Clamping structure of feeding and discharging manipulator

Abstract

The utility model discloses a clamping structure of a feeding and discharging manipulator, and belongs to the technical field of manipulator clamping. Mainly comprises a rack, a guide rail is installed on the rack, a sliding plate and a moving plate are installed on the guide rail in a sliding mode, the moving plate is installed on the sliding plate in a sliding mode, a hanging plate and at least four sets of clamping mechanisms are arranged at the bottom end of the moving plate, the clamping mechanisms are evenly distributed and installed on the hanging plate, and each clamping mechanism comprises an air pipe which is installed on the hanging plate in a penetrating mode. The air pipe is sleeved with a spring used for buffering, the top of the air pipe is connected with an air pump and a shaft head, the shaft head is connected to the bottom end of the air pipe, the air pipe is connected with a universal connecting structure and a suction cup, and the suction cup is installed at the bottom end of the shaft head. According to the clamping structure of the feeding and discharging mechanical arm, the problem that a clamping structure is inconvenient to clamp special-shaped workpieces is solved.

Description

Technical Field

[0001] This application relates to the field of robotic gripping technology, specifically a gripping structure for a loading and unloading robotic arm. Background Technology

[0002] The gripping structure of a loading and unloading robot refers to the actuator at its end used to grasp, fix and release workpieces, which is a key component for the direct interaction between the robot and materials.

[0003] In existing clamping structures, suction cup clamps are usually used for adsorption. However, during the adsorption process of existing suction cup clamps, it is difficult to clamp irregularly shaped workpieces because the suction cups are all fixedly installed. Furthermore, the angle and position of the suction cups need to be adjusted, resulting in low workpiece clamping efficiency. Therefore, it is necessary to provide a clamping structure for loading and unloading robots to solve the above problems.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Utility Model Content

[0005] Based on the aforementioned problems in the existing technology, the problem to be solved by this application is to provide a gripping structure for a loading and unloading robot, which solves the problem of inconvenience in gripping irregularly shaped workpieces.

[0006] To achieve the above objectives, this application provides the following technical solution: a gripping structure for a loading / unloading robot, comprising a frame, a guide rail mounted on the frame, a sliding plate and a shift plate slidably mounted on the guide rail, a hanging plate at the bottom of the shift plate, at least four gripping mechanisms evenly arranged and mounted on the hanging plate, each gripping mechanism including an air pipe that passes through and is mounted on the hanging plate, a spring for cushioning fitted on the air pipe, an air pump connected to the top of the air pipe, a shaft head connected to the bottom of the air pipe, a universal joint structure for the air pipe, and a suction cup mounted on the bottom of the shaft head.

[0007] Preferably, the shaft head consists of a shaft body connected to the suction cup and a connector disposed on the top of the shaft body, wherein the bottom end of the connector is provided with a ball head, and the ball head is rotatably installed inside the top of the shaft body.

[0008] Preferably, the trachea is provided with two sets of limiting rings, which are used to limit the movement of the trachea.

[0009] Preferably, the spring is disposed between the limiting ring and the bottom of the hanging plate.

[0010] Preferably, a drive unit is provided between the guide rail and the slide plate. The drive unit consists of a screw mounted on the guide rail by a bearing and a motor connected to the output end of the screw. The slide plate is threadedly connected to the screw.

[0011] Preferably, a cylinder is installed on the slide plate, and the output end of the cylinder is connected to the moving plate.

[0012] The beneficial effects of this application are as follows: The clamping structure of the loading and unloading robot provided by this application moves the plate up and down by a cylinder, and indirectly drives the clamping mechanism to move synchronously, so that the suction cup comes into contact with the workpiece. At the same time, under the driving force of the cylinder, and in conjunction with the universal action of the ball head and the shaft on the connector, the suction cup is driven to rotate and completely fit against the curved surface of the workpiece, so as to achieve the purpose of clamping workpieces with different curved surfaces, and solves the problem that the clamping structure is inconvenient for clamping irregularly shaped workpieces.

[0013] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0015] Figure 1 This is an overall schematic diagram of the gripping structure of a loading / unloading robot in this application;

[0016] Figure 2 for Figure 1 Enlarged schematic diagram of the clamping mechanism;

[0017] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0018] The following are the labeling elements in the figure:

[0019] 1. Frame; 11. Guide rail; 12. Screw; 13. Motor; 14. Slide plate; 15. Moving plate; 151. Hanging plate; 16. Cylinder; 2. Clamping mechanism; 21. Air pipe; 211. Limiting ring; 22. Spring; 23. Shaft head; 231. Shaft body; 232. Connector; 233. Ball head; 24. Suction cup. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0022] like Figures 1-2 As shown, this application provides a gripping structure for a loading and unloading robot, including a frame 1 and a guide rail 11 mounted on the frame 1. A slide plate 14 is slidably mounted on the guide rail 11, and a drive unit is provided between the slide plate 14 and the guide rail 11. The drive unit consists of a screw 12 with bearings mounted on the guide rail 11 and a motor 13 connected to the end of the screw 12. The slide plate 14 is threadedly connected to the screw 12, and the slide plate 14 is adapted to move under the rotation of the screw 12.

