Robot clamping mechanism capable of conveniently adjusting clamping force

Abstract

The utility model relates to the technical field of robot clamping mechanisms, in particular to a robot clamping mechanism convenient to adjust clamping force, which comprises a mounting frame, air cylinders are fixedly connected to two sides of the inner wall of the mounting frame, and one end of each air cylinder is fixedly connected with a movable block; the adjusting mechanism comprises a sliding barrel fixedly connected to the inner wall of the movable block; according to the device, through an electric push rod, a driving block, a connecting frame and a rubber rod, the amount of gas stored in a sliding barrel is adjusted, then the product clamping force of the rubber block is controlled, the practicability of the robot clamping mechanism is improved, and through the sliding barrel and the rubber block, uniform pressure distribution on the product contact face is achieved; compared with an existing flexible air bag which is expanded and can easily conduct local overpressure clamping on the product, the rubber block flatly abuts against the surface of the product, then it is guaranteed that the clamping force of the product is evenly distributed, and therefore the product clamping effect is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of robot gripping mechanism technology, and in particular to a robot gripping mechanism that facilitates adjustment of gripping force. Background Technology

[0002] Robot gripping mechanisms are important components used by robots to grasp, transport, and manipulate objects when performing tasks. They are widely used in many fields such as industrial production, logistics, medical care, and services. When gripping electronic products such as circuit boards, the gripping force of the robot gripping mechanism needs to be adjusted to prevent damage to the circuit board during gripping.

[0003] According to the search, the Chinese patent "A Composite Gripper Based on Industrial Robot" authorized announcement number "CN218313601U" uses a clamping cylinder, a movable clamping plate, a flexible airbag and a connecting pipe to inflate the flexible airbag, thereby flexibly gripping the product and avoiding damage to the product.

[0004] The aforementioned application cannot control the path of the flexible airbag's expansion due to sufficient gas, which can easily lead to uneven pressure distribution on the product's contact surface after expansion. This can result in localized overpressure clamping of the product, thus affecting the clamping effect.

[0005] Therefore, a robotic gripping mechanism that facilitates adjustment of gripping force is proposed to solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide a robot gripping mechanism that facilitates adjustment of gripping force in order to solve the above-mentioned problems, thereby improving the problem of local over-pressure gripping of products.

[0007] This utility model achieves the above-mentioned objective through the following technical solution: a robot gripping mechanism for easy adjustment of gripping force, comprising: a mounting frame, wherein cylinders are fixedly connected to both sides of the inner wall of the mounting frame, and a movable block is fixedly connected to one end of each cylinder; and an adjustment mechanism, comprising a slide cylinder fixedly connected to the inner wall of the movable block, the slide cylinder being filled with gas, a rubber block and a rubber rod slidably connected to the inner wall of the slide cylinder, a pressure sensor fixedly connected to one end of the rubber rod, a connecting frame fixedly connected to the upper surface of the rubber rod, an electric push rod fixedly connected to the top of the mounting frame, a drive frame fixedly connected to the telescopic end of the electric push rod, and the surface of the connecting frame slidably connected to the inner wall of the drive frame. Through the electric push rod, drive block, connecting frame, and rubber rod, the amount of gas stored inside the slide cylinder is adjusted, thereby controlling the gripping force of the rubber block on the product, improving the practicality of the robot gripping mechanism. Through the slide cylinder and rubber block, uniform pressure distribution on the product contact surface is achieved, avoiding localized over-pressure gripping of the product and ensuring the effectiveness of product gripping.

[0008] Preferably, a one-way vent pipe is fixedly connected to the inner wall of the rubber rod, and the surface of the one-way vent pipe is slidably connected to the inner wall of the slide cylinder. Through the rubber rod, the one-way vent pipe, the pressure sensor, and the gas filled inside the slide cylinder, the rubber block is made to press against the product surface under constant pressure, avoiding excessive clamping of the product and preventing damage to the product surface, thus improving the product clamping effect.

