CN211444129U - Clamping jaw assembly and cargo handling mechanical arm - Google Patents
Clamping jaw assembly and cargo handling mechanical arm Download PDFInfo
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- CN211444129U CN211444129U CN202020029163.3U CN202020029163U CN211444129U CN 211444129 U CN211444129 U CN 211444129U CN 202020029163 U CN202020029163 U CN 202020029163U CN 211444129 U CN211444129 U CN 211444129U
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- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 230000014759 maintenance of location Effects 0.000 claims 1
- 230000000717 retained effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 13
- 210000000078 claw Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
A clamping jaw assembly and a cargo carrying mechanical arm relate to the field of robots. The clamping jaw subassembly includes: the guide rail, the first mounting seat which is embedded in the guide rail in a sliding manner, the second mounting seat which is embedded in the guide rail in a sliding manner and the stop mechanism. The first mounting base is provided with a telescopic first clamping jaw; the second mounting seat is provided with a second clamping jaw which is opposite to the first clamping jaw and is telescopic; the stop mechanism is used for respectively enabling the first mounting seat and the second mounting seat to stop sliding at any position of the guide rail. The clamping jaw assembly has the advantages that the clamping range is adjustable, goods of different sizes can be grabbed, grabbing of goods with large specification differences can be achieved, and meanwhile the clamping jaw assembly is simple in structure and convenient to operate. Meanwhile, the cargo handling mechanical arm comprising the clamping jaw assembly has the characteristics, and meanwhile, the power mechanism is adopted to drive the screw rod nut to rotate so as to realize the up-and-down reciprocating motion of the screw rod, so that the materials are conveyed along the conveying direction of the screw rod.
Description
Technical Field
The application relates to the field of robots, in particular to a clamping jaw assembly and a cargo handling mechanical arm.
Background
In the automation industry, the material handling has various realization modes, and is particularly suitable for the field of vertical material sorting; however, in the existing carrying mode, the regulation and control of the clamping space between the two clamping jaws are limited, so that the clamping device cannot be applied to the clamping of goods with large specification difference, and meanwhile, the structure of the existing goods carrying mechanical arm is complex.
In view of this, the present application is hereby presented.
SUMMERY OF THE UTILITY MODEL
The application provides a clamping jaw subassembly and cargo handling arm to improve above-mentioned problem.
A jaw assembly of an embodiment of the first aspect of the present application, comprising: the guide rail, the first mounting seat which is embedded in the guide rail in a sliding manner, the second mounting seat which is embedded in the guide rail in a sliding manner and the stop mechanism.
The first mounting base is provided with a telescopic first clamping jaw; the second mounting seat is provided with a second clamping jaw which is opposite to the first clamping jaw and is telescopic; the stop mechanism is used for respectively enabling the first mounting seat and the second mounting seat to stop sliding at any position of the guide rail.
According to the clamping jaw assembly of this application embodiment, in the actual use, can be earlier according to the position of first mount pad of demand adjustment and second mount pad in the guide rail, then through the first mount pad of locking mechanism locking and second mount pad, then according to the demand flexible first clamping jaw of reality, the second clamping jaw can, also be that the centre gripping scope is adjustable, can snatch the goods of different sizes, can realize the snatching of the great goods of specification difference, simple structure simultaneously, convenient operation.
In addition, the clamping jaw assembly according to the embodiment of the application also has the following additional technical characteristics:
in combination with the first aspect, the present application illustrates some embodiments in which the jaw assembly includes: the first air cylinder is arranged on the first mounting seat, and the second air cylinder is arranged on the second mounting seat.
The telescopic arm of the first cylinder is connected with the first clamping jaw and drives the first clamping jaw to reciprocate towards one side departing from the second mounting seat; the telescopic arm of the second cylinder is connected with the second clamping jaw and drives the second clamping jaw to reciprocate towards one side departing from the first clamping jaw.
Through foretell setting, guarantee the smooth and easy nature of clamping jaw assembly work, make clamping jaw assembly compact structure simultaneously.
