Width-adjustable robot gripper

Abstract

The utility model discloses a width-adjustable robot gripper, which relates to the technical field of robots and comprises a main body, movable rods are movably arranged at two ends of the main body, movable blocks are movably arranged at one ends, far away from the main body, of the movable rods respectively, and the surfaces of the movable blocks are fixedly connected with corresponding clamping jaws respectively. The main body is arranged, the movable rods are arranged at the two ends of the main body, the clamps are arranged at the two ends of each movable rod, and the clamps can move relative to the movable rods under the action of the movable blocks, so that the grabbing function is achieved, and the equipment can adapt to different scenes by controlling the movable rods to move relative to the main body and adjusting the overall size of the equipment; the clamping jaw is driven by the movable block, the stroke is small, labor and energy are saved, the overall size of the device is adjustable, and therefore the device can be flexibly adjusted according to the size of the clamping device, and adaptability is wider.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot gripper with adjustable width. Background Art

[0002] Industrial robots have been widely used. In the sheet metal bending industry, the grabbing, conveying and bending of sheet metal are usually completed by special manipulators. The size of the traditional grabbing device is designed according to the forming size of the sheet metal. Due to the limitation of the size of the sheet metal body, the size range of the sheet metal that can be grabbed by a set of grabbing devices is limited. Especially for sheets with large changes in a certain dimension, multiple sets of grabbing devices are often required to achieve the desired effect. Not only is the cost of use high, but the replacement of multiple sets of grippers is also very troublesome, and the work efficiency is low.

[0003] To this end, a robot gripper with adjustable width is proposed. Utility Model Content

[0004] The purpose of the utility model is to provide a robot gripper with adjustable width to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions: a width-adjustable robot gripper, comprising a main body, movable rods are movably provided at both ends of the main body, movable blocks are movably provided at one end of the movable rod away from the main body, and corresponding clamping claws are fixedly connected to the surfaces of the movable blocks.

[0006] According to the above technical solution, a connecting sleeve is fixedly connected to the inside of the main body, and the number of the connecting sleeves is two. The two connecting sleeves are respectively arranged on both sides of the main body, and the two ends of the connecting sleeve respectively pass through the main body and are located at the outer end of the main body, and the movable rod is respectively slidably arranged on the inner surfaces of the two ends of the connecting sleeve.

[0007] According to the above technical solution, a connecting plate is fixedly connected between the movable rods located at the same end, and the number of connecting plates at each end is two, the two connecting plates are arranged in parallel, and a transmission screw is rotatably arranged between the two connecting plates located at the same end, and the movable block is screwed to the transmission screw.

[0008] According to the above technical solution, a driving sleeve is rotatably arranged inside the main body, one end of a transmission rod is slidably arranged at both ends of the driving sleeve, and the other end of the transmission rod is coaxially connected to the transmission screw.

[0009] According to the above technical solution, a transmission cavity is provided inside the main body, the outer circumferential surface of the drive sleeve is coaxially connected with a first bevel gear, a drive motor is provided outside the main body, and the drive motor is coaxially connected with a second bevel gear for driving the first bevel gear to rotate.

[0010] According to the above technical solution, a transmission gear is rotatably arranged at the inner center of the connecting sleeve, and the opposite ends of the two movable rods located in the same connecting sleeve are fixedly connected with a transmission rack meshing with the transmission gear.

[0011] According to the above technical solution, sliding grooves extending in the same direction are arranged on the opposite surfaces of the two movable rods at the same end, and a limiting plate is fixedly connected to the surface of the movable block, and the limiting plate is slidably arranged on the inner surface of the sliding groove.

[0012] Compared with the prior art, the beneficial effect achieved by the utility model is as follows: the utility model is provided with a main body, movable movable rods are provided at both ends of the main body, and clamps are provided at both ends of the movable rods. The clamps can move relative to the movable rods under the action of the movable block, thereby realizing the grasping function. By controlling the movement of the movable rod relative to the main body, the overall size of the device is adjusted, and the device can adapt to different scenes. The clamps are driven by the movable block, have a smaller stroke, and are more labor-saving and energy-saving. The overall size of the device is adjustable, so the device can be flexibly adjusted according to the size of the clamping device, and has a wider adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a schematic diagram of the main cross-sectional structure of the utility model;

[0016] Figure 3 It is a schematic diagram of the cross-sectional structure of the utility model in a top view;

