Clamping hand module of feeding manipulator

Abstract

The utility model discloses a clamping hand module of a feeding manipulator, which comprises a clamping hand seat and a side plate fixedly arranged on one side of the clamping hand seat, and is characterized in that two matching shafts are rotatably arranged in the side plate, rotating blocks are fixedly arranged at the upper ends and the lower ends of the matching shafts, tooth-shaped blocks are fixedly arranged on one sides of the rotating blocks, and the tooth-shaped blocks are fixedly arranged on the other sides of the matching shafts. The tooth-shaped blocks on the left side and the right side are arranged in a meshed mode, a swing block is rotationally arranged on one side of the clamping hand seat, a protruding block is fixedly arranged on the outer surface of one rotating block and movably connected with the swing block through a ball head rod assembly, and a clamping jaw assembly is fixedly arranged on one side of each rotating block. Compared with the prior art, a plurality of connecting rods and bearing structures are simplified, and the defects that the corresponding speed and accuracy of the clamping hand module cannot meet expected requirements due to the fact that a movable gap exists in the rotating part of the connecting rod in the prior art, the clamping hand module is prone to being damaged in the long-term use process, and the service life is short are overcome.

Description

A gripper module for a material handling robot Technical Field

[0001] This utility model relates to the field of robotic arm equipment technology, specifically a gripper module for a material feeding robotic arm. Background Technology

[0002] The existing gripper modules have a relatively complex structure, typically containing a large number of links and bearings. This not only increases manufacturing costs but also makes the modules heavier and larger, limiting their flexibility. These links and bearings are prone to wear and loosening during long-term use, leading to a decrease in the gripper's response speed and accuracy, increasing maintenance costs and downtime.

[0003] For example, Chinese patent document CN202322735910.1, entitled "A Feeding Robot," discloses a device comprising a first link, a second link hinged to one side of the first link, a bracket hinged to the end of the second link, a third link hinged to one side of the bracket, and a fourth link hinged to one side of the third link. The device is characterized by further including a rotating meshing gear, a front sector gear meshing with one side of the meshing gear, a push rod hinged to one side of the front sector gear, an outer corner block hinged to the end of the push rod, the outer corner block hinged to one side of a rotating rod, the rotating rod being located at the hinge between the third and fourth links, a first meshing rod hinged inside the outer corner block, a connecting block hinged to one end of the first meshing rod, the connecting block being fixed to the bracket, and a pawl at the end of the bracket, the pawl being driven to open and close by a driving device.

[0004] It is evident that it employs a linkage drive mechanism. This design requires high precision in dimensional matching. There will be gaps in the rotating connection parts, which will affect the opening and closing accuracy of the gripper, resulting in unstable gripping. Furthermore, the response speed of this linkage drive is relatively slow. Summary of the Invention

[0005] The technical problem to be solved by this utility model is whether it is possible to provide a gripper module that can improve dimensional accuracy, respond faster, have a simplified structure and is easy to install and debug, and can solve the problems in the prior art.

[0006] This utility model is achieved through the following technical solution: A gripper module for a feeding robot of this utility model includes a gripper base, a side plate fixedly disposed on one side of the gripper base, characterized in that two mating shafts are rotatably disposed in the side plate, rotating blocks are fixedly disposed at the upper and lower ends of the mating shafts, a toothed block is fixedly disposed on one side of the rotating block, the toothed blocks on the left and right sides are meshed, a swing block is rotatably disposed on one side of the gripper base, a protrusion is fixedly disposed on the outer surface of one of the rotating blocks, the protrusion is movably connected to the swing block through a ball joint assembly, and a gripper assembly is fixedly disposed on one side of the rotating block.

[0007] In a further technical solution, a housing is fixedly provided on the outer surface of the toothed block and the rotating block.

[0008] In a further technical solution, the protrusion is fixedly disposed on one side of the housing.

[0009] A further technical solution includes a gripper assembly comprising a vertical plate fixedly connected to the rotating block, wherein the vertical plate has an inner groove at the top and a bottom, and a clamping plate structure is provided on one side of the inner groove.

[0010] A further technical solution is that the clamping plate structure includes an integrated structure formed by an adjusting block, a connecting plate, and a clamping plate. The adjusting block is provided with a threaded hole, and a bolt is provided in the inner groove to be fixedly connected to the threaded hole in the adjusting block.

[0011] In a further technical solution, the gripper plate is provided with a groove.

[0012] A further technical solution includes a ball joint assembly comprising a first connecting rod fixedly disposed within the swing block, a second connecting rod fixedly disposed within the protrusion, and a ball joint connected to the outer sides of the second connecting rod and the first connecting rod.

