A robot quick claw changing structure

Abstract

The utility model discloses a kind of quick claw structure of robot, it is related to robot assembly technical field, including support plate, the top of support plate is fixed with support frame, the top of support frame is fixed with ring, the top of support plate both sides are fixed with stand, the top of two stands opposite side is all installed with electric push rod, the opposite end of two electric push rods is all connected with U type clamp block, the bottom of support plate is connected with elastic support component, the bottom of ring is fixed with conical support hopper, support frame is made of one cross and four support columns welded in the top of four ends of cross, ring is fixed in the top of four support columns. In the utility model, through the help of conical support hopper, the claw is accurately guided and positioned, the U type clamp block driven by electric push rod is clamped, and the pressure sensor can feedback pressure in real time and adjust the clamping force by controller, avoid shaking when claw, greatly reduce the difficulty of claw, shorten the length of time when claw, guarantee the follow-up work efficiency of mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of robot assembly technology, and in particular to a robot quick-change claw structure. Background Technology

[0002] In the process of automated production by robots, it is often necessary to change the robot grippers in order to adapt to the processing requirements of different workpieces. Therefore, the quick gripper changing structure has become a key component of the robot end effector.

[0003] The prior art can be referenced in Chinese Patent No. CN215395290U, which discloses a robot quick gripper changing structure, including a robotic arm and a suction cup frame. The suction cup frame is provided with a suction cup and a suction cup air passage. The end of the robotic arm is equipped with a pneumatic gripper assembly, which includes a suction cup air pipe quick connector, a spring-pneumatic gripper, a spring-pneumatic gripper air pipe, and a suction cup air passage interface. However, it is not convenient to quickly fix the gripper during gripper changing, which easily leads to shaking during the gripper changing process, increases the difficulty of gripper changing, increases the gripper changing time, and affects the subsequent working efficiency of the robotic arm. Therefore, a robot quick gripper changing structure is provided now. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a rapid gripper-changing structure for robots. By utilizing a conical support bucket to achieve precise guidance and positioning of the gripper, and coordinating with a U-shaped clamping block driven by an electric push rod, the structure provides real-time pressure feedback and allows the controller to adjust the clamping force. This prevents the gripper from shaking during gripper changes, significantly reduces the difficulty and time of gripper changes, ensures the subsequent work efficiency of the robotic arm, and overcomes the deficiencies of existing technologies.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot quick-change gripper structure includes a support plate, a support frame fixed to the top of the support plate, a support ring fixed to the top of the support frame, columns fixed to both sides of the top of the support plate, electric push rods installed on opposite sides of the top of the two columns, and U-shaped clamps connected to opposite ends of the two electric push rods. An elastic support assembly is connected to the bottom of the support plate.

[0006] As a further embodiment of this utility model: the bottom end of the support ring is fixed with a conical support bucket, the support frame consists of a cross and four support columns welded to the top of the four ends of the cross, the support ring is fixed to the top of the four support columns, and the conical support bucket is located between the four support columns.

[0007] As a further improvement of this utility model: two arc-shaped T-shaped baffles are symmetrically fixed to the top edge of the ring, and the inner sides of the two U-shaped clamps are respectively slidably engaged with the bottom of the two arc-shaped T-shaped baffles.

[0008] As a further improvement of this utility model: a pressure sensor is installed at the connection between the electric push rod and the U-shaped clamp, and a controller is installed on one side of the top of the support plate. Both the pressure sensor and the electric push rod are electrically connected to the controller.

[0009] As a further embodiment of this utility model: the elastic support assembly includes a mounting plate, with support screws fixed at the four corners of the top of the mounting plate, and the four corners of the support plate are slidably sleeved on the four support screws respectively. Support springs are sleeved on the parts of the four support screws located below the support plate, and locking components are connected to the parts of the four support screws located above the support plate.

[0010] As a further embodiment of this utility model: the locking assembly includes a washer fitted around the outside of the support screw, two slots are symmetrically provided on the side of the support screw and above the support plate, two locking platforms are symmetrically provided on the inner side of the washer, the two locking platforms are slidably engaged with the two slots respectively, and a nut is screwed onto the part of the support screw above the washer.