[0017] In the figure: 1-main body, 2-movable rod, 3-movable block, 4-clamping claw, 5-connecting sleeve, 6-connecting plate, 7-transmission screw, 8-driving sleeve, 9-transmission rod, 10-transmission cavity, 11-first bevel gear, 12-second bevel gear, 13-transmission gear, 14-transmission rack, 15-slide groove, 16-limiting plate. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figure 1-3 The utility model provides a technical solution: a robot gripper with adjustable width, including a main body 1, such as Figure 1 As shown, movable rods 2 are movably provided at both ends of the main body 1, and the movable rods 2 are extended in the same direction. The ends of the movable rods 2 away from the main body 1 are movably provided with movable blocks 3, and the movable blocks 3 can slide along the length direction of the movable rods 2. The surfaces of the movable blocks 3 are respectively fixedly connected with corresponding clamps 4. When the equipment is in use, the movable blocks 3 are driven to move, and the clamps 4 are driven by the movable blocks 3 to clamp the workpiece through the clamps 4. Since the movement of the clamps 4 is controlled only by the movable blocks 3, it is more labor-saving, and the load of the power equipment is also reduced. The spacing between the movable rods 2 is adjusted according to the specific size of the parts, and then the initial position of the movable block 3 is adjusted. Therefore, it can adapt to equipment of different sizes, and the overall size of the equipment can also be adjusted to facilitate working in a relatively narrow area. It should be noted that the adjustable width mentioned in the name of this application generally refers to the width direction of the workpiece. This application is mainly used for clamping plate-like components. Therefore, it is clamped in the width direction of the workpiece. The equipment can be flexibly adjusted with the size of the workpiece, so it is width-adjustable rather than length-adjustable. Those skilled in the art can clearly understand the meaning of this name;

[0020] Specifically, if Figure 3 As shown, the main body 1 is fixedly connected with a connecting sleeve 5 inside, and the number of the connecting sleeves 5 is two. The two connecting sleeves 5 are respectively arranged at both sides of the main body 1, and the two ends of the connecting sleeves 5 respectively penetrate the main body 1 and are located at the outer end of the main body 1. The connecting sleeves 5 are arranged in parallel, and the movable rod 2 is respectively slidably arranged at the inner surfaces of the two ends of the connecting sleeves 5, so the movable rod 2 is coaxially arranged, and the movable rod 2 can slide along the length direction of the movable rod 2 under the action of the connecting sleeves 5, so as to flexibly adjust the initial distance between the movable blocks 3 at the two ends and the overall size of the device;

[0021] Specifically, if Figure 1As shown, a connecting plate 6 is fixedly connected between the movable rods 2 at the same end, and the number of connecting plates 6 at each end is two, the two connecting plates 6 are arranged in parallel, and a transmission screw 7 is rotatably arranged between the two connecting plates 6 at the same end, the movable block 3 is screwed with the transmission screw 7, wherein the transmission screw 7 is extended along the length direction of the movable rod 2, the movable block 3 is sleeved on the outside of the transmission screw 7 in a sleeve shape, and the inner circumferential surface of the movable block 3 is provided with an internal thread screwed with the transmission screw 7, and the movement of the movable block 3 is controlled by the rotation of the transmission screw 7;

[0022] Specifically, a driving sleeve 8 is rotatably arranged inside the main body 1. Figure 1 As shown, the driving sleeve 8 is extended in the same direction as the length direction of the movable rod 2, and one end of the transmission rod 9 is slidably arranged at both ends of the driving sleeve 8, and the other end of the transmission rod 9 is coaxially connected with the transmission screw 7. The outer circumference of the transmission rod 9 is provided with a movable groove extending in the same direction, and a limited position block is provided at the inner circumference of the driving sleeve 8 corresponding to the movable groove, so that the driving sleeve 8 can drive the transmission rods 9 at both ends to rotate, and the transmission rod 9 can slide relative to the driving sleeve 8. Therefore, when the movable rod 2 is adjusted to move, the transmission rod 9 can slide accordingly, and the driving sleeve 8 drives the transmission rod 9 to rotate, and the transmission rod 9 drives the transmission screw 7 to rotate, so as to adjust the clamping jaw 4;

[0023] Specifically, if Figure 2 As shown, a transmission cavity 10 is provided inside the main body 1, a first bevel gear 11 is coaxially connected to the outer circumference of the driving sleeve 8, a driving motor is provided outside the main body 1, and the driving motor is coaxially connected to a second bevel gear 12 for driving the first bevel gear 11 to rotate, the driving motor drives the second bevel gear 12 to rotate, and the second bevel gear 12 drives the first bevel gear 11 to rotate, thereby controlling the rotation of the driving sleeve 8;

[0024] Specifically, a transmission gear 13 is rotatably arranged at the inner center of the connecting sleeve 5. Figure 3 As shown, the opposite ends of the two movable rods 2 located in the same connecting sleeve 5 are respectively fixedly connected with transmission racks 14 meshing with the transmission gear 13. The transmission racks 14 in the same connecting sleeve 5 are respectively located on both sides of the transmission gear 13. Therefore, when the movable rod 2 at one end slides, the corresponding transmission rack 14 drives the transmission gear 13 to rotate, and then drives the movable rod 2 at the other end to move in the opposite direction, so that the main body 1 is always at the center of the two clamping claws 4 to ensure the balance of the equipment. A positioning mechanism can be set between the connecting sleeve 5 and the corresponding movable rod 2 to realize the positioning of the movable rod 2. When adjustment is needed, the positioning mechanism is opened to adjust the position of the movable rod 2. This positioning mechanism can adopt positioning holes and pins, etc. This is the prior art and will not be described in detail.

