CN116985168A - Industrial robot tongs with anti-drop structure - Google Patents

Abstract

The invention relates to the field of machine grippers, in particular to an industrial robot gripper with an anti-falling structure, which comprises a base, a moving mechanism, a clamping mechanism, an anti-falling mechanism and an auxiliary limiting mechanism, wherein the moving mechanism is arranged in the base, the clamping mechanism is arranged at the lower end of the moving mechanism, the anti-falling mechanism is arranged at the lower end of the clamping mechanism, the auxiliary limiting mechanism is arranged above the anti-falling mechanism, the moving mechanism comprises a moving block, four sliding grooves are circumferentially formed in the lower surface of the base in a penetrating way, the inner walls at the two ends of the four sliding grooves are jointly and rotatably connected with a screw rod, the auxiliary supporting block is rotated to the lower end of an article through a connecting rod, if the article slides downwards, the auxiliary supporting block carries out auxiliary supporting on the article, the article is prevented from being damaged, and the auxiliary supporting block is ensured to be rotatable to the lower part of the article by simultaneously moving the auxiliary supporting block to the inner parts of a first clamping block and a second clamping block.

Description

Industrial robot tongs with anti-drop structure

Technical Field

The invention relates to the field of machine grippers, in particular to an industrial robot gripper with an anti-falling structure.

Background

Industrial robot is widely used in industrial fields, such as multi-joint mechanical arm or multi-degree-of-freedom mechanical device, has certain automaticity, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, is widely applied to various industrial fields such as electronics, logistics, chemical industry and the like, and is required to finish certain specific actions, the robot can certainly leave the mechanical arm to grasp objects, the industrial robot gripper can grasp cartons, and can grasp trays and place anti-slip mats fast and stably, so that the occupied area of equipment is saved, and the production efficiency is improved. The device is widely applied to the field of automobile production and material stacking.

When the robot gripper is used, articles need to be clamped, the articles are transferred, but some robot grippers are not provided with anti-falling structures when in use, when the robot gripper grips the articles, if the articles slide, the articles can fall off from the inside of the robot gripper, and the articles are damaged, so that the industrial robot gripper with the anti-falling structures is necessary.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an industrial robot gripper with an anti-falling structure.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides an industrial robot tongs with anti-drop structure, includes base and moving mechanism and fixture and anti-drop mechanism and auxiliary stop mechanism, the inside of base is equipped with moving mechanism, moving mechanism's lower extreme is equipped with fixture, fixture's lower extreme is equipped with anti-drop mechanism, anti-drop mechanism's top is equipped with auxiliary stop mechanism.

Specifically, the mobile mechanism includes the movable block, four spouts have been seted up for encircling to the lower surface of base, four the equal joint rotation in both ends inner wall of spout is connected with the screw rod, four equal threaded connection of outer wall of screw rod has the nut, four equal fixedly connected with movable block of outer wall of nut, the inside of base runs through for the intermediate position of spout and has seted up the drive chamber, and four the one end of screw rod all runs through the bearing and extends to the drive intracavity, the interior roof rotation in drive chamber is connected with the dwang, the fixed first conical gear that has cup jointed of outer wall of dwang, four the screw rod is located the one end of drive intracavity and all fixedly cup joints second conical gear, and four second conical gear all meshes with first conical gear.

Specifically, fixture includes first grip block and second grip block, four the one end of movable block all extends outside the spout that corresponds, and wherein two the equal fixedly connected with first grip block of lower surface of movable block, other two the lower surface of movable block all is provided with the second grip block, and two first grip block is the cross setting with the second grip block, two the equal fixedly connected with connecting block of lower surface of movable block that is located second grip block top, two the spread groove has all been run through to the lower surface of connecting block, two the equal sliding connection of inner wall of spread groove has supplementary connecting block, and two supplementary connecting block all extends outside the spread groove that corresponds and all links to each other fixedly with the second grip block that corresponds.

Specifically, anti-drop mechanism includes auxiliary support piece, two the sliding hole has all been run through to the lower surface of first grip block and second grip block, four the equal sliding connection of inner wall of sliding hole has the supporting shoe, four the one end of supporting shoe all extends to outside the sliding hole that corresponds, four the lower surface of supporting shoe all rotates to be connected with the connecting rod, four the outer wall of connecting rod is all fixed to have cup jointed auxiliary support piece, four the both sides inner wall of sliding hole has all run through and has been seted up the spacing groove, four the outer wall of supporting shoe is for the equal fixedly connected with stopper in the position of spacing groove, and a plurality of the one end of stopper all extends to in the spacing groove that corresponds.

