A kind of gripper and a robot

Abstract

The present invention provides a gripper and a robot. The gripper includes: a plurality of multi-stage telescopic arm assemblies for grasping materials and a telescopic arm fixing seat for mounting the telescopic arm assemblies at the end of the robot. The plurality of multi-stage telescopic arm assemblies are slidably disposed on the side wall of the telescopic arm fixing seat. The plurality of multi-stage telescopic arm assemblies being slidably disposed on the side wall of the telescopic arm fixing seat is applicable to scenarios with large-range variable positions and the need for multi-point simultaneous grasping. The telescopic arm fixing seat enables the plurality of multi-stage telescopic arm assemblies fixed thereon to move up and down independently, realizing height adjustment on the Z-axis, so that the gripper can grasp materials with uneven surfaces in height in a timely manner.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic end-effectors, and particularly to a gripper and a robot. Background Art

[0002] Pneumatic grippers and electric grippers are widely used in the robotics industry. Compared with pneumatic grippers, electric grippers have higher control precision. However, electric grippers in the prior art are generally two-jaw type and have a short stroke. For some scenarios that require large-range position changes and multi-point simultaneous grasping, multiple grippers need to be used in cooperation. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a gripper and a robot in view of the deficiencies of the prior art.

[0004] The technical solution of the present invention for solving the above technical problem is as follows: A gripper includes: a plurality of multi-stage telescopic arm assemblies for grasping materials and a telescopic arm fixing seat for mounting the telescopic arm assemblies at the end of a robot. The plurality of multi-stage telescopic arm assemblies are slidably disposed on the side wall of the telescopic arm fixing seat.

[0005] The beneficial effect of the present invention is that: The plurality of multi-stage telescopic arm assemblies are slidably disposed on the side wall of the telescopic arm fixing seat, which is suitable for scenarios that require large-range position changes and multi-point simultaneous grasping. The telescopic arm fixing seat enables the plurality of multi-stage telescopic arm assemblies fixed thereon to move up and down independently, realizing height adjustment on the Z-axis, so that the gripper can grasp materials with uneven surfaces.

[0006] Further, the multi-stage telescopic arm assembly includes: a support, at least one first power link, a power mechanism for adjusting the angle of the first power link, at least one second power link, and an end tool for sucking or gripping materials;

[0007] The support is slidably disposed on the side wall of the telescopic arm fixing seat. The power mechanism is disposed on the support. One end of the first power link is connected to the power mechanism, the other end of the first power link is hinged to one end of the second power link, and the other end of the second power link is hinged to the end tool.

[0008] The beneficial effects of adopting the above further solution are as follows: The setting of the support, the first power link, the second power link, and the end tool forms a multi-stage link mechanism, which is convenient for adjusting the position of the end tool and is applicable to scenarios with large-range position changes and the need for multi-point simultaneous grasping. The telescopic arm fixing seat enables the 4 multi-stage telescopic arm components fixed on it to move up and down independently, realizing height adjustment on the Z-axis, so that the gripper can grasp materials with uneven surfaces. Each multi-stage telescopic arm component can rotate independently around the Z-axis, making the coverage area of the entire multi-stage telescopic arm component fan-shaped, realizing full coverage in the x-axis and y-axis directions.

[0009] Furthermore, the multi-stage telescopic arm component further includes: a first auxiliary link, a second auxiliary link, and an intermediate connection block for the transitional connection between the first auxiliary link and the second auxiliary link;

[0010] One end of the first auxiliary link is hinged to the support, the other end of the first auxiliary link is hinged to the top of the intermediate connection block, one end of the second auxiliary link is hinged to the top of the intermediate connection block, and the other end of the second auxiliary link is hinged to the end tool;

[0011] The other end of the first power link and one end of the second power link are hinged to the bottom of the intermediate connection block.