[0025] Specifically, the surfaces of the two movable rods 2 at the same end are provided with a slide groove 15 extending in the same direction, the surface of the movable block 3 is fixedly connected to a limit plate 16, the limit plate 16 is slidably arranged on the inner surface of the slide groove 15, and the slide groove 15 is arranged between the two connecting plates 6 at the same end. When the movable block 3 slides, the limit plate 16 slides inside the slide groove 15 accordingly, so that when the equipment clamps a heavier workpiece, the limit plate 16 and the slide groove 15 can increase the stress that the clamping jaw 4 can withstand, and at the same time, the movable block 3 can be prevented from rotating as the corresponding transmission screw 7 rotates;

[0026] When the utility model is in use, the robot arm is fixedly connected to the main body 1. By moving the movable rod 2 at one end, the corresponding transmission rack 14 drives the transmission gear 13 to rotate, and then the movable rod 2 at the other end can be driven to move in the opposite direction, and the spacing between the clamping jaws 4 can be adjusted. The movable rod 2 is fixed by a positioning mechanism, and the second bevel gear 12 is driven to rotate by a driving motor, and the second bevel gear 12 drives the first bevel gear 11 to rotate, and the first bevel gear 11 drives the driving sleeve 8 to rotate, and drives the transmission rods 9 at both ends to rotate, thereby driving the transmission screw 7 to rotate, and under the action of the threaded cooperation, the movable block 3 is driven to slide, and the clamping jaw 4 is driven by the movable block 3 to clamp the workpiece.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0028] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robot gripper with adjustable width, comprising a main body (1), characterized in that: Movable rods (2) are movably provided at both ends of the main body (1), and movable blocks (3) are movably provided at the ends of the movable rods (2) away from the main body (1), and corresponding clamping claws (4) are fixedly connected to the surfaces of the movable blocks (3).

2. A width-adjustable robot gripper according to claim 1, characterized in that: The main body (1) is fixedly connected to a connecting sleeve (5) inside. The connecting sleeves (5) are two in number. The two connecting sleeves (5) are respectively arranged at two sides of the main body (1), and the two ends of the connecting sleeve (5) respectively penetrate the main body (1) and are located at the outer end of the main body (1). The movable rod (2) is respectively slidably arranged on the inner surfaces of the two ends of the connecting sleeve (5).

3. A width-adjustable robot gripper according to claim 2, characterized in that: A connecting plate (6) is fixedly connected between the movable rods (2) at the same end, and the number of connecting plates (6) at each end is two, and the two connecting plates (6) are arranged in parallel. A transmission screw (7) is rotatably arranged between the two connecting plates (6) at the same end, and the movable block (3) is screwed to the transmission screw (7).

4. The width-adjustable robot gripper according to claim 3, characterized in that: A driving sleeve (8) is rotatably arranged inside the main body (1), one end of a transmission rod (9) is slidably arranged at both ends of the driving sleeve (8), and the other end of the transmission rod (9) is coaxially connected to the transmission screw (7).

5. The width-adjustable robot gripper according to claim 4, characterized in that: A transmission cavity (10) is arranged inside the main body (1), a first bevel gear (11) is coaxially connected to the outer peripheral surface of the drive sleeve (8), and a drive motor is arranged outside the main body (1), and the drive motor is coaxially connected to a second bevel gear (12) for driving the first bevel gear (11) to rotate.

6. A width-adjustable robot gripper according to claim 5, characterized in that: A transmission gear (13) is rotatably arranged at the inner center of the connecting sleeve (5), and a transmission rack (14) meshing with the transmission gear (13) is fixedly connected to the opposite ends of the two movable rods (2) located in the same connecting sleeve (5).

7. A width-adjustable robot gripper according to claim 6, characterized in that: A slide groove (15) extending in the same direction is arranged on the opposite surfaces of the two movable rods (2) at the same end, and a limit plate (16) is fixedly connected to the surface of the movable block (3), and the limit plate (16) is slidably arranged on the inner surface of the slide groove (15).

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