Robot gripper with composite functions

Abstract

The robot gripper with the composite functions comprises a transversely-arranged U-shaped gripper pressing plate, a linear motor is installed at the deep position of an inner cavity of the gripper pressing plate, the output end of the linear motor is connected with a driving rack, and the driving rack moves front and back in the length direction of the driving rack; clamping jaw assemblies are symmetrically arranged on the two sides of the driving rack relative to the driving rack correspondingly. The device has the beneficial effects that the linear motor drives the driving rack, so that the driving rack drives the driving gear to rotate, meanwhile, the clamping jaw rod, the pressing rod and the nut sleeve are controlled, the linear motor drives the driving rack to different degrees in the process, and opening and closing of the clamping jaw rod to different degrees are achieved; according to the opening and closing degree, the functions of clamping, button operation, nut operation and the like can be achieved, meanwhile, the pressing rod and the nut sleeve stretch forwards along the linear rail at the same time and retract backwards after the clamping jaw rod and the nut sleeve reach the movement limit, the driving rack can still drive the pressing rod to stretch forwards, and the pressing function is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, and in particular to a robot gripper with composite functions. Background Art

[0002] Existing special inspection robots are widely used, and the degree of button operation has increased. Therefore, the demand for multifunctional and multi-degree-of-freedom robot grippers has increased. The robot grippers that have been announced at this stage have a single function, and most of them only have simple clamping, and cannot simultaneously rotate, press, grab and protect the pressure plate of multiple switches; or they have complex structures and are difficult to install, and cannot operate tiny switches; or there is no function such as target button detection, lack of visual closed loop, and cannot ensure the accuracy of button operation;

[0003] The present invention is committed to solving the problems of single function, complex structure and low operating precision of conventional gripper equipment, and makes technical innovation for interactive user-defined appearance customization to meet consumers' demand for high-quality, customized products. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and provide a robot gripper with composite functions.

[0005] It includes a U-shaped hand claw pressure plate arranged in a transverse direction, a linear motor is installed deep in the inner cavity of the hand claw pressure plate, and a driving rack is connected to the output end of the linear motor. The driving rack moves forward and backward along its own length direction, and the two sides of the driving rack are symmetrically provided with clamping claw assemblies with the driving rack;

[0006] The clamping jaw assembly includes a driving gear meshed with both sides of the driving rack, a third connecting rod connected to the top center point of the driving gear, and a clamping jaw rod rotated to the other end of the third connecting rod.

[0007] Furthermore, the two clamping claw rods are symmetrically formed into an opening and closing structure with respect to the center point of the driving rack, and the two clamping claw rods are bent close to each other in an irregular structure.

[0008] Furthermore, the third connecting rod is rotatably connected to the hand claw pressure plate, and the third connecting rod is fixedly connected to the driving gear.

[0009] Furthermore, a pressing rod is fixedly provided at one end of the driving rack.

[0010] Furthermore, one end of the pressing rod is in a concave structure, and a surveillance camera is installed inside the concave end of the pressing rod.

[0011] Furthermore, a nut sleeve is sleeved on the outside of the pressing rod, and one end of the inner wall of the nut sleeve has a tooth profile that is consistent with the outer profile of the protective pressure plate nut.

[0012] Furthermore, a linear rail track is laid on the outside of the nut sleeve, a linear rail slider is slid on the outside of the linear rail track, and the linear rail slider is fixedly connected to the hand claw pressure plate.

[0013] Furthermore, one end of the two clamping jaw rods that is away from each other is hinged with a second connecting rod, the other end of the second connecting rod is hinged with a first connecting rod, and the first connecting rod is hinged to the nut sleeve.

[0014] Furthermore, the middle portion of the second connecting rod is rotatably connected to the hand claw pressure plate.

[0015] Furthermore, a photoelectric switch block is installed at the tail end of the nut sleeve, a photoelectric switch body is installed on one side of the linear motor, and the photoelectric switch body corresponds to the photoelectric switch block, the head end of the nut sleeve is a sleeve structure, and a compression spring is arranged between the sleeves.