[0012] The beneficial effects of adopting the above further solution are as follows: The setting of the first auxiliary link, the second auxiliary link, and the intermediate connection block is used to support the telescopic arm component, improve the stability and reliability of the telescopic arm component, improve the sensitivity of position adjustment, prevent the telescopic arm component from shaking, and improve the accuracy of the telescopic arm component.

[0013] Furthermore, the multi-stage telescopic arm component further includes: a first mounting plate for the transitional connection between the second power link and the second auxiliary link and a second mounting plate for mounting the end tool. The other end of the second auxiliary link is hinged to the top of the first mounting plate, the other end of the second power link is hinged to the bottom of the first mounting plate, one end of the second mounting plate is connected to the middle of the first mounting plate, and the end tool is mounted on the other end of the second mounting plate.

[0014] The beneficial effects of adopting the above further solution are as follows: The setting of the first mounting plate is used for the transitional connection between the second power link and the second auxiliary link, facilitating the position and angle adjustment of the first mounting plate, and thus facilitating the position and angle adjustment of the end tool; The setting of the second mounting plate is used to mount the end tool on the first mounting plate, facilitating the installation and maintenance of the end tool.

[0015] Further, the multi-stage telescopic arm assembly further includes: a first transmission gear and a second transmission gear for meshing the first power link and the second power link. The first transmission gear is arranged at the other end of the first power link, and the second transmission gear is arranged at one end of the second power link. The first transmission gear and the second transmission gear are rotatably arranged on the intermediate connection block, and the first transmission gear meshes with the second transmission gear.

[0016] The beneficial effect of adopting the above further solution is that the first transmission gear and the second transmission gear are provided to mesh the first power link and the second power link. Using gears for mirror transmission can offset part of the machining precision error and reduce transmission loss, making the positioning precision of the telescopic arm high.

[0017] Further, the end tool is a vacuum chuck, a clamping cylinder, a needle chuck, an electric two-finger or an electric three-finger, and the power mechanism is a servo motor.

[0018] The beneficial effect of adopting the above further solution is that the diversity and replaceable assembly of the end tool improve the applicable field range of the gripper, facilitate the user to select and assemble according to actual needs, and improve the applicability of the gripper.

[0019] Further, it further includes: an aviation connector and a cable for transmitting signals and power to the power mechanism. The aviation connector is arranged on the telescopic arm fixing base, the aviation connector is connected to the power mechanism, and the aviation connector is connected to the robot control cabinet through the cable.

[0020] The beneficial effect of adopting the above further solution is that the setting of the aviation connector facilitates the quick connection and disassembly of the circuit of the gripper, facilitates the installation and maintenance of the gripper, and improves work efficiency.

[0021] Further, the telescopic arm fixing base includes: a flange for connecting to the end of the robot, a telescopic arm fixing cavity, and a connecting plate for mounting the flange on the telescopic arm fixing cavity;

[0022] The flange, the connecting plate, and the telescopic arm fixing cavity are connected in sequence.

[0023] The beneficial effect of adopting the above further solution is that the setting of the flange, the connecting plate, and the telescopic arm fixing cavity facilitates the installation of the multi-stage telescopic arm assembly at the end of the robot, facilitates the adjustment of the position and angle of the multi-stage telescopic arm assembly, facilitates the installation and maintenance of the multi-stage telescopic arm assembly, and improves the reliability and stability of the gripper.

[0024] Furthermore, the connecting plate is rotatably connected to the fixed cavity of the telescopic arm through a rotating mechanism, and the multi-stage telescopic arm assembly is slidably arranged on the side wall of the fixed cavity of the telescopic arm through a moving mechanism;

[0025] And / or, the fixed cavity of the telescopic arm is rotatably sleeved on the connecting plate.

[0026] The beneficial effect of adopting the above further solution is that the connecting plate is rotatably connected to the fixed cavity of the telescopic arm through a rotating mechanism, which is convenient for users to adjust the rotation angle of the fixed cavity of the telescopic arm according to actual needs and improves the applicability of the gripper; the multi-stage telescopic arm assembly is slidably arranged on the side wall of the fixed cavity of the telescopic arm through a moving mechanism.