Specifically, auxiliary stop gear includes the drive hole, two the outer wall of first grip block and second grip block has all run through and has seted up the drive hole, four the one end of connecting rod all runs through the bearing and extends to in the drive hole and all fixedly cup joints first gear, two the inside that lies in the drive hole of first grip block and second grip block has all run through and has seted up auxiliary spacing chamber, four the equal sliding connection in inner wall in auxiliary spacing chamber has auxiliary stopper, four the one end of auxiliary stopper all runs through and extends to in the slide hole that corresponds and offset with corresponding first gear.

Specifically, two the outer wall of first grip block and second grip block is located the equal fixedly connected with motor mounting bracket in slide opening one side, four the equal fixedly connected with first driving motor of inner wall of motor mounting bracket, four the output of first driving motor all is through shaft coupling fixedly connected with actuating lever, four the outer wall of actuating lever has all been fixed to cup joint the second gear, four the second gear all meshes with the first gear of same one side, the upper surface of base passes through mounting bracket fixedly connected with second driving motor for the position of dwang, just the one end of dwang runs through outside extending to the base through the bearing and links to each other with second driving motor is fixed through the shaft coupling.

Specifically, two the equal fixedly connected with first spring of one end outer wall that supplementary connecting block is located the spread groove, two the other end of first spring all links to each other with corresponding connecting block is fixed, four the equal fixedly connected with second spring of upper surface of supporting shoe, four the other end of second spring all links to each other with corresponding first grip block and second grip block is fixed, four the one end that supplementary stopper is located supplementary spacing intracavity is equal fixedly connected with third spring, two the other end of third spring all links to each other with the second grip block is fixed.

Specifically, four spout is the cross setting, two the spread groove all is T shape setting with supplementary connecting block.

The invention has the beneficial effects that:

(1) According to the industrial robot gripper with the anti-falling structure, the first clamping block and the second clamping block are moved to the outer side of an article, the second driving motor is started to drive the first clamping block and the second clamping block to move inwards to clamp the article, at the moment, the second driving motor drives the driving rod, the second gear, the first gear and the connecting rod to rotate, the auxiliary supporting block is rotated to the lower end of the article through the connecting rod, if the article slides downwards, the auxiliary supporting block supports the article in an auxiliary mode, and damage to the article is prevented.

(2) According to the industrial robot gripper with the anti-falling structure, the first clamping block and the second clamping block are moved to the lower end of an article, at the moment, the auxiliary supporting block, the connecting rod and the supporting block are moved into the sliding hole, the second spring is compressed, when the first clamping block clamps and moves the article, the second spring pushes the supporting block and the auxiliary supporting block to move downwards, the auxiliary supporting block moves out of the sliding block, the auxiliary supporting block is rotated to the position below the article through the first driving motor, and the auxiliary supporting block is moved to the position inside the first clamping block and the second clamping block at the same time, so that the auxiliary supporting block can rotate to the position below the article, and auxiliary supporting is carried out on the article.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is a schematic front view of an industrial robot gripper with an anti-falling structure according to the present invention;

FIG. 2 is a schematic side view of an industrial robot gripper with an anti-drop structure according to the present invention;

fig. 3 is a schematic front view of a first clamping block of an industrial robot gripper with an anti-falling structure according to the present invention;

fig. 4 is a schematic view of a partial structure of a second clamping block of an industrial robot gripper with an anti-falling structure according to the present invention;

fig. 5 is a schematic diagram of a top view structure of a base of an industrial robot gripper with an anti-falling structure according to the present invention;

fig. 6 is a schematic top view of a supporting block of an industrial robot gripper with an anti-falling structure according to the present invention;

fig. 7 is a schematic side view of a connection block of an industrial robot gripper with an anti-falling structure.

In the figure: 1. a base; 2. a moving mechanism; 21. a moving block; 22. a chute; 23. a screw; 24. a nut; 25. a drive chamber; 26. a rotating lever; 27. a first bevel gear; 28. a second bevel gear; 3. a clamping mechanism; 31. a first clamping block; 32. a second clamping block; 33. a connecting block; 34. a connecting groove; 35. an auxiliary connecting block; 4. an anti-falling mechanism; 41. an auxiliary supporting block; 42. a slide hole; 43. a support block; 44. a connecting rod; 45. a limit groove; 46. a limiting block; 5. an auxiliary limiting mechanism; 51. a drive hole; 52. a first gear; 53. an auxiliary limiting cavity; 54. an auxiliary limiting block; 6. a motor mounting rack; 7. a first driving motor; 8. a driving rod; 9. a second gear; 10. a second driving motor; 11. a first spring; 12. a second spring; 13. and a third spring.