The goods handling arm of this application second aspect embodiment, it includes: the clamping jaw assembly comprises a base, a driving assembly and a clamping jaw assembly used for clamping goods and provided by the embodiment of the first aspect of the application.
The driving assembly comprises a power mechanism, a screw rod and a screw rod nut matched with the screw rod, the screw rod penetrates through the screw rod nut, the screw rod nut is axially immovable and circumferentially and rotatably arranged on the base, and the power mechanism is used for driving the screw rod nut to rotate forwards or backwards so as to drive the screw rod to move in a reciprocating manner; the clamping jaw assembly is connected with the screw rod.
According to the cargo handling arm of this application embodiment, utilize clamping jaw subassembly as above, have simple structure, the centre gripping scope is adjustable, can snatch the effect of not unidimensional goods, adopts power unit to drive the lead screw nut rotatory and realize the up-and-down reciprocating motion of lead screw simultaneously to realize the transport of material along lead screw direction of transportation.
In combination with the second aspect, in some embodiments shown in this application, the cargo handling robot arm includes a guiding assembly, the guiding assembly includes a guide pillar slidably disposed through the base, and an upper connecting member and a lower connecting member respectively located at upper and lower sides of the base, two ends of the guide pillar are respectively connected to the upper connecting member and the lower connecting member, two ends of the lead screw are respectively axially immovably and circumferentially rotatably connected to the upper connecting member and the lower connecting member, and the clamping jaw assembly is disposed on the upper connecting member and/or the lower connecting member.
Through the arrangement, the lead screw is guaranteed to drive the clamping jaw assembly to move synchronously along the guide direction of the guide pillar, the accuracy of a cargo transportation route is guaranteed, meanwhile, the guide pillar is arranged, the structure is simpler compared with a linear guide rail, and the lightweight design of the cargo handling mechanical arm is realized.
In combination with the second aspect, the present application illustrates some embodiments wherein the jaw assembly is disposed at the lower connector.
Compare in the mode that clamping jaw assembly set up in last connecting piece, the centre gripping goods of being more convenient for.
In combination with the second aspect, the present application illustrates some embodiments in which the axis of the guide post is parallel to the axis of the lead screw and perpendicular to the base.
In combination with the second aspect, in some embodiments shown in the present application, the lead screw nut is disposed on the base through a connection mechanism, the connection mechanism includes a bearing seat disposed on the base, a bearing engaged with the bearing seat and limited in the bearing seat, and an outer ring of the bearing is tightly fitted with the lead screw nut.
Through the cooperation of bearing and bearing frame, realize that the axial of screw-nut is motionless and circumference rotationally sets up in the base.
In combination with the second aspect, in some embodiments shown herein, the power mechanism is mounted to the base and selectively moves toward or away from the screw nut, and the cargo-handling robot includes a holding mechanism and a locking mechanism, the holding mechanism is capable of being operated to stop the power mechanism by tightly holding against the power mechanism, and the locking mechanism is used to fix the stopped power mechanism to the base.
Through the arrangement, the mounting position of the power mechanism can be adjusted according to actual requirements.
Optionally, the power mechanism and the lead screw nut are driven by a transmission belt, the abutting mechanism comprises a limiting block and an abutting piece, the limiting block is arranged on the base and located on one side, facing the lead screw nut, of the power mechanism, one end of the abutting piece is connected with the limiting block, and the abutting piece can be operated to tightly abut against the power mechanism through the other end of the abutting piece to enable the transmission belt to be tensioned.
Optionally, the length of the holding piece towards the power mechanism is adjustable.
Adopt above-mentioned setting, save the setting of extra take-up pulley in the actual use, effectively simplify the structure of cargo handling arm, realize the lightweight design.