[0016] Compared with the prior art, the advantages of the present invention are as follows: the driving rack is driven by a linear motor, and the driving gear is driven to rotate through the driving rack, while controlling the clamping rod, the pressing rod and the nut sleeve. This process drives the driving rack to different degrees through the linear motor to achieve different degrees of opening and closing of the clamping rod. According to the degree of opening and closing, functions such as clamping, button, and nut operation can be realized. At the same time, the pressing rod and the nut sleeve are extended forward along the linear rail track at the same time. After the clamping rod and the nut sleeve reach the limit of movement, they will retract backwards, and the driving rack can still drive the pressing rod to extend forward to realize the pressing function. In addition, while realizing multiple functions such as rotating, pressing, grabbing and protecting the pressure plate nut operation for various switches, the size of the gripper is greatly compressed, the complexity of the gripper structure is simplified, and at the same time, a visual closed loop is realized under the action of a surveillance camera to meet the needs of various types of micro switch operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall top view and cross-sectional structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the overall three-dimensional cross-sectional structure of the present invention.

[0020] Figure 4 It is a schematic diagram of the overall three-dimensional sectional opening and closing structure of the present invention.

[0021] In the figure:

[0022] 1. Hand claw pressure plate;

[0023] 2. First connecting rod;

[0024] 3. Second connecting rod;

[0025] 4. The third connecting rod;

[0026] 5. Gripping claw rod;

[0027] 6. Linear motor;

[0028] 7. Driving gear;

[0029] 8. Driving rack;

[0030] 9. Press the lever;

[0031] 10. Nut sleeve;

[0032] 11. Photoelectric switch body;

[0033] 12. Photoelectric switch block;

[0034] 13. Linear rail slider;

[0035] 14. Linear rail track;

[0036] 15. Press spring;

[0037] 16. Surveillance cameras. DETAILED DESCRIPTION

[0038] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the embodiments described. On the contrary, it is intended to cover changes, modifications and equivalents included in the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0039] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0041] Existing special inspection robots are widely used, and the degree of button operation has increased. Therefore, the demand for multifunctional and multi-degree-of-freedom robot grippers has increased. At present, the robot grippers that have been announced have a single function, and most of them only have simple clamping, and cannot simultaneously rotate, press, grab and protect the pressure plate of multiple switches; or they have complex structures and are difficult to install, and cannot operate tiny switches; or there is no function such as target button detection, lack of visual closed loop, and cannot ensure the accuracy of button operation.

[0042] In order to solve the above problems existing in mechanical processing, the present invention proposes a robot gripper with composite functions.

[0043] See also Figure 1-Figure 4 , including a U-shaped hand claw pressure plate 1 arranged horizontally, a linear motor 6 is installed deep in the inner cavity of the hand claw pressure plate 1, and the output end of the linear motor 6 is connected to a driving rack 8, which moves forward and backward along its own length direction, and the driving rack 8 is symmetrically arranged with a clamping claw assembly on both sides of the driving rack 8; the clamping claw assembly includes a driving gear 7 meshed with both sides of the driving rack 8, a third connecting rod 4 connected to the top center point of the driving gear 7 and a clamping claw rod 5 rotated to the other end of the third connecting rod 4, the two clamping claw rods 5 form an opening and closing structure symmetrically with the center point of the driving rack 8, the two clamping claw rods 5 are bent close to each other in an irregular structure, the third connecting rod 4 is rotatably connected to the hand claw pressure plate 1, and the third connecting rod 4 is fixedly connected to the driving gear 7.

[0044] like Figure 1-Figure 4 As shown, the driving gear 7, the third connecting rod 4 and the clamping rod 5 constitute a clamping mechanism, and the linear motor 6 and the driving rack 8 constitute a driving mechanism. When the driving mechanism drives the clamping mechanism to move, the two clamping rods 5 in the clamping mechanism are opened and closed, so that the two clamping rods 5 can clamp and fix the object.

[0045] Specifically, during the operation of the equipment, the driving gear 7 is connected to the third connecting rod 4 and meshes with the two sides of the driving rack 8. The clamping rod 5 is located at one end of the second connecting rod 3. The linear motor 6 works to make the driving rack 8 move linearly, driving the left and right driving gears 7 to rotate, which can drive the third connecting rod 4 to move synchronously and make the clamping rods 5 move closer or farther away from each other, thereby realizing clamping and releasing operations.

