A robot gripper mechanism

Abstract

The present invention relates to the technical field of industrial robot components, and in particular to a robot gripper mechanism, comprising a base, a gripper part, and a fixed frame fixed at the middle of the upper end of the base, wherein the four corners of the base are provided with rotation grooves, and the first turntable, the second turntable, the third turntable, and the fourth turntable are rotatably installed in the rotation grooves at the northwest corner, the southwest corner, the northeast corner, and the southeast corner of the four grooves, respectively, and the gripper part is respectively arranged on the first turntable, the second turntable, the third turntable, and the fourth turntable. In the present invention, the gripper mechanism is composed of four first turntables, the second turntable, the third turntable, and the fourth turntable in different orientations and an angle adjustment mechanism, and the gripper mechanism can dynamically adjust the gripping posture according to the actual shape of the workpiece, so that the gripper mechanism can grip workpieces of other regular shapes such as rectangles, diamonds, circles, etc., and realizes the one-to-multiple gripping operation of the gripper mechanism, thereby improving the applicability of the gripper mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot components, and in particular to a robot gripper mechanism. Background Art

[0002] The gripper mechanism is one of the important components installed on the mechanical arm of an industrial robot. Its function is to enable the mechanical arm of the robot to autonomously grip workpieces of corresponding specifications like humans, thereby realizing automated gripping and conveying operations of the workpieces.

[0003] However, most of the current gripper mechanisms can only realize one-to-single gripping operations. When performing automated gripping and conveying operations on workpieces, it is necessary to select gripper mechanisms of corresponding specifications according to the shape of the workpieces and install them on the robotic arm. It is difficult to realize one-to-multiple gripping operations of the gripper mechanism, which increases the workload of operators in replacing the gripper mechanism and reduces the applicability of the gripper mechanism.

[0004] In view of this, it is particularly important in industrial robots to design and manufacture a clamping mechanism that can automatically adjust the clamping state according to the shape of the workpiece. Summary of the invention

[0005] The purpose of the present invention is to propose a robot gripper mechanism to solve the problems that the traditional robot gripper mechanism is difficult to realize single-to-multiple gripping operation, is not convenient for adjusting the clamp operation of workpieces of different shapes, and has poor applicability.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A robot gripper mechanism comprises a base, a gripper part and a fixed frame fixed at the middle part of the upper end of the base, wherein the four corners of the base are provided with rotation grooves, and the first turntable, the second turntable, the third turntable and the fourth turntable are rotatably installed in the rotation grooves at the northwest corner, the southwest corner, the northeast corner and the southeast corner of the four rotation grooves, respectively, and the gripper part is respectively arranged on the first turntable, the second turntable, the third turntable and the fourth turntable, and an angle adjustment mechanism for driving the first turntable, the second turntable, the third turntable and the fourth turntable to rotate synchronously and adjust is arranged between the upper end of the base and the first turntable, the second turntable, the third turntable and the fourth turntable.

[0008] As a further description of the above technical solution:

[0009] The clamping jaw part includes transverse grooves respectively opened in the middle of the first turntable, the second turntable, the third turntable and the fourth turntable, a guide column fixed on the inner side of the transverse groove, a clamping arm movably installed between the transverse groove and the guide column, and a first servo electric cylinder respectively installed between the upper end of the first turntable, the second turntable, the third turntable and the fourth turntable and the clamping arm.

[0010] As a further description of the above technical solution:

[0011] The lower end of the clamp arm is integrally and fixedly connected with a clamp buckle in the shape of a C-shaped structure, and an arc-shaped spring sheet is installed on the inner side of the clamp buckle.

[0012] As a further description of the above technical solution:

[0013] The arc-shaped spring piece is made of beryllium copper alloy material, and anti-skid clamping blocks made of vulcanized rubber material are detachably mounted on both ends of the arc-shaped spring piece.

[0014] As a further description of the above technical solution:

[0015] The angle adjustment mechanism includes chain grooves opened on the outside of the first turntable, the second turntable, the third turntable and the fourth turntable, a transmission chain installed between the chain grooves of the first turntable and the fourth turntable and the chain grooves of the second turntable and the third turntable, and a driving part arranged on the right side of the upper end of the base and between the third turntable and the fourth turntable.