[0027] In addition, the present invention also provides a robot, which includes: the gripper described in any one of the above.

[0028] The beneficial effect of the present invention is that multiple multi-stage telescopic arm assemblies are slidably arranged on the side wall of the telescopic arm fixing seat, which is suitable for scenarios with large-range position changes and the need for multi-point simultaneous grasping. The telescopic arm fixing seat enables the multiple multi-stage telescopic arm assemblies fixed on the telescopic arm fixing seat to move up and down independently, realizing height adjustment on the Z-axis, so that the gripper can grasp materials with uneven surfaces. By sending instructions through the industrial robot teach pendant, each servo rotates, driving the first power link to rotate. Through gear transmission, the second power link rotates, so that each end grasping component moves back and forth. The auxiliary link plays a supporting role. After adjusting to the best position for the appropriate workpiece, it stops. The single-chip microcomputer sends a signal, and the end grasping component acts to grasp the workpiece.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural diagram of the body of the planar flexible grasping electric gripper provided by an embodiment of the present invention.

[0031] Figure 2 It is a schematic structural diagram of the telescopic arm fixing seat provided by an embodiment of the present invention.

[0032] Figure 3 It is a schematic structural diagram of a specific embodiment of the multi-stage telescopic arm assembly provided by an embodiment of the present invention.

[0033] Figure 4 is Figure 3 a cross-sectional view.

[0034] Figure 5Schematic diagram of the upgraded jaw structure of the jaw of the present invention.

[0035] Explanation of the reference numerals in the attached drawings: 1 - Multi-stage telescopic arm assembly; 2 - Telescopic arm fixing seat; 3 - Support; 4 - First power connecting rod; 5 - Power mechanism; 6 - Second power connecting rod; 7 - End tool; 8 - First auxiliary connecting rod; 9 - Second auxiliary connecting rod; 10 - Intermediate connecting block; 11 - First mounting plate; 12 - Second mounting plate; 13 - First transmission gear; 14 - Second transmission gear; 15 - Aeronautical connector; 16 - Cable; 17 - Flange; 18 - Telescopic arm fixing cavity; 19 - Connecting plate; 20 - Rotating mechanism; 21 - Moving mechanism; 22 - Servo base rotating shaft; 23 - Servo fixing plate; 24 - Servo flange; 25 - First auxiliary connecting rod rotating shaft; 26 - Second auxiliary connecting rod rotating shaft; 27 - Second telescopic arm end rotating shaft; 28 - First intermediate connecting block side plate; 29 - Second intermediate connecting block side plate; 30 - First gear rotating shaft; 31 - Second gear rotating shaft; 32 - First telescopic arm end rotating shaft; 33 - Base plate. Specific embodiments

[0036] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0037] As Figures 1 to 3 shown, an embodiment of the present invention provides a jaw, which includes: a plurality of multi-stage telescopic arm assemblies 1 for grasping materials and a telescopic arm fixing seat 2 for installing the telescopic arm assemblies at the end of the robot. The plurality of multi-stage telescopic arm assemblies 1 are slidably arranged on the side wall of the telescopic arm fixing seat 2.

[0038] The beneficial effects of the present invention are: a plurality of multi-stage telescopic arm assemblies are slidably arranged on the side wall of the telescopic arm fixing seat, which is suitable for scenarios with large-range position changes and the need for multi-point simultaneous grasping. The telescopic arm fixing seat enables the plurality of multi-stage telescopic arm assemblies fixed on it to move up and down independently, realizing the height adjustment on the Z-axis, so that the jaw can grasp materials with uneven surfaces in a timely manner.