The embodiment of the application provides a clamping jaw subassembly and goods transport arm's beneficial effect includes:
the centre gripping scope of centre gripping subassembly is adjustable, can snatch not unidimensional goods, can realize the snatching of the great goods of specification difference, and the cargo handling arm has the centre gripping subassembly, consequently can snatch not unidimensional goods, and cargo handling arm simple structure simultaneously, convenient operation realizes the lightweight design.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic view of a first perspective of a cargo handling robot;
FIG. 2 is a schematic view of the cargo handling robot from a second perspective;
FIG. 3 is an enlarged partial view of FIG. 2 at III;
FIG. 4 is a schematic view of a portion of FIG. 2 at IV;
FIG. 5 is a schematic view of the jaw assembly;
fig. 6 is a sectional view taken along line a-a in fig. 5.
Icon: 10-a cargo handling robot arm; 100-a base; 101-a guide sleeve; 110-a drive assembly; 111-power mechanism; 112-driving wheel; 114-a screw rod; 115-lead screw nut; 116-a driven wheel; 117-drive belt; 121-a mounting plate; 123-a limiting block; 125-a holding member; 131-a bearing seat; 133-a first bearing; 135-a connecting flange; 136-a locking nut; 140-a jaw assembly; 141-a guide rail; 142-a chute; 143-a limiting hole; 145-a first mount; 146-a second mount; 147-a stop mechanism; 1471-stop; 1473-a limiting part; 1475-handle; 148-a first jaw; 1481-web; 1483-first jaw portion; 1485-second jaw portion; 151-second jaw; 153-a first cylinder; 154-second cylinder; 160-a guide assembly; 161-guide post; 163-upper connection; 165-lower connector; 170-connecting column.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Examples
As shown in fig. 1 and 2, a cargo handling robot 10 generally includes a base 100, a drive assembly 110, and a jaw assembly 140.
In actual use, the base 100 is fixed at a target position to be installed, so that the driving assembly 110 drives the clamping jaw assembly 140 to move toward or away from the base 100, in this embodiment, the base 100 is a plate. In order to reduce the weight, the base 100 is partially hollowed out.
Referring to fig. 2 and 3, the driving assembly 110 includes a power mechanism 111, a lead screw 114, and a lead screw nut 115 engaged with the lead screw 114, the lead screw 114 passes through the lead screw nut 115, the lead screw nut 115 is axially immovable and circumferentially rotatably disposed on the base 100, and the power mechanism 111 is configured to drive the lead screw nut 115 to rotate forward or backward, so that the rotation of the lead screw nut 115 is converted into the linear motion of the lead screw 114 to drive the clamping jaw assembly 140 to move.
In the embodiment, in order to ensure vertical transportation and improve transportation efficiency, the axis of the lead screw 114 is perpendicular to the base 100, that is, the axis of the lead screw nut 115 is also perpendicular to the base 100 at this time.
The power mechanism 111 includes, but is not limited to, an electric motor or a pneumatic motor. In this embodiment, the power mechanism 111 is a servo motor, and realizes multi-position servo positioning in an automated transportation situation through the servo motor, and meanwhile, realizes accurate displacement of the lead screw 114 according to a rotation angle of the servo motor.
The power mechanism 111 is in transmission connection with the lead screw nut 115, wherein the transmission connection includes coaxial connection, belt transmission, gear transmission, and the like, in this embodiment, the power mechanism 111 and the lead screw nut 115 are in belt transmission via a transmission belt 117, and the transmission belt 117 may be a belt or a chain. Specifically, the power mechanism 111 is coaxially connected with a driving wheel 112, the screw nut 115 is connected with a driven wheel 116, the driving wheel 112 and the driven wheel 116 are in belt transmission via a transmission belt 117, wherein the driving wheel 112 and the driven wheel 116 can be set as a sprocket or a synchronous wheel according to the actual transmission belt 117.