[0016] As a further description of the above technical solution:

[0017] The driving part includes an outer gear ring fixed on the middle of the outer side of the third turntable and the fourth turntable, a double-sided gear plate movably installed on the left side of the upper end of the base and meshing with the outer gear ring, and a second servo electric cylinder installed between the base and the double-sided gear plate.

[0018] As a further description of the above technical solution:

[0019] A limiting member is provided between the upper end of the base and the first, second, third and fourth turntables for limiting the first, second, third and fourth turntables after they rotate from a normal state to a 45° inclined state.

[0020] As a further description of the above technical solution:

[0021] The limiting member includes a limiting stopper fixed at the outside of the first rotating disk, the second rotating disk, the third rotating disk and the fourth rotating disk and facing the fixing frame, and a limiting stopper fixed at the upper end of the base and having an angle of 45° with the limiting stopper.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] 1. In the present invention, the clamping mechanism is composed of a first rotating disk, a second rotating disk, a third rotating disk and a fourth rotating disk in different orientations and an angle adjustment mechanism. Under normal conditions, the clamping arms on the first rotating disk, the second rotating disk, the third rotating disk and the fourth rotating disk can clamp rectangular workpieces. When the second servo electric cylinder extends outward, the double-sided toothed plate can move horizontally to the left on the base. At this time, under the meshing transmission action between the double-sided toothed disk and the outer toothed ring and the chain transmission action of the transmission chain, the clamping arms on the first rotating disk, the second rotating disk, the third rotating disk and the fourth rotating disk can be synchronously rotated and adjusted toward the fixed frame direction, thereby adjusting the postures of the four clamping arms according to the outer contour of the workpiece. This structure can dynamically adjust the clamping posture of the clamping mechanism according to the actual shape of the workpiece, so that the clamping mechanism can clamp workpieces of other regular shapes such as rectangles, diamonds, circles, etc., realizes the one-to-multiple clamping operation of the clamping mechanism, and thus improves the applicability of the clamping mechanism.

[0024] 2. In the present invention, by arranging a clamping buckle, an arc-shaped spring sheet and an anti-slip clamping block on the original clamping arm, when the clamping buckle of the clamping arm moves toward the workpiece, the anti-slip clamping block on the arc-shaped spring sheet will contact the outer wall of the workpiece in advance, and at the same time, the squeezing force of the clamping arm contacting the workpiece will cause the arc-shaped spring sheet to undergo elastic deformation and store energy. This structure enables the clamping arm to apply a uniform inward elastic force to the outer wall of workpieces of different shapes, thereby reducing the occurrence of deviation, shaking or detachment during the process of clamping and conveying the workpiece, thereby improving the stability of the clamping mechanism in clamping the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic structural diagram of a robot gripper mechanism proposed by the present invention;

[0026] Figure 2 It is a schematic diagram of the working of the clamping mechanism for clamping a rectangular workpiece;

[0027] Figure 3 It is a schematic diagram of the working of the clamping mechanism for clamping a circular workpiece;

[0028] Figure 4 It is a three-dimensional bottom view schematic diagram of the present invention;

[0029] Figure 5 It is a schematic structural diagram of the third rotating disk in the present invention.

[0030] Legend:

[0031] 1. Base; 101. Rotating groove; 102. Fixed frame; 103. Limit stopper; 2. First turntable; 3. Second turntable; 4. Third turntable; 5. Fourth turntable; 6. Horizontal groove; 7. Guide column; 8. Clamp arm; 801. Clamp; 9. Arc spring piece; 901. Anti-skid clamp; 10. First servo electric cylinder; 11. External gear ring; 12. Double-sided gear plate; 13. Second servo electric cylinder; 14. Chain groove; 15. Transmission chain; 16. Limit stopper. DETAILED DESCRIPTION

[0032] 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.

[0033] See also Figure 1-5 The present invention provides a technical solution: a robot gripper mechanism, comprising a base 1, a gripper part and a fixing frame 102 fixed at the middle part of the upper end of the base 1, wherein rotating grooves 101 are provided at the four corners of the base 1, and a first turntable 2, a second turntable 3, a third turntable 4 and a fourth turntable 5 are rotatably installed in the rotating grooves 101 at the northwest corner, southwest corner, northeast corner and southeast corner of the four turntables 101, respectively, and the gripper parts are respectively arranged on the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5, and an angle adjustment mechanism for driving the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 to rotate synchronously and adjust is provided between the upper end of the base 1 and the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5.