[0023] Meanwhile, a sliding plate 15 is slidably installed on the sliding plate 14. The end of the sliding plate 15 is connected to a cylinder 16 to drive the sliding plate 15 to move up and down. A hanging plate 151 is provided at the bottom of the sliding plate 15, which is adapted to move up and down under the drive of the sliding plate 15.

[0024] like Figures 2-3 As shown, at least four sets of clamping mechanisms 2 are installed on the hanging plate 151. The clamping mechanisms 2 are evenly arranged on the hanging plate 151. Each clamping mechanism 2 includes an air pipe 21 that passes through the hanging plate 151. The air pipe 21 is adapted to move up and down on the hanging plate 151. Two sets of limiting rings 211 are installed on the air pipe 21. The limiting rings 211 are used to limit the movement of the air pipe 21. A spring 22 for buffering is sleeved on the air pipe 21. The spring 22 is located between the bottom of the hanging plate 151 and the limiting ring 211.

[0025] A shaft head 23 is installed at the bottom of the air pipe 21, and a suction cup 24 is connected to the bottom of the shaft head 23. The shaft head 23 consists of a shaft body 231 connected to the suction cup 24 and a connector 232 set at the top of the shaft body 231. The top of the connector 232 is connected to the air pipe 21. A ball head 233 is provided at the bottom of the connector 232. The ball head 233 is rotatably installed inside the top of the shaft body 231, and the connector 232 is in communication with the shaft body 231. The connector 232 is suitable for omnidirectional rotation at the top of the shaft body 231 through the action of the ball head 233, so that the shaft head 23 forms an omnidirectional connection structure. The shaft head 23 drives the suction cup 24 to move omnidirectionally so that the suction cup 24 can completely fit the curved surface of the irregular workpiece.

[0026] Meanwhile, an air pump (not shown in the figure) is connected to the top of the air pipe 21. This air pump is suitable for driving the suction cup 24 to adsorb the workpiece.

[0027] In summary, by driving the moving plate 15 up and down through the cylinder 16, and indirectly driving the clamping mechanism 2 to move synchronously, the suction cup 24 comes into contact with the workpiece. At the same time, under the driving force of the cylinder 16, and in conjunction with the universal joint action of the ball head 233 on the connector 232 and the shaft 231, the suction cup 24 is driven to rotate and completely fit against the curved surface of the workpiece, thus achieving the purpose of clamping workpieces with different curved surfaces and solving the problem of inconvenience in clamping irregularly shaped workpieces.

[0028] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations are possible for those skilled in the art. Any improvements and modifications made within the spirit and principles of this application, without departing from its principles, should also be considered within the scope of protection of this application.

Claims

1. A gripping structure for a loading / unloading robot, comprising: A frame (1) is provided, on which a guide rail (11) is mounted, and a slide plate (14) is slidably mounted on the guide rail (11); A sliding plate (15) is slidably mounted on the sliding plate (14), and a hanging plate (151) is provided at the bottom end of the sliding plate (15); At least four sets of clamping mechanisms (2) are evenly arranged and installed on the hanging plate (151), characterized in that: the clamping mechanism (2) includes: An air pipe (21) is installed through the hanging plate (151), and a spring (22) for cushioning is sleeved on the air pipe (21). An air pump is connected to the top of the air pipe (21). Shaft head (23), which is connected to the bottom end of the air pipe (21), the air pipe (21) has a universal connection structure; A suction cup (24) is mounted on the bottom end of the shaft head (23).

2. The gripping structure of a loading / unloading robot according to claim 1, characterized in that: The shaft head (23) consists of a shaft body (231) connected to the suction cup (24) and a connector (232) disposed on the top of the shaft body (231). The bottom end of the connector (232) is provided with a ball head (233), which is rotatably installed inside the top of the shaft body (231).

3. The gripping structure of a loading / unloading robot according to claim 2, characterized in that: Two sets of limiting rings (211) are provided on the trachea (21), and the limiting rings (211) are used to limit the movement of the trachea (21).

4. The gripping structure of a loading / unloading robot according to claim 3, characterized in that: The spring (22) is disposed between the limiting ring (211) and the bottom of the hanging plate (151).

5. The gripping structure of a loading / unloading robot according to claim 4, characterized in that: A drive unit is provided between the guide rail (11) and the slide plate (14). The drive unit consists of a screw (12) mounted on the guide rail (11) by a bearing, and a motor (13) connected to the output end of the screw (12). The slide plate (14) is threadedly connected to the screw (12).

6. The gripping structure of a loading / unloading robot according to claim 5, characterized in that: A cylinder (16) is installed on the slide plate (14), and the output end of the cylinder (16) is connected to the moving plate (15).

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