Referring to fig. 2 and 4, the driving assembly 110 includes a mounting plate 121, the actuating mechanism 111 is fixed to the mounting plate 121, for example, the actuating mechanism 111 is fixed to the mounting plate 121 by a screw, wherein the mounting plate 121 is configured to be mounted on the base 100 and selectively move toward or away from the lead screw nut 115, and by the above configuration, the stability of the connection between the actuating mechanism 111 and the mounting plate 121 can be ensured, so that the actuating mechanism 111 is mounted on the base 100 and selectively moves toward or away from the lead screw nut 115.
Optionally, the cargo-handling robot 10 includes a holding mechanism operable to stop the mounting plate 121 by tightly holding against the mounting plate 121 to synchronously stop the power mechanism 111 fixed to the mounting plate 121, and a locking mechanism (not shown) for fixing the stopped power mechanism 111 to the base 100. Through the arrangement, the installation position of the power mechanism 111 can be adjusted according to actual requirements. The locking mechanism is, for example, a screw, which is not described herein.
Specifically, the base 100 is provided with a first mounting hole (not shown) for mounting the power mechanism 111, wherein the mounting plate 121 is located above the base 100 and fixed to the base 100 through a locking mechanism, and a portion of the power mechanism 111 extends out of the base 100 and hangs below the base 100. The cross-sectional area of the first mounting hole is larger than that of the power mechanism 111 and smaller than that of the mounting plate 121, so that the power mechanism 111 can move a certain distance towards or away from the screw nut 115, and the moving mounting plate 121 can be stably fixed to the base 100 through the locking mechanism.
Specifically, the abutting mechanism includes a limiting block 123 and an abutting member 125, the limiting block 123 is disposed on the base 100 and located on a side of the power mechanism 111 facing the lead screw nut 115, one end of the abutting member 125 is connected to the limiting block 123, and the abutting member 125 can be operated to tightly abut against the power mechanism 111 through the other end to stop the power mechanism 111.
Since the present embodiment uses a belt drive, a tension wheel may be provided to ensure the tension of the belt 117, but this arrangement increases the manufacturing cost on the one hand and the structural complexity of the cargo-handling robot arm 10 on the other hand, so that, alternatively, the abutting member 125 can be operated to abut tightly against the mounting plate 121 via the other end to tension the belt 117 connected to the power machine. That is, the object of tensioning the transmission belt 117 is achieved without an operation of additionally providing a tensioning pulley.
To increase the ease of tensioning adjustment, optionally, the length of the abutment 125 towards the power mechanism 111 is adjustable.
There are many ways to achieve the length adjustment of the supporting member 125, for example, the supporting member 125 is a telescopic rod; in this embodiment, the abutting member 125 is in threaded connection with the limiting block 123, so that in the actual use process, the length of the abutting member 125 facing the power mechanism 111 can be adjusted by rotating the abutting member 125 forward or backward, wherein a abutting portion (not shown) can be disposed on one side of the abutting member 125 close to the power mechanism 111, and the cross-sectional area of the abutting portion is larger than that of one end of the abutting member 125 away from the power mechanism 111, so as to increase the contact area and prevent the mounting plate 121 from being damaged in the abutting process.
Optionally, the holding member 125 is a screw.
Referring to fig. 2, 3 and 4, the lead screw nut 115 is axially immovably and circumferentially rotatably disposed on the base 100 through a connection mechanism, specifically, the connection mechanism includes a bearing seat 131, a first bearing 133 engaged with the bearing seat 131, a connection flange 135 and a lock nut 136.
The base 100 is provided with a second mounting hole (not shown) matched with the bearing seat 131, the bearing seat 131 is embedded in the second mounting hole and connected with the base 100, specifically, the bearing seat 131 is fixed on the base 100 in a screw fixing manner, and the mounting stability of the bearing seat 131 is ensured.
The number of first bearings 133 is one or more, such as two, three, etc., in this embodiment, the number of first bearings 133 is two, wherein two first bearings 133 are mounted back-to-back, and the outer race of each first bearing 133 is tightly fitted with the bearing housing 131 and defined within the bearing housing 131.