[0009] Preferably, a spring is fixedly connected to one side of the movable block, and the other end of the spring is fixedly connected to one side of the rubber block.

[0010] Preferably, a one-way air inlet pipe is fixedly connected to the inner wall of the rubber rod, and the surface of the one-way air inlet pipe is slidably connected to the inner wall of the slide. A spring pushes the rubber block to reset, thereby generating suction inside the slide, allowing external gas to enter the slide through the one-way air inlet pipe, ensuring that a certain amount of gas is stored inside the slide.

[0011] Preferably, both the one-way exhaust pipe and the one-way intake pipe are fixedly connected to a retaining ring. The retaining ring restricts the position of the one-way intake pipe and the one-way exhaust pipe as they slide into the slide.

[0012] Preferably, a ball bearing is rotatably connected to the lower end of the inner wall of the drive frame, and the surface of the ball bearing is rotatably connected to the top of the mounting frame.

[0013] Preferably, the one-way exhaust pipe is used to prevent external gas from entering the slide, and the one-way intake pipe is used to prevent gas from escaping from the slide.

[0014] The beneficial effects of this utility model are:

[0015] By using an electric push rod, drive block, connecting frame, and rubber rod, the amount of gas stored inside the slide can be adjusted, thereby controlling the gripping force of the rubber block on the product and improving the practicality of the robot gripping mechanism. Through the slide and rubber block, the pressure distribution on the product contact surface is uniform. Compared with the existing inflated flexible airbags that are prone to local over-pressure gripping of the product, this method ensures that the rubber block is flat against the product surface, thus ensuring a uniform distribution of gripping force and guaranteeing the product gripping effect.

[0016] By using a rubber rod, a one-way air outlet, a pressure sensor, and the gas filled inside the slide, the rubber block is made to press against the product surface under constant pressure, avoiding excessive clamping of the product and preventing damage to the product surface, thus improving the product clamping effect. Attached Figure Description

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

[0018] Figure 2 This is a sectional view of the mounting frame of this utility model;

[0019] Figure 3 This is a schematic diagram of the adjustment mechanism structure of this utility model;

[0020] Figure 4 for Figure 3 A magnified view of A in the middle.

[0021] In the diagram: 1. Mounting frame; 2. Cylinder; 3. Movable block; 4. Adjustment mechanism; 41. Slide cylinder; 42. Rubber block; 43. Rubber rod; 44. One-way air outlet pipe; 45. Pressure sensor; 46. Connecting frame; 47. Drive frame; 48. Electric push rod; 49. One-way air inlet pipe; 410. Spring; 411. Retaining ring; 412. Ball bearing. 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] In practical implementation: such as Figure 1-4As shown, a robot gripping mechanism for easy adjustment of gripping force includes: a mounting frame 1, with cylinders 2 fixedly connected to both sides of the inner wall of the mounting frame 1, and a movable block 3 fixedly connected to one end of each cylinder 2; an adjustment mechanism 4, including a slide cylinder 41 fixedly connected to the inner wall of the movable block 3, the slide cylinder 41 being filled with gas, a rubber block 42 and a rubber rod 43 slidably connected to the inner wall of the slide cylinder 41, a pressure sensor 45 fixedly connected to one end of the rubber rod 43, a connecting frame 46 fixedly connected to the upper surface of the rubber rod 43, an electric push rod 48 fixedly connected to the top of the mounting frame 1, a drive frame 47 fixedly connected to the telescopic end of the electric push rod 48, and the surface of the connecting frame 46 slidably connected to the inner wall of the drive frame 47. The top of the drive frame 47 has two oblique holes, and the surface of the connecting frame 46 slidably connects to the inner wall of the oblique holes.

[0024] A pressure sensor 45 is a device or apparatus that can sense pressure signals and convert them into usable output electrical signals according to a certain rule.