Detailed Description

The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.

As shown in fig. 1-7, the industrial robot gripper with the anti-falling structure comprises a base 1, a moving mechanism 2, a clamping mechanism 3, an anti-falling mechanism 4 and an auxiliary limiting mechanism 5, wherein the moving mechanism 2 is arranged in the base 1, the clamping mechanism 3 is arranged at the lower end of the moving mechanism 2, the anti-falling mechanism 4 is arranged at the lower end of the clamping mechanism 3, and the auxiliary limiting mechanism 5 is arranged above the anti-falling mechanism 4.

Wherein, moving mechanism 2 includes movable block 21, the lower surface of base 1 is the surrounding form and runs through and offer four spouts 22, the equal joint rotation in both ends inner wall of four spouts 22 is connected with screw rod 23, the equal threaded connection of outer wall of four screw rods 23 has nut 24, the equal fixedly connected with movable block 21 of outer wall of four nut 24, the inside of base 1 runs through for the intermediate position of spout 22 and has offered drive chamber 25, and the one end of four screw rods 23 all runs through the bearing and extends to in the drive chamber 25, the interior roof rotation of drive chamber 25 is connected with dwang 26, first conical gear 27 has been cup jointed to the fixed cover of outer wall of dwang 26, the equal fixed second conical gear 28 that has cup jointed of one end that four screw rods 23 are located drive chamber 25, and four second conical gears 28 all mesh with first conical gear 27.

Wherein, fixture 3 includes first grip block 31 and second grip block 32, the one end of four movable blocks 21 all extends to outside the spout 22 that corresponds, and wherein the equal fixedly connected with first grip block 31 of lower surface of two movable blocks 21, the lower surface of two other movable blocks 21 all is provided with second grip block 32, and two first grip blocks 31 are the cross setting with second grip block 32, the equal fixedly connected with connecting block 33 of lower surface of two movable blocks 21 that are located second grip block 32 top, connecting slot 34 has all been seted up in the lower surface of two connecting blocks 33, the equal sliding connection of inner wall of two connecting slots 34 has supplementary connecting block 35, and two supplementary connecting blocks 35 all extend to outside the connecting slot 34 that corresponds and all fixedly connected with second grip block 32 that corresponds.

Wherein, anti-drop mechanism 4 includes auxiliary support piece 41, slide hole 42 has all been run through to the lower surface of two first grip blocks 31 and second grip block 32, the equal sliding connection of inner wall of four slide holes 42 has supporting shoe 43, the one end of four supporting shoe 43 all extends to outside the corresponding slide hole 42, the lower surface of four supporting shoe 43 all rotates and is connected with connecting rod 44, auxiliary support piece 41 has all been fixedly cup jointed to the outer wall of four connecting rod 44, limit groove 45 has all been run through to the both sides inner wall of four slide hole 42, the equal fixedly connected with stopper 46 of position for limit groove 45 of the outer wall of four supporting shoe 43, and the one end of a plurality of stopper 46 all extends to in the corresponding limit groove 45.

Wherein, auxiliary stop mechanism 5 includes drive hole 51, drive hole 51 has all been run through to the outer wall of two first grip blocks 31 and second grip block 32, the one end of four connecting rods 44 all runs through the bearing and extends to in the drive hole 51 and all fixedly cup joints first gear 52, auxiliary spacing chamber 53 has all been run through to the inside one side that lies in drive hole 51 of two first grip blocks 31 and second grip block 32, the equal sliding connection in inner wall in four auxiliary spacing chamber 53 has auxiliary stopper 54, the one end of four auxiliary stopper 54 all runs through and extends to in the slide hole 42 that corresponds and offset with corresponding first gear 52.

Wherein, the outer wall that two first grip blocks 31 and second grip block 32 are located slide hole 42 one side and all fixedly connected with motor mounting bracket 6, the equal fixedly connected with first driving motor 7 of inner wall of four motor mounting brackets 6, the output of four first driving motor 7 all is through shaft coupling fixedly connected with actuating lever 8, the outer wall of four actuating lever 8 has all been fixed to cup joint second gear 9, four second gear 9 all meshes with the first gear 52 of same side, the upper surface of base 1 is for the position of dwang 26 is through mounting bracket fixedly connected with second driving motor 10, and the one end of dwang 26 runs through the bearing and extends outside base 1 and pass through shaft coupling and second driving motor 10 fixed link to each other.

