Movable electric gripper

Abstract

The utility model relates to the technical field of electric grippers, and discloses a movable electric gripper which comprises a device body, four moving wheels distributed in a matrix mode are arranged at the bottom of the device body, a horizontal sliding groove is formed in the device body, a threaded rod is arranged in the horizontal sliding groove, and the threaded rod is connected with the device body. A servo motor is installed on one side of the device body, one end of a threaded rod is installed on an action output shaft of the servo motor, a sliding block is connected to the threaded rod in a threaded mode, and the servo motor, the threaded rod, the sliding block and other structures are matched with one another, so that when the grabbing range of the grabbing hand needs to be adjusted, the grabbing hand can be adjusted conveniently. The servo motor can be started to drive the threaded rod to rotate, so that the sliding block can horizontally move in the horizontal sliding groove through a thread screwing-in relation, and the purpose of adjusting the grabbing range of the grabbing hand is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of electric grippers, in particular to a mobile electric gripper. Background Art

[0002] Robots include all machines that simulate human behavior or thoughts and simulate other organisms (such as robot dogs, robot cats, robot cars, etc.). In contemporary industry, robots refer to man-made machine devices that can perform tasks automatically to replace or assist human work. They are generally electromechanical devices controlled by computer programs or electronic circuits.

[0003] However, the existing robot electric gripper has a limited grasping range and cannot adjust the maximum grasping range according to the size of the object, which makes the gripper have certain limitations when used. Utility Model Content

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the utility model provides a mobile electric gripper, which has the advantages of being easy to move as a whole and having an adjustable gripping range of the gripper structure, thereby solving the above-mentioned technical problems.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mobile electric gripper, comprising a device body, four moving wheels distributed in a matrix are arranged at the bottom of the device body, a horizontal sliding groove is opened on the device body, a threaded rod is arranged in the horizontal sliding groove, a servo motor is installed on one side of the device body, one end of the threaded rod is installed on the action output shaft of the servo motor, a sliding block is threadedly connected to the threaded rod, a support rod is installed on the top of the sliding block, an angle motor is arranged on the top of the support rod, a connecting cross bar is installed on the action output shaft of the angle motor, a connecting block is installed at the end of the connecting cross bar away from the support rod, an electric telescopic rod is installed at the bottom of the connecting block, a fixed block is installed on the action output end of the electric telescopic rod, a gripper shell is installed at the bottom of the fixed block, and four clamping rods distributed in a matrix are slidably arranged at the bottom of the gripper shell.

[0008] As a preferred technical solution of the utility model, a micro motor is arranged in the fixed block, and a rotating disk is installed on the action output shaft of the micro motor.

[0009] As a preferred technical solution of the utility model, a transmission cavity is opened in the gripper housing, and the rotating disk is arranged in the transmission cavity.

[0010] As a preferred technical solution of the utility model, four arc-shaped slide grooves distributed in a circle are opened at the bottom of the rotating disk, a sliding shaft is slidably arranged in the arc-shaped slide groove, a connecting piece is installed at the bottom of the sliding shaft, and the clamping rod is rotatably installed at the bottom of the connecting piece.

[0011] As a preferred technical solution of the utility model, a limiting hole is provided in the connecting member, a limiting shaft is rotatably installed in the limiting hole, and the limiting shaft is installed on the top of the clamping rod.

[0012] As a preferred technical solution of the utility model, the bottom of the gripper housing is provided with four sliding holes evenly arranged along the circumferential direction, the sliding holes are connected to the transmission cavity, and the four clamping rods are respectively slidably arranged in the sliding holes.

[0013] As a preferred technical solution of the utility model, the four clamping rods are each provided with a plurality of anti-slip grooves evenly arranged along the axial direction.

[0014] Compared with the prior art, the utility model provides a mobile electric gripper, which has the following beneficial effects:

[0015] 1. The utility model cooperates with the servo motor, threaded rod, sliding block and other structures, so that when the grasping range of the gripper needs to be adjusted, the servo motor can be started to drive the threaded rod to rotate, so that the sliding block can be horizontally moved in the horizontal sliding groove through the screw-in relationship, thereby achieving the purpose of adjusting the grasping range of the gripper.

