A gripper and robot

Abstract

The application discloses a gripper and a robot, the gripper comprising a main body, two clamping frames and a second driving mechanism. The two clamping frames are movably arranged on the main body, and the two clamping frames are arranged in parallel and are spaced apart. A first driving mechanism and a plurality of rotating wheels are arranged on the clamping frame. The rotating wheels are sequentially and spaced apart along the length direction of the clamping frame. The rotating wheels are located on the supporting surface of the main body, and the rotating axis of the rotating wheels is perpendicular to the supporting surface of the main body. The first driving mechanism is at least in transmission connection with part of the rotating wheels. The second driving mechanism is arranged on the main body, and the second driving mechanism is in transmission cooperation with the two clamping frames to drive the two clamping frames to move close to each other or move away from each other in the opposite direction. The two clamping frames of the gripper can clamp or release an object. The rotating wheels on the clamping frame can rotate under the drive of the first driving mechanism. In the clamping state, the object is actively moved along the length direction, so that the position of the object is accurately adjusted, the object is extracted and pushed away in a direction, and the transfer operation of the strip-shaped object can be completed without an additional auxiliary mechanism.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, specifically to a gripper and a robot. Background Technology

[0002] In fields such as industrial automated production, logistics sorting, and material handling, robots have been widely used for grasping, transferring, and placing various objects due to their advantages of high efficiency, precision, and stability. Among them, the gripper, as the end effector of the robot, is the core component for grasping and transferring objects, and its structural design directly determines the robot's operating efficiency, grasping stability, and applicable scope.

[0003] In actual production scenarios, the demand for gripping and transferring strip-shaped objects (such as pipes, profiles, rod-shaped workpieces, long strip-shaped packaging) is increasing. These objects are characterized by their long length, dispersed center of gravity, and tendency to roll or slip, which places high demands on the gripping stability and position adjustment convenience of the gripper. Currently, existing robotic grippers are mainly divided into two categories. One type is a simple clamping gripper, which only has clamping and releasing functions. It clamps objects by driving the clamping arms to move in opposite directions. However, it cannot actively adjust the position of the object while clamping. When it is necessary to extract, push away, or precisely position strip-shaped objects, it is necessary to rely on the movement of the robot body, which is cumbersome and the object is prone to slippage due to shaking during the robot's movement, affecting work efficiency and safety. The other type is a gripper with a transfer function, which mostly uses conveyor belts, rollers, and other structures. However, its structure is complex and its size is large. It cannot achieve stable clamping of strip-shaped objects, especially for strip-shaped objects of different specifications. It is difficult to balance clamping stability and transfer flexibility.

[0004] Existing grippers with transfer functions often suffer from structural redundancy and high costs. Furthermore, their transfer and clamping mechanisms are independent of each other, resulting in poor coordination. When transferring objects while clamped, objects are prone to shifting or shaking, making it impossible to achieve precise positioning. This makes it difficult to meet the needs of industrial production for efficient, accurate, and stable gripping and transfer of strip-shaped objects.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] To address one of the aforementioned technical problems, the present invention provides a gripper and a robot.

[0007] This application provides the following technical solution: In a first aspect, embodiments of this application provide a gripper, including: main body; Two clamping frames are movably mounted on the main body. The two clamping frames are spaced apart and arranged in parallel. Each clamping frame is equipped with a first driving mechanism and multiple rotating wheels. Each rotating wheel is arranged sequentially at intervals along the length direction of the clamping frame. The rotating wheels are located on the support surface of the main body, and the rotation axis of the rotating wheels is perpendicular to the support surface of the main body. The first driving mechanism is at least connected to a portion of the rotating wheels. The second driving mechanism is disposed on the main body and is in transmission cooperation with the two clamping frames to drive the two clamping frames to move closer to each other or further away from each other.

[0008] Optionally, the main body includes a top plate; Multiple sliding grooves are provided on the top plate; The clamping frame includes a first beam, a second beam, and a connecting beam. The first beam and the second beam are respectively disposed on both sides of the top plate along the thickness direction. The connecting beam passes through the sliding groove and connects the first beam and the second beam respectively. Each of the aforementioned rotating wheels is disposed on the first beam, and the aforementioned rotating wheels are arranged sequentially at intervals along the length direction of the first beam; The second drive mechanism is driven by the second beams of the two clamping frames, driving the clamping frames to move along the sliding groove, so that the first beams of the two clamping frames move closer to each other or further away from each other.

[0009] Optionally, the first drive mechanism is disposed on the connecting beam and / or the second beam.

[0010] Optionally, the first drive mechanism includes a first motor and a transmission component; The transmission component is rotatably mounted on the connecting beam; The first motor is mounted on the connecting beam or the second beam, and the rotating shaft of the first motor is perpendicular to the rotating axis of the transmission component; The first motor's shaft is connected to one end of the transmission component, and the other end of the transmission component is connected to a rotating wheel.

[0011] Optionally, the transmission component is located inside the connecting beam; The first motor has a first bevel gear connected to the end of its shaft; The end of the transmission component is provided with a second bevel gear, and the first bevel gear and the second bevel gear mesh with each other.