[0011] As a further improvement of this utility model: the mounting plate is provided with four connecting ears around its perimeter, and the connecting ears are provided with connecting holes.

[0012] The beneficial effects of this utility model are as follows: 1. By using a conical support bucket to achieve precise guidance and positioning of the gripper, and cooperating with the U-shaped clamping block driven by the electric push rod for clamping, and the pressure sensor can provide real-time pressure feedback and the controller can adjust the clamping force, the gripper is prevented from shaking when changing grippers, which greatly reduces the difficulty of changing grippers, shortens the time of changing grippers, and ensures the subsequent work efficiency of the robotic arm.

[0013] 2. The elastic support component uses a support spring to buffer and prevent the claw from making hard contact with the support ring and causing damage; the connecting ears of the mounting plate can easily fix the overall structure, while the locking component can stably limit the support plate, improving the overall adaptability and safety of the structure. Attached Figure Description

[0014] Figure 1 This is a first-view three-dimensional structural diagram of a robot rapid claw-changing structure proposed in this utility model.

[0015] Figure 2 This is a second-view three-dimensional structural diagram of a robot rapid claw-changing structure proposed in this utility model.

[0016] Figure 3 This is a partial structural diagram of a robot quick-change claw structure proposed in this utility model.

[0017] Figure 4This utility model proposes a robot quick-change gripper structure. Figure 3 Enlarged structural diagram at point A in the middle.

[0018] In the diagram: 1. Support plate; 2. Column; 3. Electric push rod; 4. Pressure sensor; 5. U-shaped clamp; 6. Support ring; 7. Arc-shaped T-shaped baffle; 8. Controller; 9. Support frame; 10. Support spring; 11. Support screw; 12. Mounting plate; 13. Connecting ear; 14. Slot; 15. Gasket; 16. Clamping platform; 17. Nut; 18. Conical support bucket. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Example 1, referring to Figure 1-4 A robot quick-change claw structure includes a support plate 1, a support frame 9 fixed to the top of the support plate 1, a support ring 6 fixed to the top of the support frame 9, columns 2 fixed to both sides of the top of the support plate 1, electric push rods 3 installed on opposite sides of the top of the two columns 2, U-shaped clamps 5 connected to opposite ends of the two electric push rods 3, and an elastic support component connected to the bottom of the support plate 1.

[0021] The bottom end of the ring 6 is fixed with a conical support bucket 18. The support frame 9 consists of a cross and four support columns welded to the top of the four ends of the cross. The ring 6 is fixed to the top of the four support columns, and the conical support bucket 18 is located between the four support columns. The structure formed by the ring 6 and the conical support bucket 18 can support the robot gripper.

[0022] Two arc-shaped T-shaped baffles 7 are symmetrically fixed to the top edge of the ring 6, and the inner sides of the two U-shaped clamps 5 are respectively slidably engaged with the bottom of the two arc-shaped T-shaped baffles 7.

[0023] A pressure sensor 4 is installed at the connection between the electric push rod 3 and the U-shaped clamp 5. A controller 8 (model: UNO-2174-C22E) is installed on one side of the top of the support plate 1. The pressure sensor 4 (model: Dytran 3100V1-001-050) and the electric push rod 3 are both electrically connected to the controller 8.

[0024] When it is necessary to replace the robot gripper, move the gripper to be replaced above the support ring 6 and slowly lower the gripper so that the connecting end of the gripper first enters the guide area of ​​the conical support bucket 18. Under the guidance of the conical support bucket 18, the gripper can accurately fall onto the support ring 6, completing the initial support and positioning, and avoiding large displacement of the gripper during placement. The controller 8 activates the electric push rod 3, which pushes the U-shaped clamping block 5 towards the gripper. The U-shaped clamping block 5 slides along the bottom of the arc-shaped T-shaped baffle 7, gradually approaching and fitting against both sides of the gripper. During this process, the pressure sensor 4 monitors the pressure applied to the gripper by the U-shaped clamping block 5 in real time. When the pressure reaches the preset value, the pressure sensor 4 sends a signal back to the controller 8, which then controls the electric push rod 3 to stop working. At this point, the gripper is stably clamped, completing the fixing operation during the gripper changing process and ensuring that the gripper will not shake during subsequent operations. When the gripper needs to be disassembled, the electric push rod 3 is retracted by the controller 8, and the U-shaped clamp 5 releases its grip on the gripper, allowing the gripper to be removed from the support ring 6. To replace the gripper with a new one, the above steps of gripper placement, initial positioning, and clamping are repeated, thus enabling rapid replacement of the robot gripper.