[0025] Mounting frame 1 is attached to the surface of the industrial robot using bolts. Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions by relying on their own power and control capabilities.

[0026] When it is necessary to grip electronic products, the industrial robot is moved to a suitable location near the electronic product. The operator uses the CNC screen to write the program to control the industrial robot, which is then transmitted to the industrial robot via network or data cable. The industrial robot is then automatically activated, moving the mounting frame 1 onto the electronic product. At this time, the cylinder 2 is automatically activated, and one end of the cylinder 2 moves, pushing the movable block 3 to move. The movement of the movable block 3 causes the rubber block 42 to move and come into contact with the surface of the electronic product, thereby gripping the electronic product. The industrial robot then transfers the gripped electronic product to a suitable location.

[0027] When the clamping force of the rubber block 42 needs to be increased, the electric push rod 48 is manually activated. The extension end of the electric push rod 48 moves, causing the drive frame 47 to move. The movement of the drive frame 47 causes the two connecting frames 46 to move away from each other. The movement of the connecting frames 46 causes the rubber rod 43 to move inside the slide cylinder 41, increasing the space for gas storage inside the slide cylinder 41, thereby increasing the clamping force of the rubber block 42 on the electronic product. When the clamping force of the rubber block 42 needs to be reduced, the two connecting frames 46 can be driven to move closer to each other, thereby reducing the space for gas storage inside the slide cylinder 41, thereby reducing the clamping force of the rubber block 42 on the electronic product.

[0028] like Figure 4As shown, a one-way air outlet pipe 44 is fixedly connected to the inner wall of the rubber rod 43. The surface of the one-way air outlet pipe 44 is slidably connected to the inner wall of the slide cylinder 41. A spring 410 is fixedly connected to one side of the movable block 3. The other end of the spring 410 is fixedly connected to one side of the rubber block 42. A one-way air inlet pipe 49 is fixedly connected to the inner wall of the rubber rod 43. The surface of the one-way air inlet pipe 49 is slidably connected to the inner wall of the slide cylinder 41. The one-way air outlet pipe 44 is used to block external gas from entering the interior of the slide cylinder 41. The one-way air inlet pipe 49 is used to block the gas inside the slide cylinder 41 from escaping. A retaining ring 411 is fixedly connected to the surface of both the one-way air outlet pipe 44 and the one-way air inlet pipe 49.

[0029] The one-way exhaust pipe 44 includes an exhaust pipe and a first one-way valve. The first one-way valve is embedded in the surface of the exhaust pipe and is used to prevent external gas from entering the interior of the slide cylinder 41 through the exhaust pipe. The one-way intake pipe 49 includes an intake pipe and a second one-way valve. The second one-way valve is embedded in the surface of the intake pipe and is used to prevent gas inside the slide cylinder 41 from being discharged through the intake pipe.

[0030] One side of the rubber block 42 abuts against the surface of the electronic product. At this time, the movable block 3 and the slide cylinder 41 continue to move toward the rubber block 42, so that the rubber block 42 moves inside the slide cylinder 41, thereby pushing the gas inside the slide cylinder 41 out through the one-way vent pipe 44. When the rubber rod 43 drives the pressure sensor 45 to abut against the rubber block 42, the pressure sensor 45 is pressed and transmits the signal to the control system, thereby causing the cylinder 2 to automatically close, so that the two rubber blocks 42 clamp the electronic product with equal pressure.

[0031] When the rubber block 42 moves away from the electronic product, the elastic force of the spring 410 pushes the rubber block 42 to move inside the slide cylinder 41, causing suction inside the slide cylinder 41, which allows external gas to enter the interior of the slide cylinder 41 through the one-way air inlet pipe 49.

[0032] like Figure 3 As shown, a ball bearing 412 is slidably connected to the lower end of the inner wall of the drive frame 47, and the surface of the ball bearing 412 is slidably connected to the top of the mounting frame 1.