[0039] Among them, the plurality of multi-stage telescopic arm assemblies are slidably arranged on the side wall of the telescopic arm fixing seat. The multi-stage telescopic arm assemblies can be slidably arranged on the side wall of the telescopic arm fixing seat by means of a combination of a chute and a slide rail; or, the telescopic arm fixing seat is slidably sleeved on the base plate, the base plate is connected to the connecting plate of the fixing component, and the robot connecting flange for connecting to the robot is arranged on the connecting plate of the fixing component.

[0040] The present invention relates to the technical field of end-effectors of industrial robots, and specifically relates to a flexible grasping electric jaw.

[0041] As Figures 1 to 5As shown in the figure, the planar flexible grasping electric gripper provided by the embodiment of the present invention includes a set of robot end connection components, a set of fixing components, four sets of telescopic robotic arm components, four sets of end grasping components, and a set of control modules. The robot end connection components and the fixing components are combined to form a telescopic arm fixing base.

[0042] The robot end connection components, as Figure 2 shown, include a robot connection flange (i.e., flange) connected to the robot and a fixing component connection plate connected to the telescopic arm fixing cavity;

[0043] The robot fixing components include a bottom plate 33 fixed on the telescopic arm fixing cavity and a telescopic arm fixing cavity 18 bolted to the lower side of the fixing component connection plate 19;

[0044] As Figures 3 to 4As shown, the telescopic arm assembly (i.e., the multi-stage telescopic arm assembly) includes a servo seat (i.e., a support) fixed to the side of the telescopic arm fixed cavity, a servo seat rotating shaft 22 fixed to the servo seat (i.e., the support). A servo fixing plate 23 for fixing the servo (i.e., the power mechanism), bolted to the front side of the servo seat. Servo flanges 24 fixed on both sides of the servo, the first power connecting rod (i.e., the first power connecting rod), the second power connecting rod (i.e., the first power connecting rod). An intermediate connecting block 10 fixed in the middle of the first power connecting rod and the second power connecting rod, the third power connecting rod (i.e., the second power connecting rod) and the fourth power connecting rod (i.e., the second power connecting rod) fixed on both sides of the intermediate connecting block 10, the first auxiliary connecting rod (i.e., the first auxiliary connecting rod) centered and hinged on the servo seat rotating shaft 22 and the first auxiliary connecting rod rotating shaft (i.e., the first auxiliary connecting rod rotating shaft 25), the second auxiliary connecting rod (i.e., the second auxiliary connecting rod) centered and hinged on the second auxiliary connecting rod rotating shaft (i.e., the second auxiliary connecting rod rotating shaft 26) and the second telescopic arm end rotating shaft (i.e., the second telescopic arm end rotating shaft 27), the first intermediate connecting block side plate (i.e., the first intermediate connecting block side plate 28) fixed to the right side of the first power connecting rod, the second intermediate connecting block side plate (i.e., the second intermediate connecting block side plate 29) fixed to the left side of the second power connecting rod, the first transmission gear (i.e., the first transmission gear 13) centered and fixed on the first gear rotating shaft (i.e., the first gear rotating shaft 30), fixed by a set screw, the second transmission gear (i.e., the second transmission gear 14) centered and fixed on the second gear rotating shaft (i.e., the second gear rotating shaft 31), fixed by a set screw. The first auxiliary connecting rod rotating shaft (i.e., the first auxiliary connecting rod rotating shaft 25) is centered and hinged on the first intermediate connecting block side plate (i.e., the first intermediate connecting block side plate 28) and the second intermediate connecting block side plate (i.e., the second intermediate connecting block side plate 29), the second auxiliary connecting rod rotating shaft (i.e., the second auxiliary connecting rod rotating shaft 26) is centered and hinged on the first intermediate connecting block side plate (i.e., the first intermediate connecting block side plate 28) and the second intermediate connecting block side plate (i.e., the second intermediate connecting block side plate 29), the first gear rotating shaft (i.e., the first gear rotating shaft 30) is centered and hinged on the first intermediate connecting block side plate (i.e., the first intermediate connecting block side plate 28) and the second intermediate connecting block side plate (i.e., the second intermediate connecting block side plate 29), the second gear rotating shaft (i.e., the second gear rotating shaft 31) is centered and hinged on the first intermediate connecting block side plate (i.e., the first intermediate connecting block side plate 28) and the second intermediate connecting block side plate (i.e., the second intermediate connecting block side plate 29), the telescopic arm end mounting plate (i.e., the first mounting plate 11) is hinged on the first telescopic arm end rotating shaft (i.e., the first telescopic arm end rotating shaft 32) and the second telescopic arm end rotating shaft (i.e., the second telescopic arm end rotating shaft 27), the first telescopic arm end rotating shaft (i.e., the first telescopic arm end rotating shaft 32), the second telescopic arm end rotating shaft (i.e., the second telescopic arm end rotating shaft 27) is centered and hinged on the end mounting plate (i.e., the first mounting plate 11), and the telescopic arm end tool mounting plate (i.e., the second mounting plate 12) is fixed to the telescopic arm end mounting plate (i.e., the first mounting plate 11).