[0034] Specifically, Figure 1-5As shown, the clamping claw part includes a transverse groove 6 respectively opened in the middle of the first rotating disk 2, the second rotating disk 3, the third rotating disk 4 and the fourth rotating disk 5, a guide column 7 fixed on the inner side of the transverse groove 6, a clamping arm 8 movably installed between the transverse groove 6 and the guide column 7, and a first servo electric cylinder 10 respectively installed between the upper end of the first rotating disk 2, the second rotating disk 3, the third rotating disk 4 and the fourth rotating disk 5 and the clamping arm 8, wherein the lower end of the clamping arm 8 is integrally fixedly connected with a clamping buckle 801 in the shape of a C-shaped structure, and an arc-shaped spring piece 9 is installed on the inner side of the clamping buckle 801, and the arc-shaped spring piece 9 is It is made of beryllium copper alloy material. The selection of this material can make the arc-shaped spring piece 9 have significant elastic deformation and fatigue fracture resistance, thereby improving the stability and reliability of the spring-pressing contact between the clamp arm 8 and the workpiece. The two ends of the arc-shaped spring piece 9 are respectively detachably installed with anti-slip clamping blocks 901 made of vulcanized rubber material. The setting of the anti-slip clamping block 901 of this material, on the one hand, reduces the generation of scratches and clamping marks caused by the direct rigid contact of the arc-shaped spring piece 9 with the outer wall of the workpiece, and on the other hand, improves the contact friction between the arc-shaped spring piece 9 and the workpiece.

[0035] Specifically, Figure 1-5 As shown, the angle adjustment mechanism includes chain grooves 14 provided on the outer sides of the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5, a transmission chain 15 installed between the chain grooves 14 of the first turntable 2 and the fourth turntable 5 and the chain grooves 14 of the second turntable 3 and the third turntable 4, and a driving part arranged on the right side of the upper end of the base 1 and between the third turntable 4 and the fourth turntable 5, wherein the driving part includes an outer toothed ring 11 respectively fixed to the middle part of the outer side of the third turntable 4 and the fourth turntable 5, a double-sided toothed plate 12 movably installed on the left side of the upper end of the base 1 and meshing with the outer toothed ring 11, and A second servo electric cylinder 13 is installed between the base 1 and the double-sided toothed plate 12. When the second servo electric cylinder 13 extends outward or contracts inward, it can drive the double-sided toothed plate 12 to move horizontally to the left or right. Under the meshing transmission action between the double-sided toothed plate 12 and the outer gear ring 11 and the chain transmission action of the transmission chain 15, the first turntable 2 will rotate counterclockwise, the second turntable 3 will rotate clockwise, the third turntable 4 will rotate clockwise, and the fourth turntable 5 will rotate counterclockwise, so that the four clamping arms 8 in different directions can be synchronously rotated and adjusted toward the center of the base 1.

[0036] Specifically, Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, a limiting member for limiting the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 after rotating from a normal state to a 45° inclined state is arranged between the upper end of the base 1 and the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5, wherein the limiting member includes a limiting stopper 16 fixed to the outside of the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 and facing the fixing frame 102 and a limiting stopper 16 fixed to the upper end of the base 1 and having an angle between the limiting stopper 16 and the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5. The limit stop buckles 103 are distributed at 45°. When the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 are rotated and adjusted to 45°, the clamping surface of the clamping arm 8 will face the fixed frame 102. At this time, the limit stop blocks 16 on the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 will be buckled into the limit stop buckles 103 at the corresponding positions on the base 1, thereby preventing the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 from continuing to rotate excessively.