[0013] A further technical solution includes a first club and a second club. The first club slides into the second club. A locking structure is provided between the first club and the second club to fix them after extension and retraction adjustment. A first ball head is provided in the second club in a spherical fit. The first ball head is connected and fixed to the second connecting rod. A second ball head is rotatably provided in the first club. The second ball head is connected and fixed to the first connecting rod.

[0014] A further technical solution includes a set screw that engages with the internal thread of the second club, the set screw pressing and fixing the outer surface of the first club.

[0015] A further technical solution also includes a mounting plate on which a reducer motor is fixedly mounted. A drive gear is fixedly mounted on the output shaft of the reducer motor. A first rotating shaft is fixedly mounted on one side of the mounting plate. A sector gear is rotatably mounted on the outer surface of the first rotating shaft. The sector gear meshes with the drive gear. A first connecting rod is hinged to one side of the sector gear. A triangular block is mounted at the lower end of the first connecting rod. The triangular block is rotatably connected to the first connecting rod. A second rotating shaft is rotatably mounted inside the triangular block. A second connecting rod is rotatably mounted on the other side of the triangular block. The second connecting rod is rotatably connected to the swing block.

[0016] The beneficial effects of this utility model are as follows: First, compared with the prior art, the opening and closing gripper, which is composed of a shaft, a rotating block, a toothed block, a housing and a gripper assembly, uses the meshing between the toothed blocks to trigger the opening and closing function of the gripper. Compared with the linkage drive, the size matching accuracy is higher and the response speed is faster.

[0017] Second, the housing is fixedly provided with a protrusion, which is hinged to the swing block through a ball joint assembly, saving a lot of connecting rod structure. The ball joint assembly has flexible freedom of function by utilizing the second connecting rod and the first ball joint, as well as the second ball joint and the first connecting rod. Then, the second ball joint and the first ball joint can be adjusted in size and fixed by the set screw, which facilitates specific size adjustment during installation and debugging, so that the ball joint assembly can better transmit torque.

[0018] Third, in terms of the module as a whole, compared with the existing technology, many connecting rods and bearing structures have been simplified, avoiding the defects of existing technology where there is play in the rotating parts of the connecting rods, which causes the corresponding speed and accuracy of the gripper module to fail to meet the expected requirements, and is prone to damage and short service life during long-term use. Attached Figure Description

[0019] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 is a schematic diagram of the overall structure of the gripper module of a feeding robot according to this utility model;

[0021] Figure 2 is a schematic diagram of the rear structure of the gripper module in Figure 1;

[0022] Figure 3 is a schematic diagram of point A in Figure 2;

[0023] Figure 4 is a schematic diagram of the gripper module in Figure 1 installed in the robotic hand;

[0024] Figure 5 is a schematic diagram of point B in Figure 4;

[0025] Figure 6 is an enlarged structural schematic diagram of the gripper module in Figure 5;

[0026] In the figure, there are: mounting plate 11, reducer motor 12, first rotating shaft 13, first connecting rod 14, sector gear 15, drive gear 16, triangular block 17, second rotating shaft 18, gripper seat 19, swing block 21, second connecting rod 22, side plate 23, vertical plate 24, adjusting block 25, gripper plate 26, connecting plate 31, inner groove 32, toothed block 33, protrusion 34, rotating block 35, mating shaft 36, housing 37, second ball head 41, first ball rod 42, second ball rod 43, first ball head 44, second connecting rod 45, set screw 46, and first connecting rod 48. Detailed Implementation

[0027] As shown in Figures 1-6, this utility model will be described in detail. For ease of description, the orientations mentioned below are defined as follows: the directions of up, down, left, right, front, and back mentioned below are consistent with the directions of up, down, left, right, front, and back in the projection relationship of Figure 1 itself. A gripper module of a feeding robot of this utility model includes a gripper base 19. A side plate 23 is fixedly provided on one side of the gripper base 19. Two mating shafts 36 are rotatably arranged in the side plate 23. Rotating blocks 35 are fixedly provided at the upper and lower ends of the mating shafts 36. A toothed block 33 is fixedly provided on one side of the rotating block 35. The toothed blocks 33 on the left and right sides are engaged. A swing block 21 is rotatably provided on one side of the gripper base 19. One of the rotating blocks 35 has a protrusion 34 fixedly provided on its outer surface. The protrusion 34 is movably connected to the swing block 21 through a ball joint assembly. A gripper assembly is fixedly provided on one side of the rotating block 35. The swing of the swing block 21 drives the ball joint assembly to move, thereby causing the protrusion 34 to drive the rotating block 35 fixedly connected to the protrusion 34 to rotate. Since the rotating block 35 is fixedly connected to the mating shaft 36, the rotating block 35 rotates relative to the gripper seat 19. And since the toothed blocks 33 on the left and right sides are engaged, the rotating blocks 35 and the gripper assembly on both sides rotate in opposite directions, thus realizing the gripper assembly's function of grasping and releasing.