[0016] 2. The utility model cooperates with structures such as the movable wheels and the angle motor, so that when the device needs to be moved, the device can be moved by pushing the device body through the four movable wheels in contact with the ground, thereby further improving the maneuverability of the device, and through the setting of the angle motor, the angle motor can drive the connecting cross bar to drive the gripper structure to rotate a certain angle along the support rod, thereby further improving the gripping range of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a schematic cross-sectional structure diagram of the connecting cross bar, sliding block and clamping rod of the utility model;

[0019] Figure 3 For the utility model Figure 2 A schematic diagram of the structure enlargement in the middle;

[0020] Figure 4 It is a schematic diagram of the cross-sectional structure of the connecting piece and the limit shaft etc. of the utility model when viewed from above.

[0021] Among them: 1. Device body; 2. Moving wheel; 3. Servo motor; 4. Horizontal sliding groove; 5. Sliding block; 6. Support rod; 7. Connecting cross bar; 8. Connecting block; 9. Electric telescopic rod; 10. Fixed block; 11. Gripper housing; 12. Angle motor; 13. Threaded rod; 14. Micro motor; 15. Rotating disk; 16. Transmission cavity; 17. Sliding hole; 18. Connecting piece; 19. Limiting hole; 20. Limiting shaft; 21. Clamping rod; 22. Anti-slip groove; 23. Arc-shaped slide groove; 24. Sliding shaft. DETAILED DESCRIPTION

[0022] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] In the description of the present invention, unless otherwise specified, "multiple" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] See also Figure 1-4A mobile electric gripper comprises a device body 1, four moving wheels 2 distributed in a matrix are arranged at the bottom of the device body 1, a horizontal sliding groove 4 is opened on the device body 1, a threaded rod 13 is arranged in the horizontal sliding groove 4, a servo motor 3 is installed on one side of the device body 1, one end of the threaded rod 13 is installed on the action output shaft of the servo motor 3, a sliding block 5 is threadedly connected to the threaded rod 13, a support rod 6 is installed on the top of the sliding block 5, an angle motor 12 is arranged on the top of the support rod 6, a connecting cross bar 7 is installed on the action output shaft of the angle motor 12, a connecting block 8 is installed at the end of the connecting cross bar 7 away from the support rod 6, an electric telescopic rod 9 is installed at the bottom of the connecting block, a fixed block 10 is installed on the action output end of the electric telescopic rod 9, a gripper housing 11 is installed at the bottom of the fixed block 10, and four clamping rods 21 distributed in a matrix are slidably arranged at the bottom of the gripper housing 11.

[0026] By cooperating with each other among the servo motor 3, the threaded rod 13 and the sliding block 5, when it is necessary to adjust the gripping range of the gripper, the threaded rod 13 can be driven to rotate by starting the servo motor 3, so that the sliding block 5 can be horizontally moved in the horizontal sliding groove 4 through the screw-in relationship, thereby achieving the purpose of adjusting the gripping range of the gripper, and by cooperating with the movable wheel 2 and the angle motor 12, when it is necessary to move the device, the device can be moved by pushing the device body 1 through the four movable wheels 2 in contact with the ground, thereby further improving the maneuverability of the device, and by setting the angle motor 12, the angle motor 12 can drive the gripper structure on the connecting cross bar 7 to rotate a certain angle along the support rod 6, thereby further improving the gripping range of the gripper.

[0027] Furthermore, a micro motor 14 is arranged in the fixed block 10, a rotating disk 15 is installed on the action output shaft of the micro motor 14, a transmission cavity 16 is provided in the gripper housing 11, the rotating disk 15 is arranged in the transmission cavity 16, four arc-shaped slide grooves 23 distributed in a circumference are provided at the bottom of the rotating disk 15, a sliding shaft 24 is slidably arranged in the arc-shaped slide groove 23, a connecting member 18 is installed at the bottom of the sliding shaft 24, a clamping rod 21 is rotatably installed at the bottom of the connecting member 18, a limiting hole 19 is provided in the connecting member 18, a limiting shaft 20 is rotatably installed in the limiting hole 19, and the limiting shaft 20 is installed on the top of the clamping rod 21, and four sliding holes 17 evenly arranged in the circumferential direction are provided at the bottom of the gripper housing 11, the sliding hole 17 is connected to the transmission cavity 16, and the four clamping rods 21 are slidably arranged in the sliding holes 17 respectively.