The connecting flange 135 is fixed on the driven wheel 116 through screws, two ends of the connecting flange 135 respectively extend out of the driven wheel 116, the feed screw nut 115 is fixed at one end of the connecting flange 135 through screws so that the feed screw nut 115 and the driven wheel 116 rotate synchronously, the inner ring of each first bearing 133 is tightly matched with the connecting flange 135, and the locking nut 136 is locked at the other end of the connecting flange 135 and abuts against the first bearing 133 located below, so that the first bearing 133 is limited in the bearing seat 131 and cannot move axially. With the above arrangement, the lead screw nut 115 is axially immovable and circumferentially rotatably fixed to the base 100.
Referring to fig. 2, 5 and 6, the clamping jaw assembly 140 is used for clamping the goods, and the clamping jaw assembly 140 is connected to the screw rod 114.
Specifically, the jaw assembly 140 includes: the guide rail 141, the first mounting seat 145 slidably fitted to the guide rail 141, the second mounting seat 146 slidably fitted to the guide rail 141, and the stopper mechanism 147.
The first mounting base 145 is provided with a first telescopic clamping jaw 148, and the second mounting base 146 is provided with a second telescopic clamping jaw 151 opposite to the first clamping jaw 148; the stopper mechanism 147 is used to stop the sliding of the first and second mounting seats 145 and 146 at any position of the guide rail 141. In the actual use, can adjust the position that first mount pad 145 and second mount pad 146 are located guide rail 141 according to the demand earlier, then stop first mount pad 145 and second mount pad 146 through stop mechanism 147, then according to the demand of reality flexible first clamping jaw 148, second clamping jaw 151 can, it is also that the centre gripping scope is adjustable, can snatch the goods of different sizes, can realize the snatching of the goods that the specification differed greatly, simple structure simultaneously, convenient operation.
Alternatively, the guide rail 141 is specifically, for example, a cross roller guide rail 141, and is not specifically limited herein.
In this embodiment, the number of the guide rails 141 is two, the two guide rails 141 are arranged in parallel and have a certain interval, one side of the two guide rails 141 opposite to each other is provided with a sliding groove 142, and two sides of the first mounting seat 145 and the second mounting seat 146 are respectively embedded in the sliding groove 142 in a sliding manner.
Optionally, the guide rail 141 has a limiting hole 143 penetrating through the guide rail 141, the limiting hole 143 extends along the extending direction of the guide rail 141, the limiting hole 143 is communicated with the sliding groove 142, and the axis of the limiting hole 143 is perpendicular to the axis of the sliding groove 142, that is, wherein the limiting hole 143 penetrates through the top wall and the bottom wall of the guide rail 141.
The stopping mechanism 147 includes a stopping portion 1471, a limiting portion 1473 and a handle 1475 for holding, the handle 1475 is connected to the stopping portion 1471 through the limiting portion 1473, wherein the limiting portion 1473 can be in interference fit with the limiting hole 143, that is, an acting force is applied through the handle 1475, at least a portion of the limiting portion 1473 can be in interference fit with the limiting hole 143 to fix the stopping mechanism 147 on the guide rail 141, and at this time, the stopping portion 1471 can effectively press the first mounting seat 145 and the second mounting seat 146 embedded in the guide groove, so that the first mounting seat 145 and the second mounting seat 146 can stop sliding at any position of the guide rail 141.
Optionally, the stopper 1473 is made of an elastic material.
In this embodiment, the arrangement of the first mounting seat 145 having the first retractable jaw 148 and the second mounting seat 146 having the second retractable jaw 151 includes:
the jaw assembly 140 includes: a first cylinder 153 provided to the first mounting base 145, and a second cylinder 154 provided to the second mounting base 146.
Wherein, the telescopic arm of the first air cylinder 153 is connected with the first clamping jaw 148 and drives the first clamping jaw 148 to reciprocate towards the side departing from the second mounting seat 146; the telescopic arm of the second cylinder 154 is connected to the second jaw 151 and drives the second jaw 151 to reciprocate toward a side facing away from the first jaw 148. The extending directions of the telescopic arm of the first air cylinder 153 and the telescopic arm of the second air cylinder 154 are parallel to the extending direction of the guide rail 141.