[0028] Advantageously, a housing 37 is fixedly provided on the outer surface of the toothed block 33 and the rotating block 35, and the rotating block 35, the toothed block 33 and the housing 37 are integrally fixed by providing fasteners in the rotating block 35, the toothed block 33 and the housing 37.

[0029] Advantageously, the protrusion 34 is fixedly disposed on one side of the housing 37, and the protrusion 34 and the housing 37 form an integral structure.

[0030] Advantageously, the gripper 19 is fixed to the side plate 23 by fasteners.

[0031] Advantageously, the gripper assembly includes a vertical plate 24 that is fixedly connected to the rotating block 35. The vertical plate 24 has an upper and a lower inner groove 32, and a clamping plate structure is provided on one side of the inner groove 32.

[0032] Advantageously, the vertical plate 24 and the rotating block 35 are connected and fixed by fasteners.

[0033] Advantageously, the clamping plate structure includes an integrated structure formed by an adjusting block 25, a connecting plate 31, and a clamping plate 26. The adjusting block 25 is provided with a threaded hole, and a bolt is provided in the inner groove 32 to be fixedly connected to the threaded hole in the adjusting block 25, so that the adjusting block 25 can be locked and fixed after being adjusted up and down relative to the inner groove 32. The clamping plate 26 is provided with a groove, and the dimensions of the groove and the clamping plate 26 can be designed according to the actual situation so that it can clamp the bottle or bottle cap. The clamping plate 26 is connected and fixed to the connecting plate 31 by fasteners, and the connecting plate 31 is connected and fixed to the adjusting block 25 by fasteners.

[0034] Advantageously, the ball joint assembly includes a first connecting rod 48 fixedly disposed within the swing block 21, a second connecting rod 45 fixedly disposed within the protrusion 34, and a ball joint connected to the outer side of the second connecting rod 45 and the first connecting rod 48.

[0035] Advantageously, the ball head includes a first ball head 42 and a second ball head 43. The first ball head 42 slides into the second ball head 43. A locking structure is provided between the first ball head 42 and the second ball head 43 to fix them after extension and retraction adjustment. A first ball head 44 is provided in the second ball head 43 in a spherical fit. The first ball head 44 is connected and fixed to the second connecting rod 45. A second ball head 41 is rotatably provided in the first ball head 42. The second ball head 41 is connected and fixed to the first connecting rod 48.

[0036] Advantageously, the locking structure includes a locking screw 46 that is internally threaded to the second cue 43, and after the first cue 42 and the second cue 43 have been adjusted in telescoping, the outer surface of the first cue 42 is tightened and fixed by the locking screw 46.

[0037] Advantageously, it also includes a mounting plate 11, on which a reducer motor 12 is fixedly mounted. A drive gear 16 is fixedly mounted on the output shaft of the reducer motor 12. A first rotating shaft 13 is fixedly mounted on one side of the mounting plate 11. A sector gear 15 is rotatably mounted on the outer surface of the first rotating shaft 13. The sector gear 15 meshes with the drive gear 16. A first connecting rod 14 is hinged to one side of the sector gear 15. A triangular block 17 is mounted at the lower end of the first connecting rod 14. The triangular block 17 is rotatably connected to the first connecting rod 14. A second rotating shaft 17 is rotatably mounted inside the triangular block 17. A second connecting rod 22 is rotatably mounted on the other side of the shaft 18 and the triangular block 17. The second connecting rod 22 is rotatably connected to the swing block 21. This part of the structural design has been disclosed in detail in the background art patent documents. The drive gear 16 is driven to rotate by the reducer motor 12. Since the drive gear 16 meshes with the sector gear 15, the sector gear 15 and the first rotating shaft 13 drive the first connecting rod 14 to swing. Since the first connecting rod 14 is hinged to the triangular block 17, and the second connecting rod 22 is hinged to the triangular block 17 and the swing block 21, the swing block 21 can be driven to swing up and down.

[0038] After the swing block 21 swings up and down, the swing block 21 swings from top to bottom. Since the first ball 42 and the second ball 43 are locked and fixed by the set screw 46 in the ball head rod assembly, the length of the ball head rod assembly will not change. For the first ball 42 and the second ball head 41, they move diagonally downward with the first connecting rod 48. At this time, the ball head rod assembly is subjected to a diagonally downward force, one component of which is transmitted to the protrusion 34, thereby pushing the protrusion 34. However, since the protrusion 34 is connected and fixed to the rotating block 35 through the housing 37, and the rotating block 35 is connected and fixed to the mating shaft 36, and the mating shaft 36 is rotatably connected to the side plate 23, the protrusion 34 can swing. In the ball head rod assembly, the relative positions of the second ball 43 and the first ball head 44, and the relative positions of the second ball head 41 and the first ball 42 will change. Since it is a spherical mating connection, it has a lot of freedom and can transmit torque, so it can realize the function of driving the rotating block 35 to swing.