[0012] Optionally, the rotating wheels at both ends of each of the rotating wheels on the clamping frame are respectively connected to corresponding transmission components, and the rotating wheels in the middle are driven wheels.

[0013] Optionally, the second drive mechanism includes a second motor and a lead screw, the lead screw being connected to the second motor, and the lead screw having two threaded sections with opposite thread directions. The second motor is connected to the top plate, one threaded section of the lead screw is threadedly connected to the second beam of the clamping frame, and the other threaded section of the lead screw is threadedly connected to the second beam of another clamping frame.

[0014] Optionally, a plurality of rotating rollers are provided on the support surface of the main body; At least a portion of the rotating rollers are located between the two clamping frames, and each of the rotating rollers is arranged sequentially at intervals along the length direction of the clamping frame.

[0015] Optionally, the gripper includes a wear-resistant layer; The wear-resistant layer covers the supporting surface of the main body; The rotating wheel is located on the side of the wear-resistant layer away from the main body.

[0016] Secondly, embodiments of this application provide a robot, including: movable arm; The aforementioned gripper has its main body connected to the movable arm.

[0017] By adopting the above technical solution, this application has the following beneficial effects: The gripper has two clamping frames that can clamp or release objects. The rotating wheels on the clamping frames can rotate under the drive of the first drive mechanism. In the clamping state, the object is driven to move actively along the length direction, so as to achieve precise adjustment of the object position, directional extraction and pushing away. The transfer operation of strip-shaped objects can be completed without additional auxiliary mechanisms. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the gripper provided in the embodiments of this application; Figure 2 This is another three-dimensional structural diagram of the gripper provided in the embodiments of this application; Figure 3 A partial structural schematic diagram of the gripper provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the robot's movable arm provided in an embodiment of this application; Figure 5 This is a partial structural diagram of the robotic arm provided in an embodiment of this application.

[0020] In the diagram: 100, gripper; 1, top plate; 11, sliding groove; 12, wear-resistant layer; 13, lower protrusion; 14, guide shaft; 2, bottom plate; 3, column; 4, clamping frame; 41, first beam; 42, second beam; 43, connecting beam; 5, rotating wheel; 6, first motor; 7, second motor; 8, lead screw; 9, rotating roller; 200, movable arm; 210, lifting drive component; 230, first support arm; 240, second support arm; 250, end seat; 251, first rotating shaft; 252, second rotating shaft; 253, third rotating shaft; 260, mounting base; 261, hinged arm; 270, pitch adjustment component; 280, fourth rotating shaft. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0022] In the description of this invention, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Example 1 See Figures 1 to 5As shown in the illustration, this application provides a gripper 100, comprising: a main body, two clamping frames 4, and a second drive mechanism. Both clamping frames 4 are movably mounted on the main body, spaced apart and arranged parallel to each other. Each clamping frame 4 is equipped with a first drive mechanism and a plurality of rotating wheels 5, which are sequentially spaced along the length of the clamping frame 4. Each rotating wheel 5 is located on a support surface of the main body, and its rotation axis is perpendicular to the support surface of the main body. The first drive mechanism is at least partially connected to the rotating wheels 5. The second drive mechanism is mounted on the main body and engages with the two clamping frames 4 to drive them towards each other or away from each other.

[0025] This application uses a second driving mechanism to drive two parallel clamping frames 4 to move closer together or further apart, which can achieve stable clamping and reliable release of strip-shaped objects. The clamping state is uniform and controllable, effectively preventing object deformation or slippage and improving gripping stability.

[0026] In this application, multiple rotating wheels 5 are arranged sequentially at intervals along the length direction on the clamping frame 4, and the axis of the rotating wheels 5 is perpendicular to the main support surface. With the transmission drive of the first drive mechanism, the object can be driven to move actively along the length direction in the clamping state, so as to realize the precise adjustment of the object position, directional extraction and pushing away, and the transfer operation of strip-shaped objects can be completed without additional auxiliary mechanisms.

[0027] In this application, the rotating wheels 5 are distributed along the length of the clamping frame 4, so that the support surface and the object can be in uniform contact and the force is distributed. When driving the object to move, the operation is smooth. It is suitable for both rigid strip objects and fragile and flexible strip objects, and has a wide range of applications.

[0028] In this application, the clamping function and the active object moving function are integrated into one, with a compact structure and smooth operation, which simplifies the robot's grasping and transfer process, improves the integrated operation efficiency of grasping, releasing and transferring strip-shaped objects, and reduces equipment complexity and cost.

[0029] In this application, two clamping frames are arranged in parallel at intervals to adapt to the shape characteristics of strip-shaped objects. This effectively solves the problems of traditional grippers 100 having difficulty in stably gripping and pulling and pushing strip-shaped objects, and significantly improves the reliability and convenience of automated gripping and transfer of strip-shaped objects.