[0045] The end grasping assembly (i.e., the end tool 7) includes a vacuum suction cup fixed on the end tool mounting plate of the telescopic arm (i.e., the second mounting plate 12). In this example, the end tool used is a vacuum suction cup, but it should not be considered that only a vacuum suction cup can be used. It can also be a clamping cylinder, a needle-type suction cup, an electric two-finger gripper, an electric three-finger gripper, and other grasping devices.

[0046] The control module includes a single-chip microcomputer fixed in the robot control cabinet, a cable 16 for transmitting signals and power, an aviation connector 15 fixed on the side of the robot end flange, and a robot communication connector fixed on the side of the robot electrical cabinet.

[0047] Through the description of the above example, the structural composition of the planar flexible grasping electric gripper is finally realized.

[0048] The control module includes a single-chip microcomputer for control fixed in the robot control cabinet, a modebus (Modbus protocol, a serial communication protocol) to ttl (Time To Live, the time that a domain name resolution remains in the DNS server) communication module for communication fixed in the robot control cabinet, a cable for transmitting signals and power, an aviation connector fixed on the side of the robot end flange, and a robot communication connector fixed on the side of the robot electrical cabinet. The communication protocol is modebus232. By adopting standard communication interfaces and communication protocols, the present invention can be adapted to more intelligent devices.

[0049] The diameter and length of the robot connection flange can be changed according to the flange size of the robot, so as to adapt to more robots. The shape of the telescopic arm fixed cavity can be variable, and can be square, rectangular, hexagonal and various other shapes, so that the present invention can be applied to more application scenarios and cover workpieces of different shapes. The telescopic arm assembly uses two parallelogram mechanisms, and the installation method is mirror installation, so that the entire telescopic arm can extend and retract forward and backward and cover workpieces of different sizes. Using gears for mirror drive can offset part of the machining precision error and reduce transmission loss, so that the positioning precision of the telescopic arm is high. The rod lengths of the power link and the auxiliary link can be variable, so as to adapt to more workpieces. The tool of the end grasping assembly can be variable, and can be a vacuum chuck, a clamping cylinder, a needle chuck, an electric two-finger, an electric three-finger and other grasping devices. The robot connection flange can be equipped with an industrial quick-change module, so that one robot can adapt to perform more tasks. The fixed cavity assembly can make the 4 telescopic arm assemblies fixed on the telescopic arm fixed cavity assembly move up and down independently, realizing the height adjustment on the Z axis, so that the present invention can grasp materials with uneven surfaces. For each telescopic arm assembly, it can rotate independently around the Z axis, so that the coverage area of the entire telescopic arm is fan-shaped, realizing full xy coverage. The single-chip microcomputer used for control in the control module can be stm32, 80c51, plc, and other control devices. The communication protocol can be modebus232, modebus485 and other communication protocols.