[0039] Furthermore, the rotating blocks 35 on both sides are engaged by toothed blocks 33, so that one rotating block 35 drives the other rotating block 35 to move, thereby enabling the vertical plate 24, adjusting block 25, connecting plate 31 and clamping plate 26 fixedly connected to the rotating block 35 to clamp and release, thus realizing the movement function of the gripper.

[0040] As for the gripper plate 26, since gripper plates 26 of different shapes and sizes can be installed and fixed with the connecting plate 31, and the adjusting block 25 can be adjusted up and down relative to the inner groove 32, the gripper plate 26 can be used to grip products of various specifications and shapes.

[0041] The fixed connection between the rotating block 35 and the toothed block 33 is accomplished through the housing 37, so that the toothed block 33 can be easily installed and replaced during debugging and installation. Furthermore, the toothed blocks 33 are meshed together, and as vulnerable parts, they can be easily replaced by personnel in a timely, quick and efficient manner.

[0042] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions conceived without creative effort should be included within the protection scope of this utility model; therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. A gripper module for a feeding robot, comprising a gripper base (19), wherein a side plate (23) is fixedly disposed on one side of the gripper base (19), characterized in that, The side plate (23) has two rotatable shafts (36). Rotating blocks (35) are fixedly installed at the upper and lower ends of the rotatable shafts (36). A toothed block (33) is fixedly installed on one side of the rotating block (35). The toothed blocks (33) on the left and right sides are meshed together. A swing block (21) is rotatably installed on one side of the gripper seat (19). A protrusion (34) is fixedly installed on the outer surface of one of the rotating blocks (35). The protrusion (34) is movably connected to the swing block (21) through a ball joint assembly. A gripper assembly is fixedly installed on one side of the rotating block (35).

2. The gripper module of a feeding robot according to claim 1, characterized in that: The outer surfaces of the toothed block (33) and the rotating block (35) are fixedly provided with a housing (37).

3. The gripper module of a feeding robot according to claim 2, characterized in that: The protrusion (34) is fixedly disposed on one side of the housing (37).

4. The gripper module of a feeding robot according to claim 1, characterized in that: The gripper assembly includes a vertical plate (24) that is fixedly connected to the rotating block (35). The vertical plate (24) has an inner groove (32) at the top and bottom, and a clamping plate structure is provided on one side of the inner groove (32).

5. The gripper module of a feeding robot according to claim 4, characterized in that: The clamping plate structure includes an integrated structure formed by an adjusting block (25), a connecting plate (31), and a clamping plate (26). The adjusting block (25) is provided with a threaded hole, and a bolt is provided in the inner groove (32) to be fixedly connected to the threaded hole in the adjusting block (25).

6. The gripper module of a feeding robot according to claim 5, characterized in that: The gripper plate (26) has a groove inside.

7. The gripper module of a feeding robot according to claim 1, characterized in that: The ball joint assembly includes a first connecting rod (48) fixedly disposed within the swing block (21), a second connecting rod (45) fixedly disposed within the protrusion (34), and a ball joint connected to the outer side of the second connecting rod (45) and the first connecting rod (48).

8. The gripper module of a feeding robot according to claim 7, characterized in that: The ball head includes a first ball head (42) and a second ball head (43). The first ball head (42) slides into the second ball head (43). A locking structure is provided between the first ball head (42) and the second ball head (43) to fix them after extension and retraction adjustment. A first ball head (44) is provided in the second ball head (43) in a spherical fit. The first ball head (44) is connected and fixed to the second connecting rod (45). A second ball head (41) is rotatably provided in the first ball head (42). The second ball head (41) is connected and fixed to the first connecting rod (48).

9. The gripper module of claim 8, wherein: The locking structure includes a locking screw (46) that is threadedly connected to the inner thread of the second ball (43), and the locking screw (46) presses and fixes the outer surface of the first ball (42).

10. The gripper module of any one of claims 1-9, wherein: It also includes a mounting plate (11), on which a reducer motor (12) is fixedly mounted. A drive gear (16) is fixedly mounted on the output shaft of the reducer motor (12). A first rotating shaft (13) is fixedly mounted on one side of the mounting plate (11). A sector gear (15) is rotatably mounted on the outer surface of the first rotating shaft (13). The sector gear (15) meshes with the drive gear (16). A first connecting rod (14) is hinged to one side of the sector gear (15). A triangular block (17) is mounted at the lower end of the first connecting rod (14). The triangular block (17) is rotatably connected to the first connecting rod (14). A second rotating shaft (18) is rotatably mounted inside the triangular block (17). A second connecting rod (22) is rotatably mounted on the other side of the triangular block (17). The second connecting rod (22) is rotatably connected to the swing block (21).

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