[0030] In some possible implementations, the main body includes a top plate 1 with multiple sliding grooves 11. The clamping frame 4 includes a first beam 41, a second beam 42, and a connecting beam 43. The first beam 41 and the second beam 42 are respectively located on both sides of the top plate 1 along the thickness direction. The connecting beam 43 passes through the sliding grooves 11 and connects the first beam 41 and the second beam 42 respectively. Each of the rotating wheels 5 is disposed on the first beam 41 and is arranged at intervals along the length direction of the first beam 41. The second driving mechanism is in transmission cooperation with the second beams 42 of the two clamping frames 4 to drive the clamping frame 4 to move along the sliding grooves 11, so that the first beams 41 of the two clamping frames 4 move closer to each other or move away from each other.

[0031] The main body may also include a base plate 2. The top plate 1 and the base plate 2 are connected by a column 3. There is a cavity between the top plate 1 and the base plate 2. The first beam 41 is located on the side of the top plate 1 away from the base plate 2, and the second beam 42 is located in the cavity between the top plate 1 and the base plate 2. The second drive mechanism is located between the top plate 1 and the base plate 2 to facilitate transmission and cooperation with the second beam 42.

[0032] The main body of the gripper 100 serves as the installation foundation and load-bearing component of the entire gripper 100. Its core component includes a top plate 1, which is a flat plate structure with a supporting surface and sufficient structural strength to stably support the weight of the clamping frame 4, the first drive mechanism, the second drive mechanism, and other components, and to provide a precise installation positioning reference for each component. To enable the movable installation and guidance of the clamping frame 4, multiple sliding grooves 11 are formed on the top plate 1 along a preset direction. The sliding grooves 11 are preferably elongated through grooves, and their extension direction is consistent with the moving direction of the clamping frame 4. The multiple sliding grooves 11 are arranged parallel to each other at intervals to ensure the stability and guiding accuracy of the clamping frame 4 during movement and to avoid situations such as offset or jamming.

[0033] The clamping frame 4, which cooperates with the main body's top plate 1, adopts a split structure design, specifically including a first beam 41, a second beam 42, and a connecting beam 43. The three are interconnected to form a stable overall structure, which not only ensures the structural rigidity of the clamping frame 4, but also adapts to the installation space of the main body's top plate 1, realizing the synergy of clamping and movement functions. Among them, the first beam 41 and the second beam 42 are both long strip structures, respectively set on both sides of the top plate 1 along the thickness direction, that is, the first beam 41 is located on one side of the top plate 1, and the second beam 42 is located on the other side of the top plate 1. This structural design can make the force on the clamping frame 4 more even, avoiding structural deformation caused by unilateral force, and also providing a reasonable spatial layout for the through installation of the connecting beam 43.

[0034] The connecting beam 43 serves as the core connecting component linking the first beam 41 and the second beam 42. Its number matches the number of sliding grooves 11 on the top plate 1, allowing it to pass through the sliding grooves 11 and achieve a sliding fit. One end of the connecting beam 43 is fixedly connected to the first beam 41, and the other end is fixedly connected to the second beam 42, so that the first beam 41, the second beam 42, and the connecting beam 43 form a whole.

[0035] Each rotating wheel 5, serving as the main driving structure for moving the object, is centrally located on the first beam 41. The rotating wheels 5 are evenly spaced along the length of the first beam 41, ensuring more comprehensive and uniform contact between the rotating wheels 5 and the strip-shaped object. This provides a stable driving force when moving the object, preventing issues such as offset or jamming caused by uneven force distribution. Furthermore, the rotation axis of the rotating wheels 5 is perpendicular to the support surface of the main body. This arrangement ensures that the rotation direction of the rotating wheels 5 is consistent with the length direction of the strip-shaped object, enabling precise movement of the object along its length and facilitating position adjustment, extraction, or pushing operations.

[0036] The base plate 2 and the top plate 1 are arranged parallel to each other and are fixedly connected by multiple columns 3. The columns 3 are evenly distributed at the edges or corners of the top plate 1 and the base plate 2, which not only ensures the connection strength between the top plate 1 and the base plate 2, but also forms a cavity structure between the top plate 1 and the base plate 2. This cavity structure provides ample space for the installation of various components. The first beam 41 is located on the side of the top plate 1 away from the base plate 2, that is, exposed to the external space, which facilitates the contact between the rotating wheel 5 and the strip-shaped object, so as to realize the gripping and movement of the object. The second beam 42 is located in the cavity between the top plate 1 and the base plate 2, and the second drive mechanism is also installed in this cavity. This arrangement not only effectively protects the second beam 42 and the second drive mechanism from damage caused by external dust, debris or collisions during operation, but also makes the transmission between the second drive mechanism and the second beam 42 more convenient, shortens the transmission path, improves transmission efficiency, and reduces energy loss and noise during transmission.

[0037] In some possible implementations, a first drive mechanism is disposed on the connecting beam 43 and / or the second beam 42. The first drive mechanism includes a first motor 6 and a transmission member, the transmission member being rotatably disposed on the connecting beam 43. The first motor 6 is disposed on the connecting beam 43 or the second beam 42. The rotation axis of the first motor 6 is perpendicular to the rotation axis of the transmission member. The rotation axis of the motor is drively connected to one end of the transmission member, and the other end of the transmission member is drively connected to a rotating wheel 5.