[0046] Please continue reading Figure 1-Figure 4 A pressing rod 9 is fixedly provided at one end of the driving rack 8, and a nut sleeve 10 is sleeved on the outside of the pressing rod 9. One end of the inner wall of the nut sleeve 10 presents a tooth profile consistent with the outer profile of the protective pressure plate nut. The two clamping claw rods 5 are hinged at one end away from each other with a second connecting rod 3, and the other end of the second connecting rod 3 is hinged with a first connecting rod 2. The first connecting rod 2 is hinged to the nut sleeve 10, and the middle part of the second connecting rod 3 is rotatably connected to the hand claw pressure plate 1.

[0047] like Figure 1-Figure 4 As shown, when the clamping jaws are opened, the linear motor 6 drives the driving rack 8 to move, and the left and right driving gears 7 rotate to drive the third connecting rod 4, transmitting force to the second connecting rod 3. At this time, the second connecting rod 3 is hinged to the gripper pressure plate 1, and the hinge is used as a rotating fulcrum to drive the first connecting rod 2 to push the nut sleeve 10 forward. Since the pressing rod 9 is fixedly connected to the driving rack 8, the pressing rod 9 and the nut sleeve 10 are pushed forward at the same time.

[0048] Specifically, driven by the driving rack 8, the clamping jaw rod 5 opens, and the pressing rod 9 and the nut sleeve 10 extend. When the clamping jaws are opened to a certain angle, the end face of the clamping jaw rod 5 will be lower than the end face of the nut sleeve 10, and the end face of the pressing rod 9 is still lower than the end face of the nut sleeve 10, so that the nut sleeve 10 can realize the loosening and tightening operation of the nut on the protective pressure plate.

[0049] In some other embodiments, when the clamping jaws are opened to a certain angle, all the hinge points of the second connecting rod 3 and the first connecting rod 2 are in the same straight line. At this time, the nut sleeve 10 will reach the maximum limit and can no longer be extended. At this time, the clamping jaws are not opened to the maximum limit, and the linear motor 6 can still continue to extend. When the linear motor 6 continues to extend, the driving rack 8 will drive the driving gear 7 to continue to rotate, thereby driving the second connecting rod 3 to continue to rotate. At this time, the first connecting rod 2 will be retracted backwards due to the drive of the second connecting rod 3, thereby causing the nut sleeve 10 to be retracted backwards, and the driving rack 8 drives the pressing rod 9 to extend forward until it reaches the limit position. At this time, the pressing rod 9 extends a distance exceeding the nut sleeve 10. At this time, all mechanisms of the gripper are in the limit position, and the pressing rod 9 is used to press the tiny button, and finally the pressing rod 9 exceeds the top of the nut sleeve 10 to realize the button function.

[0050] See also Figure 4 One end of the pressing rod 9 is in a concave structure, and a monitoring camera 16 is installed inside the concave end of the pressing rod 9.

[0051] like Figure 4 As shown, the pressing rod 9 is a hollow rod, in which a monitoring camera 16 is arranged, etc., which can be implemented by other existing equipment such as an endoscope, which will not be described in detail here, and can realize a visual closed loop and improve the operation accuracy.

[0052] See also Figure 2 A linear rail 14 is laid on the outside of the nut sleeve 10 , and a linear rail slider 13 slides on the outside of the linear rail 14 , and the linear rail slider 13 is fixedly connected to the hand claw pressure plate 1 .

[0053] like Figure 2 As shown, during the movement of the nut sleeve 10 , the nut sleeve 10 can be guided to prevent the nut sleeve 10 from being offset, thereby achieving a bottoming effect.

[0054] See also Figure 4 A photoelectric switch block 12 is installed at the tail end of the nut sleeve 10, a photoelectric switch body 11 is installed on one side of the linear motor 6, and the photoelectric switch body 11 corresponds to the photoelectric switch block 12. The head end of the nut sleeve 10 is a sleeve structure, and a pressing spring 15 is arranged between the sleeves.

[0055] like Figure 4 As shown, when the gripper is in a closed state, the photoelectric switch block 12 coincides with the photoelectric switch body 11. Since the linear motor 6 is an open-loop stepping motor, the photoelectric switch is in a normally open / normally closed state. When the gripper is in a non-closed state when the power is turned on, that is, the photoelectric switch block 12 does not coincide with the photoelectric switch body 11, the gripper will automatically close, thereby realizing the automatic zeroing step when the power is turned on.

