A switchable gripper for a robot

Abstract

The present invention discloses a switchable gripper for a robot, comprising a sliding seat and a slider, wherein both sides of the bottom of the sliding seat are provided with a slide groove, the slider is located inside the slide groove, wherein a lead screw is passed through the inside of the slide groove, a first motor is fixed to one end of the sliding seat, the first motor is fixedly connected to the lead screw, a clamping seat is fixed to the bottom of the slider, one side of the clamping seat is rotatably connected to a rotating seat, a transmission groove is provided inside the side of the clamping seat close to the rotating seat, and a first gear is fixed inside the rotating seat close to the transmission groove. In the switchable gripper for the robot, a second motor drives a second gear to rotate, and the second gear drives the first gear to rotate by meshing, so that the first gear drives the rotating seat to rotate, and the second motor is a stepping motor, so that the second motor drives the rotating seat to rotate 180°, and the position of the clamp is switched by the rotating seat, so as to facilitate clamping workpieces of different models.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a switchable gripper for a robot. Background Art

[0002] A robot is a machine device that performs tasks automatically, including all machines that simulate human behavior or thoughts and other organisms. The robot is used to grasp workpieces.

[0003] Although there are many types and quantities of current robot grippers, there are still certain problems with the existing robot grippers, which brings certain inconveniences to the use of the robot grippers.

[0004] When using existing robot grippers, the model of the clamp needs to be replaced according to the model and size of the workpiece, but replacing the clamp is rather cumbersome, and the model of the clamp cannot be switched directly, which is inconvenient to use. Therefore, there is an urgent need for technology that can improve the structure of the robot gripper to improve this device. Summary of the invention

[0005] The object of the present invention is to provide a switchable gripper for a robot to solve the problem raised in the above background technology that the current robot gripper needs to replace the model of the clamp according to the model and size of the workpiece when in use, but the replacement of the clamp is cumbersome and the model of the clamp cannot be switched directly, which is inconvenient to use.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a switchable gripper for a robot comprises a sliding seat and a sliding block, wherein sliding grooves are provided on both sides of the bottom of the sliding seat, and the sliding block is located inside the sliding groove; a screw rod runs through the inside of the sliding groove, a first motor is fixed at one end of the sliding seat, the first motor is fixedly connected to the screw rod, a clamping seat is fixed at the bottom of the sliding block, a rotating seat is rotatably connected to one side of the clamping seat, a transmission groove is provided inside the side of the clamping seat close to the rotating seat, a first gear is fixed inside the rotating seat close to the transmission groove, and a second motor is fixed to the side of the clamping seat away from the rotating seat; a second gear is fixed on the side of the second motor close to the first gear, and clamps are installed on both sides of the rotating seat away from the clamping seat, a card slot is provided on the side of the rotating seat close to the clamp, an opening slot is provided on the side of the rotating seat close to the card slot, a card block is fixed on the side of the clamp close to the card slot, a screw slot is penetrated on the side of the clamping seat close to the card slot, a fixing slot is provided on the side of the card block close to the screw slot, and a screw is penetrated inside the screw slot;

[0007] The chute and the slider are T-shaped, the inner dimension of the chute matches the outer dimension of the slider, and the chute and the slider form a sliding structure;

[0008] The card slot is communicated with the opening slot, and the card slot and the card block are T-shaped, and the inner dimension of the card slot is consistent with the outer dimension of the card block, and the card slot and the card block form a card-fitting structure.

[0009] Preferably, the screw rod passes through the interior of the slider, and is provided with two sections of external threads, and the two sections of the external threads of the screw rod are located inside the sliding grooves on both sides, and the patterns of the two sections of the external threads of the screw rod are opposite.

[0010] Preferably, the tooth pitches of the first gear and the second gear are equal, and the first gear and the second gear form a meshing structure.

[0011] Preferably, the clamps are located on both sides of the rotating seat, and the spacing between the screw grooves on the rotating seat is greater than the width of the clamping seat.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] Beneficial effects 1. The robot uses a switchable gripper. The second motor drives the second gear to rotate. The second gear drives the first gear to rotate through meshing, so that the first gear drives the rotating seat to rotate. The second motor is a stepping motor, so that the second motor drives the rotating seat to rotate 180°. The position of the clamp is switched through the rotating seat, which is convenient for clamping workpieces of different models.

[0014] Beneficial effect 2. The robot uses a switchable gripper, and the clamp drives the card block to enter the interior of the open slot, and then the clamp drives the card block from the open slot into the interior of the card slot. Through the locking structure formed by the card slot and the card block, it is convenient to position and install the clamp, so that the fixed slot of the card block is directly aligned with the screw slot, and then the screw enters the interior of the fixed slot, which is convenient for installing the clamp.