[0038] The first drive mechanism, serving as the power source for rotating the wheel 5, can be flexibly positioned according to the overall structural layout of the gripper 100, space utilization, and power transmission efficiency. Specifically, it can be mounted on the connecting beam 43 and / or the second beam 42. Both mounting methods ensure stable power transmission and adapt to different structural design requirements. The first drive mechanism includes a first motor 6 and a transmission component, which work together to transmit power and drive the wheel 5 to rotate stably. The transmission component is rotatably mounted on the connecting beam 43, ensuring flexible rotation and secure installation, providing a reliable carrier for power transmission. The motor can be mounted on either the connecting beam 43 or the second beam 42, depending on the structural layout requirements, adapting to different installation scenarios. Notably, the motor's shaft is perpendicular to the transmission component's rotation axis. This perpendicular arrangement effectively optimizes the spatial layout, preventing the drive mechanism from occupying excessive space, especially suitable for locations with relatively compact installation spaces such as the connecting beam 43 and the second beam 42. Simultaneously, a reasonable transmission structure achieves efficient power steering transmission. The first motor's shaft is connected to one end of the transmission component, transmitting the rotational power of the first motor to the transmission component. The other end of the transmission component is then connected to one of the rotating wheels 5, thereby driving the rotating wheel 5 to rotate. If it is necessary to drive multiple rotating wheels 5 to rotate synchronously, the power can be distributed and transmitted through the linkage between the transmission components (such as gear meshing, synchronous belt connection, etc.).

[0039] A dedicated installation position can be reserved on the connecting beam 43. The motor is fixed to the connecting beam 43 by detachable connections such as bolts and clips. The transmission component is rotatably assembled to the pre-set installation position on the connecting beam 43 via rotating connectors such as bearings, ensuring that the transmission component rotates flexibly without significant shaking. The motor shaft and one end of the transmission component are connected by a bevel gear meshing, worm gear drive, or other adapted vertical transmission methods to realize the direction transmission of motor power. The other end of the transmission component is directly connected to the rotating wheel 5 on the first beam 41 or connected by gear meshing, synchronous belt, or drive shaft. The advantage of this installation method is that it can make full use of the space of the connecting beam 43, simplify the transmission structure, facilitate the precise alignment of the first drive mechanism (motor and transmission component) with the rotating wheel 5, reduce power loss during power transmission, and facilitate disassembly and maintenance, making it convenient for subsequent inspection or replacement of the motor and transmission component.

[0040] When the first drive mechanism is mounted on the second beam 42, as mentioned above, the second beam 42 is located in the cavity between the top plate 1 and the bottom plate 2. This area has ample space and is less affected by external interference. Mounting the motor on the second beam 42 while the transmission component remains rotatably mounted on the connecting beam 43 provides good protection for the motor and avoids it occupying external space, preventing collisions and interference with strip-shaped objects. Specifically, a mounting base 260 adapted to the motor can be provided on the second beam 42 to ensure stable motor mounting. The transmission component is assembled to the connecting beam 43 via rotating connecting parts such as bearings, forming a rotatable fit with the connecting beam 43. The motor shaft and one end of the transmission component are connected by a bevel gear, universal joint, or other structure adapted for vertical transmission.

[0041] In some possible implementations, the transmission component is located inside the connecting beam 43, the end of the motor shaft is connected to a first bevel gear, and the end of the transmission component is provided with a second bevel gear, the first bevel gear and the second bevel gear meshing with each other.

[0042] In some possible implementations, the rotating wheels 5 at both ends of the clamping frame 4 are respectively connected to corresponding transmission components, while the rotating wheels 5 in the middle are driven wheels. That is, the rotating wheels 5 at both ends of the two clamping frames 4, a total of four rotating wheels 5, are driving wheels, and the other rotating wheels 5 are driven wheels.

[0043] Each rotating wheel 5 has two rotating wheels at either end connected to a corresponding transmission component, which drives its rotation by the power transmitted from the transmission component; these wheels act as driving wheels. The rotating wheels 5 in the middle section between the two end rotating wheels are driven wheels, not directly connected to the transmission component, but rotating synchronously with the object under the drive of the driving wheels. Considering the overall structure of the gripper 100, each of the two clamping frames 4 corresponds to a set of rotating wheels 5, with one driving wheel at each end of each clamping frame 4. Therefore, the two clamping frames 4 have a total of four driving wheels, and all other rotating wheels 5 in the middle section are driven wheels, forming a reasonable layout of "driving wheels at both ends and driven wheels in the middle."

[0044] The motor transmits power to the two end drive wheels via a transmission component, driving the drive wheels to rotate stably around their own rotation axis. Since the strip-shaped object is held by the rotating wheels 5 of the two clamping frames 4, when the end drive wheels rotate, they move the strip-shaped object along its length due to friction. Meanwhile, the driven wheel in the middle rotates synchronously under the influence of the object. This not only assists in supporting the strip-shaped object, making the force on the object more even, but also reduces friction during the object's movement, preventing surface wear. Furthermore, it eliminates the need for a separate drive mechanism for each rotating wheel 5, significantly simplifying the transmission structure and reducing manufacturing costs and maintenance difficulty.