[0050] As Figure 1 and Figure 5 shown, for the gripper provided in the embodiment of the present invention, by sending an instruction through the industrial robot teach pendant, each servo rotates, driving the first and second power links to rotate, and through gear transmission, the third and fourth power links rotate, so that each end grasping assembly moves back and forth. The auxiliary link plays a supporting role, stops after adjusting to the best position for the appropriate workpiece, and the single-chip microcomputer sends a signal, and the end grasping assembly acts to grasp the workpiece.

[0051] As Figure 3 shown, further, the multi-stage telescopic arm assembly 1 includes: a support 3, at least one first power link 4, a power mechanism 5 for adjusting the angle of the first power link 4, at least one second power link 6, and an end tool 7 for sucking or clamping materials;

[0052] The support 3 is slidably arranged on the side wall of the telescopic arm fixing seat 2, the power mechanism 5 is arranged on the support 3, one end of the first power link 4 is connected to the power mechanism 5, the other end of the first power link 4 is hinged to one end of the second power link 6, and the other end of the second power link 6 is hinged to the end tool 7.

[0053] The beneficial effects of adopting the above further scheme are as follows: The setting of the support, the first power link, the second power link and the end tool forms a multi-stage link mechanism, which is convenient for adjusting the position of the end tool, and is applicable to scenarios with large-range position changes and the need for multi-point simultaneous grasping. The telescopic arm fixing seat enables the 4 multi-stage telescopic arm components fixed on it to move up and down independently, realizing the height adjustment on the Z-axis, so that the gripper can grasp materials with inconsistent surface heights in time. Each multi-stage telescopic arm component can rotate independently around the Z-axis, making the coverage area of the entire multi-stage telescopic arm component fan-shaped, realizing the full coverage of the X-axis and Y-axis.

[0054] As Figure 3 shown, further, the multi-stage telescopic arm component 1 further includes: a first auxiliary link 8, a second auxiliary link 9 and an intermediate connection block 10 for the transitional connection between the first auxiliary link 8 and the second auxiliary link 9;

[0055] As Figure 3 shown, one end of the first auxiliary link 8 is hinged to the support 3, the other end of the first auxiliary link 8 is hinged to the top of the intermediate connection block 10, one end of the second auxiliary link 9 is hinged to the top of the intermediate connection block 10, and the other end of the second auxiliary link 9 is hinged to the end tool 7;

[0056] The other end of the first power link 4 and one end of the second power link 6 are hinged to the bottom of the intermediate connection block 10.

[0057] The beneficial effects of adopting the above further scheme are as follows: The setting of the first auxiliary link, the second auxiliary link and the intermediate connection block is used to support the telescopic arm component, improve the stability and reliability of the telescopic arm component, improve the position adjustment sensitivity, prevent the telescopic arm component from shaking, and improve the accuracy of the telescopic arm component.

[0058] As Figure 3As shown in the figure, further, the multi-stage telescopic arm assembly 1 further includes: a first mounting plate 11 for the transitional connection between the second power link 6 and the second auxiliary link 9, and a second mounting plate 12 for mounting the end tool 7. The other end of the second auxiliary link 9 is hinged to the top of the first mounting plate 11, the other end of the second power link 12 is hinged to the bottom of the first mounting plate 11, one end of the second mounting plate 12 is connected to the middle of the first mounting plate 11, and the end tool 7 is mounted on the other end of the second mounting plate 12.

[0059] The beneficial effects of adopting the above further scheme are: the setting of the first mounting plate is used for the transitional connection of the second power link and the second auxiliary link, which is convenient for adjusting the position and angle of the first mounting plate, and thus convenient for adjusting the position and angle of the end tool; the setting of the second mounting plate is used for mounting the end tool on the first mounting plate, which is convenient for the installation and maintenance of the end tool.