[0033] In use, the electric push rod 48 is manually activated. The telescopic end of the electric push rod 48 moves, driving the rubber rod 43 to move inside the slide cylinder 41 via the drive frame 47 and the connecting frame 46. This increases the space for storing gas inside the slide cylinder 41, automatically activating the cylinder 2. One end of the cylinder 2 moves, pushing the movable block 3 to move. The movable block 3 moves, causing the rubber block 42 to move and contact the surface of the electronic product. At this time, the movable block 3 and the slide cylinder 41 continue to move towards the rubber block 42, causing the rubber block 42 to move inside the slide cylinder 41. This pushes the gas inside the slide cylinder 41 out through the one-way exhaust pipe 44. When the rubber rod 43 causes the pressure sensor 45 to contact the rubber block 42, the pressure sensor 45 is pressed and transmits a signal to the control system, causing the cylinder 2 to automatically close, allowing the two rubber blocks 42 to clamp the electronic product with equal pressure.

[0034] It should be noted that the mounting frame 1, cylinder 2, movable block 3, pressure sensor 45, electric push rod 48, first check valve and second check valve mentioned above are all components with relatively mature existing technology. The specific models can be selected according to actual needs. At the same time, the cylinder 2, pressure sensor 45 and electric push rod 48 can be powered by the built-in power supply or by the mains power. The specific power supply method is selected according to the situation and will not be elaborated here.

[0035] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot gripping mechanism with easily adjustable gripping force, characterized in that, include: Mounting frame (1), with cylinders (2) fixedly connected to both sides of the inner wall of the mounting frame (1), and a movable block (3) fixedly connected to one end of the cylinder (2); Adjustment mechanism (4), the adjustment mechanism (4) includes a slide cylinder (41) fixedly connected to the inner wall of the movable block (3), the inside of the slide cylinder (41) is filled with gas, the inner wall of the slide cylinder (41) is slidably connected to a rubber block (42) and a rubber rod (43), one end of the rubber rod (43) is fixedly connected to a pressure sensor (45), the upper surface of the rubber rod (43) is fixedly connected to a connecting frame (46), the top of the mounting frame (1) is fixedly connected to an electric push rod (48), the telescopic end of the electric push rod (48) is fixedly connected to a drive frame (47), and the surface of the connecting frame (46) is slidably connected to the inner wall of the drive frame (47).

2. The robot gripping mechanism for easy adjustment of gripping force according to claim 1, characterized in that: The inner wall of the rubber rod (43) is fixedly connected to a one-way air outlet pipe (44), and the surface of the one-way air outlet pipe (44) is slidably connected to the inner wall of the slide cylinder (41).

3. The robot gripping mechanism for easy adjustment of gripping force according to claim 1, characterized in that: A spring (410) is fixedly connected to one side of the movable block (3), and the other end of the spring (410) is fixedly connected to one side of the rubber block (42).

4. The robot gripping mechanism for easy adjustment of gripping force according to claim 2, characterized in that: The inner wall of the rubber rod (43) is fixedly connected to a one-way air inlet pipe (49), and the surface of the one-way air inlet pipe (49) is slidably connected to the inner wall of the slide cylinder (41).

5. A robot gripping mechanism for easy adjustment of gripping force according to claim 4, characterized in that: Both the one-way exhaust pipe (44) and the one-way intake pipe (49) are fixedly connected with retaining rings (411).

6. The robot gripping mechanism for easy adjustment of gripping force according to claim 1, characterized in that: The lower end of the inner wall of the drive frame (47) is connected to a ball bearing (412), and the surface of the ball bearing (412) is connected to the top of the mounting frame (1).

7. A robot gripping mechanism for easy adjustment of gripping force according to claim 5, characterized in that: The one-way exhaust pipe (44) is used to block external gas from entering the interior of the slide (41), and the one-way intake pipe (49) is used to block the gas inside the slide (41) from being discharged.

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