[0045] Four drive wheels (two clamping frames and two end wheels each) provide driving force, ensuring that the driving force is evenly distributed at both ends of the strip-shaped object. This avoids the object shifting or jamming due to insufficient driving force on one side, and is especially suitable for long strip-shaped objects, effectively preventing the object from tilting during movement. The middle driven wheel plays an auxiliary supporting and guiding role, further improving the stability of the object's movement, while reducing the load on the drive wheels and extending the service life of the drive wheels and drive mechanism.

[0046] In some possible implementations, the second drive mechanism includes a second motor 7 and a lead screw 8 connected to the second motor 7. The lead screw 8 has two threaded sections with opposite thread directions. The second motor 7 is connected to the top plate 1. One threaded section of the lead screw 8 is threadedly connected to a second beam 42 of a clamping frame 4, and the other threaded section of the lead screw 8 is threadedly connected to a second beam 42 of another clamping frame 4.

[0047] The lead screw 8 has two threaded sections with opposite thread directions. Each threaded section corresponds one-to-one with the second beam 42 of the two clamping frames 4. That is, one threaded section of the lead screw 8 is threadedly connected to the second beam 42 of one clamping frame 4, and the other threaded section of the lead screw 8 is threadedly connected to the second beam 42 of the other clamping frame 4. When the second motor 7 starts and drives the lead screw 8 to rotate, because the two threaded sections have opposite thread directions, the second beams 42 of the two clamping frames 4 will move towards each other or away from each other synchronously along the axis of the lead screw 8 under the action of the threads. Since the second beam 42 is fixedly connected to the first beam 41 through the connecting beam 43, the movement of the second beam 42 will synchronously drive the first beam 41 to move, ultimately realizing that the first beams 41 of the two clamping frames 4 move towards each other (completing the clamping action) or away from each other (completing the release action), thereby accurately realizing the clamping and release of strip-shaped objects. This lead screw 8 transmission method has the advantages of high transmission accuracy, stable driving force, and smooth operation. It can accurately control the distance between the two clamping frames 4, adapt to strip-shaped objects of different specifications, and has a simple structure and convenient maintenance, effectively improving the reliability and accuracy of the gripper 100's clamping action.

[0048] In some possible implementations, a plurality of rotating rollers 9 are provided on the support surface of the main body, at least some of the rotating rollers 9 are located between the two clamping frames 4, and each of the rotating rollers 9 is arranged at intervals along the length direction of the clamping frame 4.

[0049] At least some of the rotating rollers 9 are located between the two clamping frames 4, and the rotating rollers 9 are evenly spaced along the length of the clamping frame 4, adapting to the layout of the rotating wheels 5 on the clamping frame 4. Specifically, the extension direction of the rotating rollers 9 is perpendicular to the length direction of the clamping frame 4, and their rotation axis is parallel to the main support surface and perpendicular to the rotation axis of the rotating wheel 5. This arrangement allows the rotating rollers 9 to provide auxiliary support and guidance along the width direction (such as the diameter direction) of the object when it moves, complementing the driving action of the rotating wheel 5 along the length direction of the object, further improving the stability of the object's movement. The rotating rollers 9 located between the two clamping frames 4 can directly contact the bottom of the clamped object. When the object is driven to move by the rotating wheel 5, the rotating rollers 9 rotate synchronously with the object, converting the sliding friction between the object and the support surface into rolling friction, greatly reducing friction, preventing wear on the bottom of the object, and reducing the driving load on the rotating wheel 5, thus improving driving efficiency.

[0050] Furthermore, the number of rotating rollers 9 can be flexibly set according to the length of the clamping frame 4 and the specifications of the strip-shaped object. Except for the portion located between the two clamping frames 4, the remaining rotating rollers 9 can be symmetrically arranged on the outside of the two clamping frames 4 to further expand the support range, making it suitable for longer strip-shaped objects. All rotating rollers 9 are rotatably mounted on the main support surface and fixed by rotating connectors such as bearings to ensure flexible and smooth rotation. The top of the rotating rollers 9 is slightly higher than the main support surface to ensure full contact with the strip-shaped object without affecting the normal movement and clamping action of the clamping frame 4.

[0051] In some possible implementations, the gripper 100 includes a wear-resistant layer 12 covering the support surface of the main body, and the rotating wheel 5 is located on the side of the wear-resistant layer 12 opposite to the main body. A clearance opening for the rotating roller 9 is provided on the wear-resistant layer 12, and the rotating wheel 5 protrudes from the clearance opening to facilitate rolling contact with the surface of the object.