[0056] Specifically, when the nut sleeve 10 operates the protective pressure plate nut, if the nut sleeve 10 and the protective pressure plate nut are in a non-engaged state, the nut sleeve 10 cannot be inserted into the protective pressure plate nut, and the pressing spring 15 will retract under the action of force, and the nut sleeve 10 will spin with the end of the robotic arm. When the nut sleeve 10 is aligned with the outer contour of the protective pressure plate nut, the pressing spring 15 will automatically pop out, so that the nut sleeve 10 is engaged with the protective pressure plate nut to achieve floating positioning. At the same time, the head end of the nut sleeve 10 is a sleeve structure, so that the head end of the nut sleeve 10 can move inside the nut sleeve, and the pressing spring 15 is arranged inside the nut sleeve 10 and presses against the head end of the nut sleeve 10 to achieve the above function.

[0057] When using the present invention, the linear motor 6 drives the driving rack 8, thereby driving the driving gear 7 to rotate through the driving rack 8, and at the same time controlling the clamping rod 5, the pressing rod 9 and the nut sleeve 10. This process drives the driving rack 8 to different degrees by the linear motor 6, so as to realize different degrees of opening and closing of the clamping rod 5. According to the degree of opening and closing, functions such as clamping, button, and nut operation can be realized. At the same time, the pressing rod 9 and the nut sleeve 10 extend forward along the linear rail track 14 at the same time. After the clamping rod 5 and the nut sleeve 10 reach the limit of movement, they will retract backwards, and the driving rack 8 can still drive the pressing rod 9 to extend forward to realize the pressing function.

[0058] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0059] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A robot gripper with multiple functions, characterized in that: It comprises a U-shaped hand claw pressure plate (1) arranged in a transverse direction, a linear motor (6) is installed deep in the inner cavity of the hand claw pressure plate (1), the output end of the linear motor (6) is connected to a driving rack (8), the driving rack (8) moves forward and backward along its own length direction, and the two sides of the driving rack (8) are symmetrically provided with clamping claw assemblies with the driving rack (8); The clamping jaw assembly comprises a driving gear (7) meshed with both sides of the driving rack (8), a third connecting rod (4) connected to the top center point of the driving gear (7), and a clamping jaw rod (5) rotated to the other end of the third connecting rod (4).

2. A multi-functional robot gripper as claimed in claim 1, characterized in that: The two clamping claw rods (5) are symmetrically arranged at the center point of the driving rack (8) to form an opening and closing structure, and the two clamping claw rods (5) are bent close to each other in an irregular structure.

3. A multi-functional robot gripper as claimed in claim 1, characterized in that: The third connecting rod (4) is rotationally connected to the hand claw pressure plate (1), and the third connecting rod (4) is fixedly connected to the driving gear (7).

4. A multi-functional robot gripper as claimed in claim 1, characterized in that: A pressing rod (9) is fixedly provided at one end of the driving rack (8).

5. A multi-functional robot gripper as claimed in claim 4, characterized in that: One end of the pressing rod (9) is in a recessed structure, and a monitoring camera (16) is installed inside the recessed end of the pressing rod (9).

6. A multi-functional robot gripper as claimed in claim 4, characterized in that: The outside of the pressing rod (9) is sleeved with a nut sleeve (10), and one end of the inner wall of the nut sleeve (10) has a tooth profile that is consistent with the outer profile of the protective pressure plate nut.

7. A multi-functional robot gripper as claimed in claim 6, characterized in that: A linear rail track (14) is laid on the outside of the nut sleeve (10), a linear rail slider (13) slides on the outside of the linear rail track (14), and the linear rail slider (13) is fixedly connected to the hand claw pressure plate (1).

8. A multi-functional robot gripper as claimed in claim 6, characterized in that: The ends of the two clamping claw rods (5) that are away from each other are hinged with a second connecting rod (3), the other ends of the second connecting rod (3) are hinged with a first connecting rod (2), and the first connecting rod (2) is hinged with the nut sleeve (10).

9. A multi-functional robot gripper as claimed in claim 8, characterized in that: The middle portion of the second connecting rod (3) is rotatably connected to the hand claw pressure plate (1).

10. A multi-functional robot gripper as claimed in claim 6, characterized in that: A photoelectric switch block (12) is installed at the tail end of the nut sleeve (10), a photoelectric switch body (11) is installed on one side of the linear motor (6), and The photoelectric switch body (11) corresponds to the photoelectric switch block (12); the head end of the nut sleeve (10) is in a sleeve structure; a pressing spring (15) is arranged between the sleeves.

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