[0037] Working principle: When in use, the clamping mechanism can be installed on the robot's mechanical arm through the fixing frame 102 and fasteners, and then the control circuit of the clamping mechanism is connected to the control terminal of the robot to complete the installation operation of the clamping mechanism. Under normal circumstances, the clamping arms 8 on the first turntable 2 and the third turntable 4 can be oriented toward the clamping arms 8 on the second turntable 3 and the fourth turntable 5. At this time, the first servo electric cylinder 10 drives the clamping arms 8 on the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 to move, so that the workpiece with a rectangular structure can be clamped. When it is necessary to clamp a circular, diamond or other regular-shaped workpiece, the control terminal can be operated to control the second servo electric cylinder 13 to extend outward. At this time, the double-sided toothed plate 12 can move in the direction of the horizontal fixing frame 102. Under the meshing transmission action between the double-sided toothed plate 12 and the outer gear ring 11, the third turntable 4 can rotate clockwise and the fourth turntable 5 can rotate counterclockwise. At the same time, under the chain transmission action of the transmission chain 15, the first turntable 2 will rotate counterclockwise synchronously with the fourth turntable 5, and the second turntable 3 will rotate clockwise synchronously with the third turntable 4. At this time, the clamping arms 8 on the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 can be synchronously rotated and adjusted step by step in the direction of the fixed frame 102. When the angles of the four clamping arms 8 are adjusted to fit or tangent to the outer contour of the workpiece, the control of the second servo electric cylinder 13 can be stopped, and the first servo electric cylinder 10 can be operated to drive the clamping arms 8 on the first turntable 2, the second turntable 3, the third turntable 4 and the fourth turntable 5 to move, so as to clamp the workpiece of corresponding shape. At the same time, during the movement of the clamping buckle 801 on the clamping arm 8 in the direction of the workpiece, the anti-slip clamping block 901 on the arc-shaped spring sheet 9 will contact the outer wall of the workpiece in advance. At the same time, the arc-shaped spring sheet 9 can convert the extrusion force of the clamping arm 8 into elastic deformation and store energy, thereby applying reverse elastic force to the workpiece, and the workpiece will be stably clamped between the clamping buckles 801 of the four clamping arms 8 in different directions.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot gripper mechanism, comprising a base (1), a gripper portion and a fixing frame (102) fixed to the middle of the upper end of the base (1), characterized in that: The base (1) is provided with a rotating groove (101) at each of the four corners, and a first rotating disk (2), a second rotating disk (3), a third rotating disk (4) and a fourth rotating disk (5) are rotatably mounted in the rotating grooves (101) at the northwest corner, southwest corner, northeast corner and southeast corner of the four rotating grooves (101), respectively; the clamping jaws are respectively arranged on the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5); and an angle adjustment mechanism for driving the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5) to rotate synchronously is arranged between the upper end of the base (1) and the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5); The angle adjustment mechanism comprises a chain groove (14) provided on the outside of the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5), a transmission chain (15) installed between the chain grooves (14) of the first rotating disk (2) and the fourth rotating disk (5) and the chain grooves (14) of the second rotating disk (3) and the third rotating disk (4), and a driving part arranged on the right side of the upper end of the base (1) and between the third rotating disk (4) and the fourth rotating disk (5); The driving unit comprises an outer gear ring (11) fixed to the middle of the outer sides of the third rotating disk (4) and the fourth rotating disk (5), a double-sided gear plate (12) movably mounted on the left side of the upper end of the base (1) and meshing with the outer gear ring (11), and a second servo electric cylinder (13) mounted between the base (1) and the double-sided gear plate (12); A limiting member is provided between the upper end of the base (1) and the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5) for limiting the position of the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5) after they rotate from a normal state to a 45° inclined state; The limiting member comprises a limiting stopper (16) fixed to the outside of the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5) and facing the fixing frame (102), and a limiting stopper (103) fixed to the upper end of the base (1) and with an included angle of 45° between the limiting stopper (16).

2. A robot gripper mechanism according to claim 1, characterized in that: The clamping jaw portion comprises a transverse groove (6) respectively formed in the middle of the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5), a guide column (7) fixed inside the transverse groove (6), a clamping arm (8) movably mounted between the transverse groove (6) and the guide column (7), and a first servo electric cylinder (10) respectively mounted between the upper ends of the first rotating disk (2), the second rotating disk (3), the third rotating disk (4) and the fourth rotating disk (5) and the clamping arm (8).

3. A robot gripper mechanism according to claim 2, characterized in that: A clamp buckle (801) having a C-shaped structure is integrally and fixedly connected to the lower end of the clamp arm (8), and an arc-shaped spring sheet (9) is installed on the inner side of the clamp buckle (801).

4. A robot gripper mechanism according to claim 3, characterized in that: The arc-shaped spring piece (9) is made of a beryllium copper alloy material, and anti-slip clamping blocks (901) made of a vulcanized rubber material are detachably mounted on both ends of the arc-shaped spring piece (9).

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