[0052] The wear-resistant layer 12 effectively improves the wear resistance of the main support surface and extends the service life of the gripper 100. The wear-resistant layer 12 covers the main support surface and can directly isolate the strip-shaped object, the rotating wheel 5 and the rotating roller 9 from direct contact with the main support surface. This avoids wear and scratches on the main support surface due to friction and collision during long-term operation, reduces the wear of the main structure, and thus extends the service life of the entire gripper 100, reducing equipment maintenance costs and replacement frequency.

[0053] The wear-resistant layer 12 is made of a wear-resistant and soft material. When the strip-shaped object comes into contact with the support surface, it can act as a buffer to prevent the main support surface (mostly rigid material) from directly contacting the object surface and causing scratches and wear. It is especially suitable for strip-shaped objects with fragile surfaces and high precision requirements, ensuring the surface integrity of the object during the grasping and moving process.

[0054] The wear-resistant layer 12 has a clearance opening that is compatible with the rotating roller 9. This allows for precise clearance of the rotating roller 9, preventing the wear-resistant layer 12 from obstructing the normal rotation of the rotating roller 9. At the same time, it ensures that the rotating wheel 5 protrudes from the clearance opening and can make full rolling contact with the surface of the strip-shaped object. This does not affect the transmission of the driving force of the rotating wheel 5, nor does it affect the auxiliary support and guiding function of the rotating roller 9, thus ensuring that the functions of clamping, driving, and supporting are achieved in a coordinated manner.

[0055] In some possible implementations, embodiments of this application also provide a robot, including: a movable arm 200 and the aforementioned gripper 100, the main body of which is connected to the movable arm 200.

[0056] The top plate 1 has multiple downward protrusions 13 vertically arranged on it, and guide shafts 14 are provided on the downward protrusions 13. Guide holes are provided on the second beams 42 on the two clamping frames 4, and the guide shafts 14 pass through the guide holes. The second beams 42 can slide along the length direction of the guide shafts 14.

[0057] Example 2 See Figures 1 to 5 As shown in the illustration, this application provides a robot, including a movable arm 200 and a gripper 100. The movable arm 200 includes a lifting drive 210, a base, a first support arm 230, a second support arm 240, an end seat 250, a mounting base 260, and a pitch adjustment member 270. One end of each of the first support arm 230 and the second support arm 240 is hinged to the base, and the other end of each is hinged to the end seat 250. The mounting base 260 is hinged to the end seat 250. The pitch adjustment member 270 is hinged to both the end seat 250 and the mounting base 260. Both ends of the lifting drive 210 are hinged to the base and the first support arm 230, respectively. The gripper 100 is connected to the mounting base 260 of the movable arm 200.

[0058] The first support arm 230 and the second support arm 240 of the movable arm 200 of this application are both hinged to the base and the end seat 250 at both ends, forming a quadrilateral linkage lifting structure. When the lifting drive component 210 is activated, it can synchronously drive the first support arm 230 and the second support arm 240 to rotate together, thereby smoothly driving the end seat 250 to achieve height adjustment. This effectively avoids problems such as center of gravity shift and swaying that are prone to occur during the lifting process of a single lifting structure or a simple multi-link structure, and improves the stability and load-bearing capacity of the movable arm 200 during the lifting process. It can be adapted to the gripping operation needs of grippers 100 of different weights and different loads.

[0059] This application utilizes the linkage between the lifting drive component 210 and the double support arms to simultaneously adjust the initial angle of the mounting base 260 while adjusting the height of the end seat 250, laying the foundation for the attitude adjustment of the gripper 100. Furthermore, the addition of pitch adjustment components 270, hinged to the end seat 250 and the mounting base 260 respectively, allows for precise fine-tuning and attitude correction of the pitch angle of the mounting base 260. This effectively compensates for angular deviations during the lifting linkage process, fundamentally solving the problems of easy attitude deviation and insufficient precision of the gripper 100 in the prior art from a mechanical structure perspective. It significantly improves the positioning accuracy and angle controllability of the gripper 100's working posture, effectively reducing the probability of problems such as missing the gripper, rubbing against the edge, or tilting the workpiece. It is particularly suitable for gripping scenarios with small parts, narrow edges, and high precision requirements.

[0060] This application organically combines the lifting function of the lifting drive component 210 with the attitude correction function of the pitch adjustment component 270. The lifting drive component 210 adjusts the height of the end seat 250 while simultaneously adjusting the initial angle of the mounting seat 260. The pitch adjustment component 270 performs attitude fine-tuning at the same time. The two work together, eliminating the need for separate lifting and attitude adjustment operations, which effectively improves the robot's operating efficiency. Moreover, the entire adjustment process is smooth and precise, taking into account both operational safety and quality, further enhancing the robot's application advantages in intelligent manufacturing scenarios.

[0061] In some possible implementations, a hinged arm 261 protrudes from one side of the mounting base 260. One end of the pitch adjustment member 270 is hinged to the hinged arm 261, and the other end of the pitch adjustment member 270 is hinged to the end seat 250. The pitch adjustment member 270 can extend and retract, driving the mounting base 260 to move relative to the end seat 250.