[0060] As Figure 4 shown in the figure, further, the multi-stage telescopic arm assembly 1 further includes: a first transmission gear 13 and a second transmission gear 14 for meshing the first power link 4 with the second power link 6. The first transmission gear 13 is arranged at the other end of the first power link 4, the second transmission gear 14 is arranged at one end of the second power link 6, the first transmission gear 13 and the second transmission gear 14 are rotatably arranged on the intermediate connection block 10, and the first transmission gear 13 meshes with the second transmission gear 14.

[0061] The beneficial effects of adopting the above further scheme are: the setting of the first transmission gear and the second transmission gear is used for meshing the first power link with the second power link. Using gears for mirror image transmission can offset part of the machining precision error and reduce the transmission loss, making the positioning precision of the telescopic arm high.

[0062] As Figure 3 shown in the figure, further, the end tool 7 is a vacuum chuck, a clamping cylinder, a needle chuck, an electric two-finger or an electric three-finger, and the power mechanism is a servo motor.

[0063] The beneficial effects of adopting the above further scheme are: the diversity and replaceable assembly of the end tool improve the applicable field range of the gripper, which is convenient for users to select and assemble according to actual needs, and improve the applicability of the gripper.

[0064] As Figure 2As shown in the figure, further, it also includes: an aviation connector 15 and a cable 16 for transmitting signals and power to the power mechanism 5. The aviation connector 15 is arranged on the telescopic arm fixing base 2, and the aviation connector 15 is connected to the power mechanism 5. The aviation connector 15 is connected to the robot control cabinet through the cable 16.

[0065] The beneficial effect of adopting the above further scheme is that the setting of the aviation connector facilitates the quick connection and disassembly of the circuit of the gripper, facilitates the installation and maintenance of the gripper, and improves the work efficiency.

[0066] As Figure 2 shown in the figure, further, the telescopic arm fixing base 2 includes: a flange 17 for connecting to the end of the robot, a telescopic arm fixing cavity 18, and a connecting plate 19 for mounting the flange 17 on the telescopic arm fixing cavity 18;

[0067] The flange 17, the connecting plate 19, and the telescopic arm fixing cavity 18 are connected in sequence.

[0068] The beneficial effect of adopting the above further scheme is that the setting of the flange, the connecting plate, and the telescopic arm fixing cavity facilitates the installation of the multi-stage telescopic arm assembly at the end of the robot, facilitates the adjustment of the position and angle of the multi-stage telescopic arm assembly, facilitates the installation and maintenance of the multi-stage telescopic arm assembly, and improves the reliability and stability of the gripper.

[0069] As Figure 5 shown in the figure, further, the connecting plate 19 is rotatably connected to the telescopic arm fixing cavity 18 through a rotating mechanism 20, and the multi-stage telescopic arm assembly 1 is slidably arranged on the side wall of the telescopic arm fixing cavity 18 through a moving mechanism 21;

[0070] and / or, the telescopic arm fixing cavity is rotatably sleeved on the connecting plate.

[0071] The beneficial effect of adopting the above further scheme is that the connecting plate is rotatably connected to the telescopic arm fixing cavity through the rotating mechanism, which facilitates the user to adjust the rotation angle of the telescopic arm fixing cavity according to actual needs and improves the applicability of the gripper; the multi-stage telescopic arm assembly is slidably arranged on the side wall of the telescopic arm fixing cavity through the moving mechanism,

[0072] wherein, the rotating mechanism can be a rotational combination structure of a rotating shaft and a sleeve, or a bearing and shaft structure, as long as it can achieve the relative rotation of the connecting plate and the telescopic arm fixing cavity. The moving mechanism can be a combination structure of a sliding groove and a sliding rail, an electric push rod or a lead screw structure, as long as it can achieve the sliding of the multi-stage telescopic arm assembly relative to the side wall of the telescopic arm fixing cavity.

[0073] In addition, the present invention also provides a robot, which includes: the gripper described in any one of the above.