Wherein, two supplementary connecting blocks 35 are located the first spring 11 of equal fixedly connected with of one end outer wall in spread groove 34, the other end of two first springs 11 all links to each other with corresponding connecting block 33 is fixed, the equal fixedly connected with second spring 12 of upper surface of four supporting shoe 43, the other end of four second springs 12 all links to each other with corresponding first grip block 31 and second grip block 32 is fixed, the one end that four supplementary stopper 54 are located supplementary spacing intracavity 53 is all fixedly connected with third spring 13, the other end of two third springs 13 all links to each other with second grip block 32 is fixed.

The four sliding grooves 22 are arranged in a cross shape, and the two connecting grooves 34 and the auxiliary connecting block 35 are arranged in a T shape.

When in use, the first driving motor 7 and the second driving motor 10 are connected with an external power supply through a controller, the driving rod 8 and the second gear 9 are driven to rotate through the first driving motor 7, the first gear 52 and the driving rod 8 are driven to rotate through the second gear 9, the auxiliary supporting block 41 is driven to move to the outer sides of the first clamping block 31 and the second clamping block 32 through the driving rod 8, the base 1 is moved to the upper part of an article to be clamped, the base 1 is moved downwards, the first clamping block 31 and the second clamping block 32 are moved to the two sides of the article, at the moment, the auxiliary supporting block 41 pushes the supporting block 43 to move upwards in the sliding hole 42 through the connecting rod 44, the limiting blocks 46 on the two sides are driven by the supporting block 43 to move in the limiting grooves 45 and compress the second springs 12, the auxiliary supporting block 41 is driven to move into the sliding hole 42, the second driving motor 10 drives the rotating rod 26 and the first conical gear 27 to rotate in the driving cavity 25, the second bevel gear 28 and the screw 23 are driven to rotate by the first bevel gear 27, the screw 23 rotates in the chute 22, the screw 23 drives the nut 24 and the moving block 21 to move in the chute 22, the moving block 21 drives the first clamping block 31, the connecting block 33 and the second clamping block 32 to move inwards, the first clamping block 31 clamps an article, if the article is wider, the article pushes the second clamping block 32 to move outwards, the second clamping block 32 drives the auxiliary connecting block 35 to move in the connecting groove 34, the first spring 11 blocks the movement of the auxiliary connecting block 35 in the connecting groove 34, the second clamping block 32 abuts against the outer wall of the article, the article is clamped by the first clamping block 31, the second spring 12 pushes the supporting block 43 downwards to move downwards, the supporting block 43 drives the auxiliary supporting block 41 to move out of the sliding hole 42, at this time, the first driving motor 7 drives the driving rod 8, the second gear 9 and the second gear 9 to rotate, the auxiliary supporting block 41 is rotated to the inner sides of the first clamping block 31 and the second clamping block 32 through the second gear 9, the auxiliary supporting block 41 is moved to the lower end of the article, and when the first gear 52 rotates, the third spring 13 pushes the auxiliary limiting block 54 to move outwards in the auxiliary limiting cavity 53, so that the auxiliary limiting block 54 abuts against the first gear 52, and the connecting rod 44 is limited.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing examples, and that the foregoing description and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (8)

1. The utility model provides an industrial robot tongs with anti-drop structure, includes base (1) and moving mechanism (2) and fixture (3) and anti-drop mechanism (4) and supplementary stop gear (5), its characterized in that, the inside of base (1) is equipped with moving mechanism (2), the lower extreme of moving mechanism (2) is equipped with fixture (3), the lower extreme of fixture (3) is equipped with anti-drop mechanism (4), the top of anti-drop mechanism (4) is equipped with supplementary stop gear (5).

2. The industrial robot hand grip with anti-drop structure of claim 1, wherein: the utility model provides a mobile mechanism (2) including movable block (21), four spout (22) have been seted up to the lower surface of base (1) for encircling the form and running through, four the both ends inner wall of spout (22) all rotates jointly and is connected with screw rod (23), four equal threaded connection of outer wall of screw rod (23) has nut (24), four equal fixedly connected with movable block (21) of outer wall of nut (24), drive chamber (25) have been run through for the intermediate position of spout (22) in the inside of base (1), and four the one end of screw rod (23) all runs through the bearing and extends to in drive chamber (25), the interior roof rotation of drive chamber (25) is connected with dwang (26), the outer wall fixed sleeve of dwang (26) has first conical gear (27), four the one end that screw rod (23) are located drive chamber (25) has all fixedly sleeve over second conical gear (28), and four second conical gear (28) all mesh with first conical gear (27).