[0062] A hinged arm 261 protrudes from one side of the mounting base 260. One end of the pitch adjustment component 270 is hinged to the hinged arm 261, and the other end of the pitch adjustment component 270 is hinged to the end seat 250. The extension and retraction movement of the pitch adjustment component 270 can drive the mounting base 260 to move relative to the end seat 250, thereby precisely fine-tuning and correcting the pitch angle of the mounting base 260. This can effectively compensate for the angle deviation generated during the lifting linkage, fundamentally solving the problems of easy attitude deviation and insufficient accuracy of the gripper 100 in the prior art from the mechanical structure level. It significantly improves the positioning accuracy and angle controllability of the gripper 100's working attitude, and effectively reduces the probability of problems such as missing the gripper, rubbing against the edge, and tilting the workpiece.

[0063] In some possible implementations, the end of the articulated arm 261 opposite to the mounting base 260 extends obliquely toward the end seat 250.

[0064] In some possible implementations, the end seat 250 includes two spaced-apart plates connected by a first pivot 251. The pitch adjustment member 270 includes a cylinder and a telescopic rod connected to the cylinder. The end of the telescopic rod is provided with a collar, which is rotatably fitted onto the first pivot 251. The cylinder is hinged to the hinge arm 261.

[0065] The end seat 250 consists of two spaced plates connected by a first rotating shaft 251, which makes the connection of the pitch adjustment component 270 more stable and prevents loosening caused by stress on a single plate. The pitch adjustment component 270 is rotatably fitted onto the first rotating shaft 251 via a collar at the end of the telescopic rod. This, combined with the hinged connection between the cylinder and the hinged arm 261, allows the telescopic movement of the pitch adjustment component 270 to be smoothly converted into the pitch rotation of the mounting base 260, reducing friction and jamming during movement and improving the smoothness and accuracy of attitude adjustment. At the same time, the rotatable connection between the collar and the first rotating shaft 251 can adapt to the angle changes of the pitch adjustment component 270 during telescopic movement, avoiding stress interference between components, reducing wear on parts, extending the service life of the equipment, and further improving the stability and reliability of attitude adjustment.

[0066] Optionally, the robot includes two first support arms 230 and two second support arms 240. The two first support arms 230 are spaced apart and arranged in parallel, and a second rotating shaft 252 is connected between the two first support arms 230, passing through the end seat 250. The two second support arms 240 are spaced apart and arranged in parallel, and a third rotating shaft 253 is connected between the two second support arms 240, passing through the end seat 250.

[0067] The design employs two parallel first support arms 230 and two parallel second support arms 240, along with second rotating shafts 252 connecting the two first support arms 230 and third rotating shafts 253 connecting the two second support arms 240, further enhancing the overall structural strength and stability of the movable arm 200 and preventing deformation and damage caused by excessive stress on a single support arm. Simultaneously, the dual support arms and dual rotating shafts design ensures more even stress distribution on the end seat 250, reducing the likelihood of tilting or swaying during lifting and lowering, thus improving the smoothness of the lifting action. It also effectively distributes the gripping load, increasing the upper load capacity of the movable arm 200 and adapting it to heavier gripping operations.

[0068] In some possible implementations, the second pivot 252 is rotatably connected to the mounting base 260. The first support arm 230, the mounting base 260, and the end seat 250 are all connected by a single second pivot 252, simplifying the structure.

[0069] In some possible implementations, the end seat 250 is triangular, with the first pivot 251, the second pivot and the third pivot 253 located at the three corners of the end seat 250.

[0070] The triangular endplate 250 has the advantages of structural stability and strong resistance to deformation. By setting the first rotating shaft 251, the second rotating shaft 252, and the third rotating shaft 253 at the three corners of the endplate 250, the force on the three rotating shafts can be more balanced, avoiding damage to the endplate 250 caused by localized force concentration. At the same time, the triangular rotating shaft design can further optimize the linkage transmission efficiency of the movable arm 200, so that the movements of the lifting drive component 210 and the pitch adjustment component 270 can be transmitted to the mounting base 260 more smoothly, improving the coordination and stability of the overall movement. Moreover, the triangular structure is simple and compact, which can reduce the space occupied by the endplate 250, making the overall structure of the robot more compact and suitable for confined working environments.

[0071] In some possible implementations, the two first support arms 230 are located between the two second support arms 240, and a fourth pivot 280 is connected between the two first support arms 230. One end of the lifting drive 210 is hinged to the base, and the other end of the lifting drive 210 is rotatably sleeved on the fourth pivot 280. The lifting drive 210 can extend and retract, driving the first support arms 230 to swing relative to the base.

[0072] This application provides a fourth rotating shaft 280 between the two first support arms 230, which allows the driving force of the lifting drive component 210 to be evenly transmitted to the two first support arms 230. This avoids lifting deviation caused by uneven force on a single support arm, ensures that the two first support arms 230 rotate synchronously, and improves the synchronicity and stability of the lifting action. At the same time, the lifting drive component 210 is connected to the first support arm 230 by being sleeved on the fourth rotating shaft 280, which provides greater rotational flexibility, reduces jamming during the driving process, improves the smoothness and response efficiency of the lifting drive, and reduces driving energy consumption.