[0074] The beneficial effects of the present invention are as follows: A plurality of multi-stage telescopic arm components are slidably arranged on the side wall of the telescopic arm fixing base, which is suitable for scenarios with large-range variable positions and the need for multi-point simultaneous grasping. The telescopic arm fixing base enables the plurality of multi-stage telescopic arm components fixed on it to move up and down independently, achieving height adjustment on the Z-axis, so that the gripper can grasp materials with uneven surfaces. By sending instructions through the industrial robot teach pendant, each servo rotates, driving the first power link to rotate. Through gear transmission, the second power link rotates, so that each end grasping component moves back and forth. The auxiliary link plays a supporting role. After adjusting to the best position for the appropriate workpiece, it stops. The single-chip microcomputer sends a signal, and the end grasping component acts to grasp the workpiece.

[0075] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping jaw, characterized in that, Comprising: A plurality of multi-stage telescopic arm assemblies for grasping materials and a telescopic arm fixing base for mounting the telescopic arm assemblies at the end of a robot, and the plurality of multi-stage telescopic arm assemblies are slidably arranged on the side wall of the telescopic arm fixing base; The multi-stage telescopic arm assembly includes: a support, at least one first power link, a power mechanism for adjusting the angle of the first power link, at least one second power link, and an end tool for sucking or clamping materials; The support is slidably arranged on the side wall of the telescopic arm fixing base, the power mechanism is arranged on the support, one end of the first power link is connected to the power mechanism, the other end of the first power link is hinged to one end of the second power link, and the other end of the second power link is hinged to the end tool; The multi-stage telescopic arm assembly further includes: a first auxiliary link, a second auxiliary link, and an intermediate connection block for the transitional connection between the first auxiliary link and the second auxiliary link; One end of the first auxiliary link is hinged to the support, the other end of the first auxiliary link is hinged to the top of the intermediate connection block, one end of the second auxiliary link is hinged to the top of the intermediate connection block, and the other end of the second auxiliary link is hinged to the end tool; The other end of the first power link and one end of the second power link are hinged to the bottom of the intermediate connection block; The multi-stage telescopic arm assembly further includes: a first transmission gear and a second transmission gear for meshing the first power link and the second power link, the first transmission gear is arranged at the other end of the first power link, the second transmission gear is arranged at one end of the second power link, the first transmission gear and the second transmission gear are rotatably arranged on the intermediate connection block, and the first transmission gear meshes with the second transmission gear; The telescopic arm fixing base includes: a flange for connecting with the end of the robot, a telescopic arm fixing cavity, and a connecting plate for mounting the flange on the telescopic arm fixing cavity; The flange, the connecting plate, and the telescopic arm fixing cavity are connected in sequence; The connecting plate is rotatably connected to the telescopic arm fixing cavity through a rotating mechanism, and the multi-stage telescopic arm assembly is slidably arranged on the side wall of the telescopic arm fixing cavity through a moving mechanism; And / or, the telescopic arm fixing cavity is rotatably sleeved on the connecting plate.

2. The jaw according to claim 1, wherein, The multi-stage telescopic arm assembly further includes: a first mounting plate for the transitional connection between the second power link and the second auxiliary link and a second mounting plate for mounting the end tool, the other end of the second auxiliary link is hinged to the top of the first mounting plate, the other end of the second power link is hinged to the bottom of the first mounting plate, one end of the second mounting plate is connected to the middle of the first mounting plate, and the end tool is mounted at the other end of the second mounting plate.

3. A jaw according to claim 1, characterized in that, The end tool is a vacuum chuck, a clamping cylinder, a needle chuck, an electric two-finger or an electric three-finger, and the power mechanism is a servo motor.

4. A jaw according to claim 1, characterized in that, Further comprising: An aviation connector and a cable for transmitting signals and power to a power mechanism, the aviation connector is arranged on the telescopic arm fixing seat, the aviation connector is connected to the power mechanism, and the aviation connector is connected to a robot control cabinet through a cable.

5. A robot, characterized in that, Comprising: The jaw according to any one of claims 1 to 4 above.

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