

[0031] By using the clamping structure, the clamping arm 302 and the output end of the control motor 301 are connected to the threaded limit by the limiting rod 303, the limiting platform 304, and the mounting plate 305, thereby facilitating the disassembly and replacement of the clamping arm 302.

[0032] When disassembling and assembling the clamping structure, the clamping part can be quickly disassembled by rotating the fixing bolts installed on the mounting plate 305. During the installation process, the limit rod 303 can be inserted to limit the position, and then the limit platform 304 is engaged with the inside of the limit groove to ensure stability and make the connection more stable. Then, the mounting plate 305 is connected and installed with bolts, which facilitates quick installation and ensures work efficiency. When clamping, the asynchronous motor 306 is started to drive one end of the gear shaft 307 to rotate, and the meshing connection of the two gear shafts 307 drives the two clamping plates 308 to move. At the same time, the linkage rod 309 is used to hinge the middle of the clamping plate 308, and the other end of the linkage rod 309 is hinged to the clamping arm 302, so that the asynchronous motor 306 drives the clamping plate 308 to achieve clamping. Example 2:

[0033] Based on Embodiment 1, the robotic arm structure includes a control motor 201, the output end of which is connected to a large arm 202. A control motor 203 is mounted on the end of the large arm 202 away from the control motor 201, the output end of which is connected to a forearm 204. A control motor 205 is detachably mounted on the middle of the end of the forearm 204 away from the control motor 203, and the output end of the control motor 205 is connected to an articulated arm 206. The control motor 201 is mounted in the middle of the base 1, and the control motor 301 is mounted in the middle of the articulated arm 206.

[0034] The adjustment structure includes a base 101, an electric push rod 102 mounted on the center of the front of the base 101, a connecting plate 103 connected to the output end of the electric push rod 102, and sliders 104 mounted on the center of the top surface of the base 101 near the left and right ends. A base plate 105 is connected to the top of the connecting plate 103. The center of the top surface of the base plate 105 is fixedly connected to the bottom of the base 1. The outer surface of the sliders 104 is slidably connected to the top surface of the base 101 near the left and right ends through grooves. The electric push rod 102 is detachably mounted and connected to the center of the front of the base 101.

[0035] By adjusting the structure, the electric push rod 102 pushes the connecting plate 103 to move the base plate 105. When the base plate 105 moves, it drives the slider 104 to slide on the inner wall of the L-shaped groove opened at the left and right ends on the top surface of the base 101, which facilitates flexible and stable adjustment of the robot's position.

[0036] When the robotic arm is in use, the angle of the upper arm 202 can be adjusted by starting the control motor 1 201, the angle of the lower arm 204 can be adjusted by starting the control motor 203, and the joint arm 206 can be rotated by starting the control motor 3 205. This makes it easier and more flexible to perform operations such as clamping and moving of items. At the same time, the electric push rod 102 is started to move the connecting plate 103, which in turn moves the base plate 105. The base plate 105 then drives the two sliders 104 to slide inside the L-shaped grooves on the left and right ends of the top surface of the base 101, so as to achieve stable movement of the base plate 105. The base plate 105 drives the robotic arm structure to move stably, which can more flexibly cooperate with the handling work.

[0037] 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 a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A robotic handling device with easily replaceable gripper, comprising a base (1), characterized in that: An adjustment structure is installed on the bottom surface of the base (1), a mechanical arm structure is installed on the top of the base (1), and a clamping structure is installed on the top of the mechanical arm structure; The clamping structure includes a drive assembly / disassembly unit and a clamping unit, wherein the clamping unit is disposed at one end of the drive assembly / disassembly unit; The drive assembly / disassembly unit includes a control motor four (301), the output end of which is connected to a clamping arm (302). A limit rod (303) is installed on the side of the clamping arm (302) away from the control motor four (301). A limit platform (304) is connected to one end of the back of the limit rod (303), and an mounting plate (305) is installed on one end of the back of the limit platform (304).

2. The robotic handling device with easily replaceable gripper according to claim 1, characterized in that: The clamping unit includes an asynchronous motor (306), the output end of which is connected to a gear shaft (307), and the end of the gear shaft (307) away from the output end of the asynchronous motor (306) is connected to a clamping plate (308). A linkage rod (309) is connected to the middle of the clamping plate (308).

3. The robotic handling device with easily replaceable gripper according to claim 2, characterized in that: The limiting rod (303) is connected to the limiting groove and the limiting hole on one side of the clamping arm (302). The outer surface of the limiting platform (304) is engaged with the limiting groove on one side of the clamping arm (302). The mounting plate (305) is detachably connected to the threaded hole on one side of the clamping arm (302) by threads. The end of the linkage rod (309) away from the clamping plate (308) is hinged to the middle of the end of the clamping arm (302) away from the control motor (301).

4. The robotic handling device with easily replaceable gripper according to claim 1, characterized in that: The robotic arm structure includes a control motor 1 (201), the output end of which is connected to a large arm (202). A control motor 2 (203) is installed at the end of the large arm (202) away from the control motor 1 (201). A forearm (204) is connected to the output end of the control motor 2 (203). A control motor 3 (205) is detachably installed at the middle of the end of the forearm (204) away from the control motor 2 (203). An articulated arm (206) is connected to the output end of the control motor 3 (205).

5. A robotic handling device with an easily replaceable gripper according to claim 4, characterized in that: The first control motor (201) is installed in the middle of the base (1), and the fourth control motor (301) is installed in the middle of the articulated arm (206).

6. A robotic handling device with easily replaceable gripper according to claim 1, characterized in that: The adjustment structure includes a base (101), an electric push rod (102) is installed in the center of the front of the base (101), a connecting plate (103) is connected to the output end of the electric push rod (102), a slider (104) is installed in the center of the top surface of the base (101) near the left and right ends, and a base plate (105) is connected to the top of the connecting plate (103).

7. A robotic handling device with an easily replaceable gripper according to claim 6, characterized in that: The top surface of the base plate (105) is fixedly connected to the bottom end of the base (1). The outer surface of the slider (104) is slidably connected to the top surface of the base (101) near the left and right ends by opening a sliding groove. The electric push rod (102) is detachably installed and connected to the center of the front of the base (101).

Images