[0025] Example 2 is an optimization based on Example 1, specifically: The elastic support assembly includes a mounting plate 12, with support screws 11 fixed at the four corners of the top of the mounting plate 12. The four corners of the support plate 1 are slidably sleeved on the four support screws 11. Support springs 10 are sleeved on the parts of the four support screws 11 below the support plate 1, and locking components are connected to the parts of the four support screws 11 above the support plate 1.

[0026] The locking assembly includes a washer 15 fitted over the support screw 11. Two slots 14 are symmetrically provided on the side of the support screw 11 and above the support plate 1. Two locking platforms 16 are symmetrically provided on the inner side of the washer 15. The two locking platforms 16 are slidably engaged with the two slots 14 respectively. A nut 17 is screwed onto the part of the support screw 11 above the washer 15 to limit the position of the support plate 1.

[0027] The elastic support of the support plate 1 by the support spring 10 prevents the claw from making hard contact with the support ring 6 when the claw is placed, thereby avoiding collisions of the claw to a large extent.

[0028] The mounting plate 12 has four connecting ears 13 around its perimeter. Each connecting ear 13 has a connecting hole, and the connecting ear 13 can be fixed to the mounting position by using fixing bolts through the connecting holes.

[0029] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robot quick-change gripper structure, comprising a support plate (1), characterized in that, The top of the support plate (1) is fixed with a support frame (9), the top of the support frame (9) is fixed with a support ring (6), the top of the support plate (1) is fixed with columns (2) on both sides, the top of the two columns (2) is equipped with electric push rods (3) on opposite sides, the opposite ends of the two electric push rods (3) are connected with U-shaped clamps (5), and the bottom of the support plate (1) is connected with an elastic support component.

2. The robot quick-change gripper structure according to claim 1, characterized in that, The bottom end of the ring (6) is fixed with a conical support bucket (18). The support frame (9) consists of a cross and four support columns welded to the top of the four ends of the cross. The ring (6) is fixed to the top of the four support columns, and the conical support bucket (18) is located between the four support columns.

3. The robot quick-change gripper structure according to claim 2, characterized in that, Two arc-shaped T-shaped baffles (7) are symmetrically fixed to the top side of the ring (6), and the inner sides of the two U-shaped clamps (5) are respectively slidably engaged with the bottom of the two arc-shaped T-shaped baffles (7).

4. The robot quick-change gripper structure according to claim 1, characterized in that, A pressure sensor (4) is installed at the connection between the electric push rod (3) and the U-shaped clamp (5). A controller (8) is installed on one side of the top of the support plate (1). The pressure sensor (4) and the electric push rod (3) are both electrically connected to the controller (8).

5. The robot quick-change gripper structure according to claim 1, characterized in that, The elastic support assembly includes a mounting plate (12), with support screws (11) fixed at the top four corners of the mounting plate (12). The four corners of the support plate (1) are slidably sleeved on the four support screws (11). The four support screws (11) located below the support plate (1) are each fitted with a support spring (10), and the four support screws (11) located above the support plate (1) are each connected with a locking assembly.

6. The robot quick-change gripper structure according to claim 5, characterized in that, The locking assembly includes a washer (15) sleeved on the outside of the support screw (11). Two slots (14) are symmetrically opened on the side of the support screw (11) and above the support plate (1). Two locking platforms (16) are symmetrically arranged on the inner side of the washer (15). The two locking platforms (16) are slidably engaged with the two slots (14) respectively. A nut (17) is screwed onto the part of the support screw (11) above the washer (15).

7. A robot quick-change gripper structure according to claim 6, characterized in that, The mounting plate (12) is provided with four connecting ears (13) around its perimeter, and the connecting ears (13) are provided with connecting holes.

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