Alternatively, the telescopic arm of the first cylinder 153 extends toward one side of the second mount 146, and the telescopic arm of the second cylinder 154 extends toward one side of the first mount 145. The structure of the first clamping jaw 148 is the same as that of the second clamping jaw 151, and only the structure of the first clamping jaw 148 will be described below, and the structure of the second clamping jaw 151 refers to the first clamping jaw 148.
The first jaw 148 includes a connecting plate 1481 and at least one claw portion, and in the present embodiment, the first jaw 148 includes a connecting plate 1481 and two claw portions, the connecting plate 1481 is connected to the telescopic arms of the first cylinder 153, the two claw portions are respectively connected to the connecting plate 1481, and the two claw portions are arranged at intervals and form a gap for accommodating the first cylinder 153.
Each jaw includes a first jaw portion 1483 and a second jaw portion 1485 connected to each other to form an L shape, the first jaw portion 1483 extending in the same direction as the rail 141, and an end of the second jaw portion 1485 facing away from the first jaw portion 1483 extends toward a side close to the first mount 145. The width of the first claw portion 1483 is larger than the width of the first mount 145 in the extending direction of the rail 141.
Optionally, in other embodiments provided in the present application, the first cylinder 153 and the second cylinder 154 may be respectively replaced by electric telescopic rods, which are not described herein again.
Further optionally, the cargo-handling robot 10 includes a guiding assembly 160, the guiding assembly 160 includes a guide post 161 slidably disposed through the base 100, and an upper connecting member 163 and a lower connecting member 165 respectively disposed at the upper and lower sides of the base 100, an axis of the guide post 161 is parallel to an axis of the lead screw 114 and perpendicular to the base 100, two ends of the guide post 161 are respectively connected to the upper connecting member 163 and the lower connecting member 165, and two ends of the lead screw 114 are respectively axially immovably and circumferentially rotatably connected to the upper connecting member 163 and the lower connecting member 165. Through the above arrangement, the screw rod 114 is ensured to drive the clamping jaw assembly 140 to move synchronously along the guide direction of the guide pillar 161, the accuracy of the cargo transportation route is ensured, meanwhile, the guide pillar 161 is arranged, compared with the linear guide rail 141, the structure is simpler, and the light weight design of the cargo handling mechanical arm 10 is realized.
Wherein, the base 100 can be provided with a guide sleeve 101, and the guide post 161 is slidably disposed in the guide sleeve 101 to achieve the accuracy of vertical transportation. The two ends of the screw rod 114 can be axially immovably and circumferentially rotatably connected with the upper connecting piece 163 and the lower connecting piece 165 through second bearings.
At this time, the jaw assembly 140 may be disposed on the upper connector 163 and/or the lower connector 165. Optionally, in this embodiment, the jaw assembly 140 is disposed on the lower link 165. It is more convenient to clamp the goods than the manner in which the jaw assembly 140 is provided to the upper connector 163.
Since the first cylinder 153 protrudes from the surface of the first mounting seat 145 and the second cylinder 154 protrudes from the surface of the second mounting seat 146, in order to ensure the smooth operation of the first clamping jaw 148 and the second clamping jaw 151, the cargo handling robot 10 includes a connecting column 170, wherein the guide rail 141 is connected with the lower connecting plate 1481 through the connecting column 170, so that a certain gap is formed between the guide rail 141 and the lower connecting plate 1481.