3. The industrial robot hand grip with anti-drop structure of claim 1, wherein: the clamping mechanism (3) comprises a first clamping block (31) and a second clamping block (32), one ends of four moving blocks (21) are all extended to the outside of corresponding sliding grooves (22), two of the moving blocks (21) are fixedly connected with the first clamping block (31) on the lower surface, the other two moving blocks (21) are all provided with the second clamping block (32), the two first clamping blocks (31) and the second clamping block (32) are in cross-shaped arrangement, one connecting block (33) is fixedly connected to the lower surface of the moving block (21) above the second clamping block (32), the lower surfaces of the two connecting blocks (33) are all penetrated and provided with connecting grooves (34), the inner walls of the two connecting grooves (34) are all connected with auxiliary connecting blocks (35) in a sliding mode, and the two auxiliary connecting blocks (35) are all extended to the outside of corresponding connecting grooves (34) and are fixedly connected with the corresponding second clamping blocks (32).

4. The industrial robot hand grip with anti-drop structure of claim 1, wherein: the anti-drop mechanism (4) comprises auxiliary support blocks (41), two sliding holes (42) are formed in the lower surfaces of the first clamping blocks (31) and the second clamping blocks (32) in a penetrating mode, four supporting blocks (43) are connected to the inner walls of the sliding holes (42) in a sliding mode, one ends of the four supporting blocks (43) are all extended out of the corresponding sliding holes (42), connecting rods (44) are connected to the lower surfaces of the supporting blocks (43) in a rotating mode, the auxiliary support blocks (41) are fixedly sleeved on the outer walls of the connecting rods (44), limiting grooves (45) are formed in the inner walls of the two sides of the sliding holes (42) in a penetrating mode, limiting blocks (46) are fixedly connected to the outer walls of the supporting blocks (43) corresponding to the positions of the limiting grooves (45), and one ends of the limiting blocks (46) are all extended into the corresponding limiting grooves (45).

5. The industrial robot hand grip with anti-drop structure of claim 1, wherein: the auxiliary limiting mechanism (5) comprises a driving hole (51), wherein the driving hole (51) is formed in the outer walls of the first clamping block (31) and the second clamping block (32) in a penetrating mode, one ends of the four connecting rods (44) extend into the driving hole (51) in a penetrating mode through bearings and are fixedly sleeved with first gears (52), the two auxiliary limiting cavities (53) are formed in one sides, located in the driving hole (51), of the first clamping block (31) and the second clamping block (32) in a penetrating mode, the four auxiliary limiting cavities (53) are connected with auxiliary limiting blocks (54) in a penetrating mode in an inner wall of each auxiliary limiting cavity (53) in a penetrating mode, and one ends of the four auxiliary limiting blocks (54) extend into corresponding sliding holes (42) in a penetrating mode and are abutted to the corresponding first gears (52).

6. The industrial robot hand grip with anti-drop structure of claim 1, wherein: two the outer wall that first grip block (31) and second grip block (32) are located slide hole (42) one side and all fixedly connected with motor mounting bracket (6), four the equal fixedly connected with first driving motor (7) of inner wall of motor mounting bracket (6), four the output of first driving motor (7) is all through shaft coupling fixedly connected with actuating lever (8), four the outer wall of actuating lever (8) is all fixed cup joint second gear (9), four second gear (9) all meshes with first gear (52) of same side, the upper surface of base (1) is for the position of dwang (26) is through mounting bracket fixedly connected with second driving motor (10), just the one end of dwang (26) runs through and extends to outside base (1) and fixedly link to each other with second driving motor (10) through the shaft coupling.

7. The industrial robot hand grip with anti-drop structure of claim 1, wherein: two auxiliary connection blocks (35) are located one end outer wall in spread groove (34) and all fixedly connected with first spring (11), two the other end of first spring (11) all links to each other with connecting block (33) that correspond fixedly, four the upper surface of supporting shoe (43) all fixedly connected with second spring (12), four the other end of second spring (12) all links to each other with corresponding first grip block (31) and second grip block (32) fixedly, four auxiliary stopper (54) are located one end all fixedly connected with third spring (13) in auxiliary spacing chamber (53), two the other end of third spring (13) all links to each other with second grip block (32) fixedly.

8. The industrial robot hand grip with anti-drop structure of claim 1, wherein: the four sliding grooves (22) are arranged in a cross shape, and the two connecting grooves (34) and the auxiliary connecting block (35) are arranged in a T shape.