[0028] By cooperating with each other among the micro motor 14, the rotating disk 15 and the sliding shaft 24, when it is necessary to grab an object, the rotating disk 15 can be driven to rotate by the micro motor 14, and at the same time, through the limitation of the sliding hole 17, the four sliding shafts 24 can slide along the arc-shaped slide groove 23 and move axially along the sliding hole 17, so that the four clamping rods 21 can synchronously approach or move away from each other to achieve the grabbing of the object, and by arranging the limiting hole 19, the clamping rod 21 can be rotated along the limiting hole 19 through the limiting shaft 20, so that the four clamping rods 21 can rotate when sliding along the sliding hole 17, thereby reducing the friction between the clamping rod 21 and the sliding hole 17, thereby improving the service life of the clamping rod 21, and because the diameter of the connecting member 18 is greater than the width of the sliding hole 17, the connecting member 18 can be prevented from falling from the sliding hole 17, thereby achieving the purpose of limiting the clamping rod 21.

[0029] Furthermore, the four clamping rods 21 are each provided with a plurality of anti-slip grooves 22 evenly arranged along the axial direction.

[0030] By providing the anti-slip groove 22 , the friction between the clamping rod 21 and the object to be clamped can be increased, making it easier to grab the object.

[0031] When in use, by pushing the device body 1, the setting of the moving wheel 2 can realize moving the device body 1 to the working area. After the movement is completed, the servo motor 3 is started to drive the threaded rod 13 to rotate, thereby driving the sliding block 5 to slide along the horizontal sliding groove 4 through the thread screwing relationship, so that the gripping device moves to the specified position, and according to the needs, the angle motor 12 is used to drive the gripping structure on the connecting cross bar 7 to rotate a certain angle along the support rod 6, so that the gripping structure moves to the working position, thereby improving the gripping working range of the device and the adaptability of the device. When it is necessary to grab objects, the micro motor 14 is used to drive the rotating disk 15 to rotate, and at the same time, through the limiting of the sliding hole 17, the four sliding shafts 24 can slide along the arc-shaped sliding groove 23 and move axially along the sliding hole 17, so that the four clamping rods 21 can synchronously approach or move away from each other to achieve the grabbing of objects.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mobile electric gripper, comprising a device body (1), characterized in that: The bottom of the device body (1) is provided with four moving wheels (2) distributed in a matrix, the device body (1) is provided with a horizontal sliding groove (4), a threaded rod (13) is arranged in the horizontal sliding groove (4), a servo motor (3) is installed on one side of the device body (1), one end of the threaded rod (13) is installed on the action output shaft of the servo motor (3), a sliding block (5) is threadedly connected to the threaded rod (13), a support rod (6) is installed on the top of the sliding block (5), and the support rod (6) 6), an angle motor (12) is arranged at the top, a connecting cross bar (7) is installed on the action output shaft of the angle motor (12), a connecting block (8) is installed at the end of the connecting cross bar (7) away from the support rod (6), an electric telescopic rod (9) is installed at the bottom of the connecting block, a fixed block (10) is installed on the action output end of the electric telescopic rod (9), a gripper housing (11) is installed at the bottom of the fixed block (10), and four clamping rods (21) distributed in a matrix are slidably arranged at the bottom of the gripper housing (11).

2. A mobile electric gripper according to claim 1, characterized in that: A micro motor (14) is arranged inside the fixed block (10), and a rotating disk (15) is installed on the action output shaft of the micro motor (14).

3. The mobile electric gripper according to claim 1, characterized in that: A transmission cavity (16) is provided in the gripper housing (11), and the rotating disk (15) is arranged in the transmission cavity (16).

4. A mobile electric gripper according to claim 2, characterized in that: The bottom of the rotating disk (15) is provided with four arc-shaped sliding grooves (23) distributed in a circumference, a sliding shaft (24) is slidably arranged in the arc-shaped sliding groove (23), a connecting piece (18) is installed at the bottom of the sliding shaft (24), and the clamping rod (21) is rotatably installed at the bottom of the connecting piece (18).

5. The mobile electric gripper according to claim 4, characterized in that: A limiting hole (19) is provided in the connecting member (18), a limiting shaft (20) is rotatably installed in the limiting hole (19), and the limiting shaft (20) is installed on the top of the clamping rod (21).

6. The mobile electric gripper according to claim 1, characterized in that: The bottom of the gripper housing (11) is provided with four sliding holes (17) evenly arranged along the circumferential direction, the sliding holes (17) are communicated with the transmission cavity (16), and four clamping rods (21) are respectively slidably arranged in the sliding holes (17).

7. The mobile electric gripper according to claim 1, characterized in that: The four clamping rods (21) are each provided with a plurality of anti-slip grooves (22) evenly arranged along the axial direction.

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