[0015] Beneficial effect 3. The robot uses a switchable gripper, and the spacing between the screw grooves on the rotating seat is greater than the width of the clamping seat. When the clamp needs to be removed or installed, the rotating seat and the clamping seat are made perpendicular to each other, so that the position of the screw groove can be moved to both sides of the clamping seat to expose the screw groove, avoiding obstruction caused by the clamping seat when installing or removing the screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the side view structure of the rotating seat of the present invention;

[0018] Figure 3 For the present invention Figure 1 Schematic diagram of the local enlarged structure at point A in the middle.

[0019] In the figure: 1. sliding seat; 2. sliding groove; 3. sliding block; 4. screw rod; 5. first motor; 6. clamping seat; 7. rotating seat; 8. transmission groove; 9. first gear; 10. second motor; 11. second gear; 12. clamp; 13. slot; 14. opening slot; 15. block; 16. screw slot; 17. fixing slot; 18. screw. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-3 The present invention provides a technical solution: a switchable gripper for a robot, comprising a sliding seat 1, a sliding groove 2, a sliding block 3, a screw 4, a first motor 5, a clamping seat 6, a rotating seat 7, a transmission groove 8, a first gear 9, a second motor 10, a second gear 11, a clamp 12, a slot 13, an opening slot 14, a block 15, a screw slot 16, a fixing slot 17 and a screw 18.

[0022] Slide grooves 2 are provided on both sides of the bottom of the sliding seat 1. The slide groove 2 and the slider 3 are T-shaped, and the internal dimensions of the slide groove 2 coincide with the external dimensions of the slider 3. The slide groove 2 and the slider 3 form a sliding structure. The first motor 5 drives the screw rod 4 to rotate, so that the screw rod 4 drives the slider 3 to slide inside the slide groove 2. Through the sliding structure formed by the slide groove 2 and the slider 3, it is easy to drive the clamping seats 6 on both sides to move, and the slider 3 is located inside the slide groove 2.

[0023] A screw rod 4 runs through the interior of the slide groove 2, and the screw rod 4 runs through the interior of the slider 3. The screw rod 4 is provided with two sections of external threads, and the two sections of external threads of the screw rod 4 are located inside the slide grooves 2 on both sides, and the textures of the two sections of external threads of the screw rod 4 are opposite. When the first motor 5 drives the screw rod 4 to rotate, the screw rod 4 can drive the clamping seats 6 on both sides to move in opposite directions through the external threads on both sides, so that the clamping seats 6 drive the clamp 12 to clamp or release the workpiece through the rotating seat 7. A first motor 5 is fixed to one end of the sliding seat 1, and the first motor 5 is fixedly connected to the screw rod 4. A clamping seat 6 is fixed to the bottom of the slider 3, and one side of the clamping seat 6 is rotatably connected to the rotating seat 7. The side of the clamping seat 6 close to the rotating seat 7 A transmission groove 8 is opened inside, and a first gear 9 is fixed inside the rotating seat 7 near the transmission groove 8. The tooth pitch of the first gear 9 is equal to that of the second gear 11, and the first gear 9 and the second gear 11 form a meshing structure. When the model of the clamp 12 needs to be switched, the second motor 10 drives the second gear 11 to rotate, and the second gear 11 drives the first gear 9 to rotate through meshing, so that the first gear 9 drives the rotating seat 7 to rotate. The second motor 10 is a stepping motor, so that the second motor 10 drives the rotating seat 7 to rotate 180°, and the position of the clamp 12 is switched through the rotating seat 7, so that the upper clamp 12 moves to the bottom, and the second motor 10 is fixed to the side of the clamping seat 6 away from the rotating seat 7.

[0024] A second gear 11 is fixed to a side of the second motor 10 close to the first gear 9, and clamps 12 are installed on both sides of the rotating seat 7 away from the clamping seat 6. The clamps 12 are located on both sides of the rotating seat 7, and the spacing between the screw grooves 16 on the rotating seat 7 is greater than the width of the clamping seat 6. When the clamp 12 needs to be removed or installed, the rotating seat 7 and the clamping seat 6 are made perpendicular to each other, so that the position of the screw groove 16 can be moved to both sides of the clamping seat 6 to expose the screw groove 16. When installing or removing the screw 18, the clamping seat 6 is avoided from causing obstruction. A card slot 13 is provided on the side of the rotating seat 7 close to the clamp 12, and the card slot 13 is connected to the open slot 14, and the card slot 13 and the card block 15 are T-shaped, and the internal size of the card slot 13 coincides with the external size of the card block 15, and the card slot 13 and the card block 15 form a card slot 13. The clamp 12 is formed into a snap-fit ​​structure. When installing the clamp 12, the clamp 12 drives the block 15 to enter the inside of the open groove 14, and then the clamp 12 drives the block 15 from the open groove 14 to enter the inside of the slot 13. The snap-fit ​​structure formed by the slot 13 and the block 15 facilitates the positioning and installation of the clamp 12, so that the fixing groove 17 of the block 15 is directly aligned with the screw groove 16, and then the screw 18 enters the inside of the fixing groove 17, which facilitates the installation of the clamp 12. The side of the rotating seat 7 close to the slot 13 is provided with an open groove 14, the side of the clamp 12 close to the slot 13 is fixed with the block 15, the side of the clamp 6 close to the slot 13 is penetrated by the screw groove 16, the side of the block 15 close to the screw groove 16 is provided with a fixing groove 17, and the inside of the screw groove 16 is penetrated by the screw 18.