[0073] In some possible implementations, the side of the first support arm 230 away from the base bends outward toward one side of the plane containing the two second support arms 240.

[0074] Designing the first support arm 230 to bend and protrude towards the plane containing the second support arm 240 can, on the one hand, increase the structural strength and bending resistance of the first support arm 230, avoid deformation of the support arm due to long-term stress, and extend its service life; on the other hand, the bending structure can optimize the force angle of the first support arm 230, so that the driving force of the lifting drive component 210 can be more reasonably transmitted to the end seat 250, improving the lifting efficiency. At the same time, it can avoid motion interference between the first support arm 230 and the second support arm 240, ensure smooth linkage of all components of the movable arm 200, and further improve the stability and reliability of robot operation.

[0075] In some possible implementations, the robot includes a rotating frame disposed on the mounting base 260, and a gripper 100 connected to the rotating frame.

[0076] By setting a rotating frame on the mounting base 260 and connecting the gripper 100 to the rotating frame, the gripper 100 can rotate 360 ​​degrees around the rotating frame, further expanding the working angle range of the gripper 100, adapting to gripping needs in different directions and angles, and improving the robot's operational flexibility. At the same time, the rotating frame can realize the independent rotation adjustment of the gripper 100, which works in conjunction with the pitch adjustment function of the pitch adjustment component 270 to make the attitude adjustment of the gripper 100 more comprehensive and precise, better adapting to the gripping requirements in complex working scenarios, further reducing gripping errors, and improving the gripping success rate and work quality.

[0077] The preferred embodiments disclosed above are merely illustrative of this application. These preferred embodiments do not exhaustively describe all details, nor do they limit the application to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A gripper, characterized in that, include: main body; Two clamping frames are movably mounted on the main body. The two clamping frames are spaced apart and arranged in parallel. Each clamping frame is equipped with a first driving mechanism and multiple rotating wheels. Each rotating wheel is arranged sequentially at intervals along the length direction of the clamping frame. The rotating wheels are located on the support surface of the main body, and the rotation axis of the rotating wheels is perpendicular to the support surface of the main body. The first driving mechanism is at least connected to a portion of the rotating wheels. The second driving mechanism is disposed on the main body and is in transmission cooperation with the two clamping frames to drive the two clamping frames to move closer to each other or further away from each other.

2. The gripper according to claim 1, characterized in that, The main body includes a top plate; Multiple sliding grooves are provided on the top plate; The clamping frame includes a first beam, a second beam, and a connecting beam. The first beam and the second beam are respectively disposed on both sides of the top plate along the thickness direction. The connecting beam passes through the sliding groove and connects the first beam and the second beam respectively. Each of the aforementioned rotating wheels is disposed on the first beam, and the aforementioned rotating wheels are arranged sequentially at intervals along the length direction of the first beam; The second drive mechanism is driven by the second beams of the two clamping frames, driving the clamping frames to move along the sliding groove, so that the first beams of the two clamping frames move closer to each other or further away from each other.

3. The gripper according to claim 2, characterized in that, The first drive mechanism is disposed on the connecting beam and / or the second beam.

4. The gripper according to claim 3, characterized in that, The first drive mechanism includes a first motor and a transmission component; The transmission component is rotatably mounted on the connecting beam; The first motor is mounted on the connecting beam or the second beam, and the rotating shaft of the first motor is perpendicular to the rotating axis of the transmission component; The first motor's shaft is connected to one end of the transmission component, and the other end of the transmission component is connected to a rotating wheel.

5. The gripper according to claim 4, characterized in that, The transmission component is located inside the connecting beam; The first motor has a first bevel gear connected to the end of its shaft; The end of the transmission component is provided with a second bevel gear, and the first bevel gear and the second bevel gear mesh with each other.

6. The gripper according to claim 4, characterized in that, Of the rotating wheels on the clamping frame, the rotating wheels at both ends are respectively connected to corresponding transmission components, and the rotating wheels in the middle are driven wheels.

7. The gripper according to claim 2, characterized in that, The second drive mechanism includes a second motor and a lead screw, the lead screw being connected to the second motor, and the lead screw having two threaded sections with opposite thread directions. The second motor is connected to the top plate, one threaded section of the lead screw is threadedly connected to the second beam of the clamping frame, and the other threaded section of the lead screw is threadedly connected to the second beam of another clamping frame.

8. The gripper according to claim 1, characterized in that, Multiple rotating rollers are arranged on the support surface of the main body; At least a portion of the rotating rollers are located between the two clamping frames, and each of the rotating rollers is arranged sequentially at intervals along the length direction of the clamping frame.

9. The gripper according to any one of claims 1-8, characterized in that, Including a wear-resistant layer; The wear-resistant layer covers the supporting surface of the main body; The rotating wheel is located on the side of the wear-resistant layer away from the main body.

10. A robot, characterized in that, include: movable arm; The gripper as described in any one of claims 1-9, wherein the main body of the gripper is connected to the movable arm.

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