To sum up, the clamping jaw subassembly that this application provided's centre gripping scope is adjustable, can snatch not unidimensional goods, can realize the snatching of the great goods of specification difference, simple structure simultaneously, convenient operation. Meanwhile, the cargo handling mechanical arm comprising the clamping jaw assembly has the characteristics, and meanwhile, the power mechanism is adopted to drive the screw rod nut to rotate so as to realize the up-and-down reciprocating motion of the screw rod, so that the materials are conveyed along the conveying direction of the screw rod.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A jaw assembly, comprising:
a guide rail;
the first mounting seat is slidably embedded in the guide rail and is provided with a telescopic first clamping jaw;
the second mounting seat is slidably embedded in the guide rail and is provided with a second clamping jaw which is opposite to the first clamping jaw and is telescopic;
and a stopper mechanism for stopping the sliding of the first mounting seat and the second mounting seat at any position of the guide rail.
2. A jaw assembly as claimed in claim 1, wherein said jaw assembly comprises:
the first air cylinder is arranged on the first mounting seat, and the second air cylinder is arranged on the second mounting seat;
the telescopic arm of the first cylinder is connected with the first clamping jaw and drives the first clamping jaw to reciprocate towards one side departing from the second mounting seat; and the telescopic arm of the second cylinder is connected with the second clamping jaw and drives the second clamping jaw to reciprocate towards one side departing from the first clamping jaw.
3. A cargo handling robot arm comprising:
a base;
the driving assembly comprises a power mechanism, a screw rod and a screw rod nut matched with the screw rod, the screw rod penetrates through the screw rod nut, the screw rod nut is axially immovable and circumferentially and rotatably arranged on the base, and the power mechanism is used for driving the screw rod nut to rotate forwards or backwards so as to drive the screw rod to move back and forth; and
a gripper assembly according to any one of claims 1-2 for gripping said goods, said gripper assembly being connected to said screw.
4. The cargo handling robot arm of claim 3, comprising a guide assembly, wherein the guide assembly comprises a guide post slidably disposed through the base, and an upper connecting member and a lower connecting member respectively disposed at upper and lower sides of the base, wherein two ends of the guide post are respectively connected to the upper connecting member and the lower connecting member, two ends of the lead screw are respectively connected to the upper connecting member and the lower connecting member axially immovably and circumferentially rotatably, and the clamping jaw assembly is disposed on the upper connecting member and/or the lower connecting member.
5. The cargo handling robot arm of claim 4, wherein the jaw assembly is disposed at the lower link.
6. The cargo handling robot arm of claim 4, wherein an axis of the guide post is parallel to an axis of the lead screw and perpendicular to the base.
7. The cargo handling robot arm of claim 3, wherein the lead screw nut is disposed on the base via a coupling mechanism, the coupling mechanism comprising a bearing seat disposed on the base, a bearing engaged with the bearing seat and confined within the bearing seat, an outer race of the bearing being a tight fit with the lead screw nut.
8. The load handling robot of claim 3, wherein the power mechanism is mounted to the base and is selectively movable toward and away from the lead screw nut, the load handling robot comprising a retention mechanism operable to retain the power mechanism by tightly abutting against the power mechanism and a locking mechanism for securing the retained power mechanism to the base.
9. The cargo handling robot arm of claim 8, wherein the power mechanism and the lead screw nut are driven by a driving belt, the abutting mechanism comprises a limiting block and an abutting member, the limiting block is disposed on the base and located on one side of the power mechanism facing the lead screw nut, one end of the abutting member is connected with the limiting block, and the abutting member can be operated to tightly abut against the power mechanism through the other end to tension the driving belt.
10. The load handling robot of claim 9, wherein the length of the abutment member toward the power mechanism is adjustable.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202020029163.3U CN211444129U (en) | 2020-01-06 | 2020-01-06 | Clamping jaw assembly and cargo handling mechanical arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202020029163.3U CN211444129U (en) | 2020-01-06 | 2020-01-06 | Clamping jaw assembly and cargo handling mechanical arm |
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CN211444129U true CN211444129U (en) | 2020-09-08 |
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CN202020029163.3U Expired - Fee Related CN211444129U (en) | 2020-01-06 | 2020-01-06 | Clamping jaw assembly and cargo handling mechanical arm |
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- 2020-01-06 CN CN202020029163.3U patent/CN211444129U/en not_active Expired - Fee Related
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