[0025] When using the switchable gripper for the robot, first, the second motor 10 drives the second gear 11 to rotate, and the second gear 11 drives the first gear 9 to rotate through meshing, so that the first gear 9 drives the rotating seat 7 to rotate, so that the rotating seat 7 and the clamping seat 6 are perpendicular to each other, and the clamp 12 drives the block 15 to enter the interior of the opening groove 14, and then the clamp 12 drives the block 15 from the opening groove 14 to enter the interior of the slot 13. The clamping structure formed by the slot 13 and the block 15 facilitates the positioning and installation of the clamp 12, so that the fixed groove 17 of the block 15 is directly aligned with the screw groove 16, and then the screw 18 enters the interior of the fixed groove 17, the clamp 12 is installed, and then the clamping seat 6 is reset. The first motor 5 drives the screw rod 4 to rotate, and the screw rod 4 can drive the clamping seats 6 on both sides to move in opposite directions through the external threads on both sides, so that the clamping seat 6 drives the fixture 12 to clamp the workpiece through the rotating seat 7. When the model of the fixture 12 needs to be switched, the second motor 10 drives the second gear 11 to rotate, and the second gear 11 drives the first gear 9 to rotate through meshing, so that the first gear 9 drives the rotating seat 7 to rotate. The second motor 10 is a stepping motor, so that the second motor 10 drives the rotating seat 7 to rotate 180°, and the position of the fixture 12 is switched through the rotating seat 7, which is convenient for clamping workpieces of different models. The content not described in detail in this description belongs to the existing technology known to professional and technical personnel in this field.

[0026] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A switchable gripper for a robot, comprising a sliding seat (1) and a sliding block (3), characterized in that: Slide grooves (2) are provided on both sides of the bottom of the sliding seat (1), and the sliding block (3) is located inside the slide grooves (2); a screw rod (4) runs through the inside of the slide groove (2); a first motor (5) is fixed to one end of the sliding seat (1), and the first motor (5) is fixedly connected to the screw rod (4); a clamping seat (6) is fixed to the bottom of the sliding block (3); one side of the clamping seat (6) is rotatably connected to a rotating seat (7); a transmission groove (8) is provided inside the side of the clamping seat (6) close to the rotating seat (7); a first gear (9) is fixed inside the rotating seat (7) close to the transmission groove (8); and a second motor (10) is fixed to the side of the clamping seat (6) away from the rotating seat (7); A second gear (11) is fixed to a side of the second motor (10) close to the first gear (9); clamps (12) are installed on both sides of the rotating seat (7) away from the clamping seat (6); a clamping groove (13) is provided on a side of the rotating seat (7) close to the clamping groove (12); an opening groove (14) is provided on a side of the rotating seat (7) close to the clamping groove (13); a clamping block (15) is fixed to a side of the clamping block (12) close to the clamping groove (13); a screw groove (16) is penetrated through a side of the clamping seat (6) close to the clamping groove (13); a fixing groove (17) is provided on a side of the clamping block (15) close to the screw groove (16); a screw (18) is penetrated inside the screw groove (16); The slide groove (2) and the slider (3) are T-shaped, and the inner dimensions of the slide groove (2) match the outer dimensions of the slider (3), and the slide groove (2) and the slider (3) form a sliding structure; The card slot (13) is connected to the opening slot (14), and the card slot (13) and the card block (15) are T-shaped, and the internal dimensions of the card slot (13) match the external dimensions of the card block (15), and the card slot (13) and the card block (15) form a card-fitting structure.

2. The switchable gripper for a robot according to claim 1, characterized in that: The screw rod (4) passes through the interior of the slider (3), and is provided with two sections of external threads. The two sections of the external threads of the screw rod (4) are located inside the slide grooves (2) on both sides, and the lines of the two sections of the external threads of the screw rod (4) are opposite.

3. The switchable gripper for a robot according to claim 1, characterized in that: The tooth pitches of the first gear (9) and the second gear (11) are equal, and the first gear (9) and the second gear (11) form a meshing structure.

4. The switchable gripper for a robot according to claim 1, characterized in that: The clamps (12) are located on both sides of the rotating seat (7), and the spacing between the screw grooves (16) on the rotating seat (7) is greater than the width of the clamping seat (6).

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