Robot gripper device

Abstract

The utility model relates to the technical field of robots, in particular to a robot gripper device which solves the problems that in the prior art, due to the fact that workpieces of different batches or without functions are different in shape, the workpieces need to be clamped through clamps of different shapes, the clamps of an existing robot gripper are fixed and inconvenient to replace, and the work efficiency is high. And therefore, the applicability of the robot gripper is reduced, and the use range of the robot gripper is reduced due to limitation. A robot gripper device comprises a connecting support and two clamp mounting assemblies symmetrically arranged at the bottom of the connecting support, the tops of the two clamp mounting assemblies are connected with the bottom of the connecting support through electric control sliding structures, and each clamp mounting assembly comprises a transverse rod and two mounting plates fixedly connected to the two ends of the transverse rod. The clamping device is reasonable in structure, corresponding clamps can be conveniently selected according to different workpieces, meanwhile, rapid switching can be conducted, the application range is widened, and using convenience is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot gripper device. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and the gripper is an important component of the robot.

[0003] When clamping the workpiece, since the shapes of workpieces from different batches or that do not pass the function are different, the workpiece needs to be clamped by fixtures of different shapes, and the fixtures of existing robot grippers are fixed and inconvenient to replace, which reduces its applicability. The limitations reduce the scope of use of the robot gripper, so we propose a robot gripper device that is easy to realize the rapid switching of multiple fixtures to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a robot gripper device, which solves the problem in the prior art that due to the different shapes of workpieces from different batches or workpieces that do not pass the function, the workpieces need to be clamped by fixtures of different shapes, while the fixtures of the existing robot grippers are fixed and inconvenient to replace, which reduces their applicability and the existence of limitations reduces the scope of use of the robot gripper.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A robot gripper device comprises a connecting bracket and two clamp mounting assemblies symmetrically arranged at the bottom of the connecting bracket, the tops of the two clamp mounting assemblies are connected to the bottom of the connecting bracket through an electrically controlled sliding structure, the clamp mounting assembly comprises a cross bar and two mounting plates fixedly connected to both ends of the cross bar, a rotating rod is horizontally arranged between the two mounting plates, the two ends of the rotating rod are respectively rotatably connected to the side walls of the two mounting plates, a driving structure matching the rotating rod is installed on the side wall of the mounting plate on one side, and three groups of clamp structures are arranged on the outer wall of the rotating rod, and the three groups of clamp structures are arranged in a circular array along the circumferential direction of the rotating rod.

[0007] Preferably, the three groups of clamp structures include clamp one, clamp two and clamp three, and each of the clamp one, clamp two and clamp three is provided in a plurality and arranged in a circular array in the horizontal direction of the rotating rod.

[0008] Preferably, the driving structure includes a driving motor connected to one side of the mounting plate through a mounting frame and a driving gear plate arranged inside the mounting frame, the output shaft of the driving motor passes through the mounting frame through a bushing and is transmission-connected to the driving gear plate, one side of the driving gear plate is connected to a driven gear plate through tooth engagement, and a shaft rod with one end passing through the mounting plate through the bushing is fixedly connected at the center of one side of the driven gear plate, and one end of the shaft rod is connected to the end of the rotating rod.

[0009] Preferably, one side of the clamp 1, the clamp 2 and the clamp 3 is provided with a positioning hole, and the outer ring of the rotating rod is provided with a plurality of mounting holes matched with the positioning holes.

[0010] Preferably, the electrically-controlled sliding structure comprises two electrically-controlled sliding blocks respectively connected to the top of the mounting plate, and both sides of the bottom of the connecting bracket are provided with electrically-controlled sliding grooves adapted to the electrically-controlled sliding blocks.

[0011] Preferably, a connecting frame fixedly connected to the electric slider bolts is fixedly connected to the top of the mounting plate.

[0012] The utility model has at least the following beneficial effects:

[0013] Through the arrangement of the rotating rod, the clamp installation assembly and the three groups of clamp structures, it is easy to select the appropriate clamp from the three groups of clamp structures according to the specific shape of the workpiece, and drive the rotating rod to rotate through the driving structure. The relative position of the appropriate clamp during rotation makes the clamps of the two rotating rods correspond to each other, so that the mounting plate and the rotating rod can be driven to move by the electrically controlled sliding structure to clamp the workpiece. The structure is reasonable, which makes it easy to select the corresponding clamp according to different workpieces, and can be quickly switched, thereby improving the scope of application and convenience of use.

[0014] The utility model also has the following beneficial effects:

[0015] It is convenient to select the appropriate clamp from the three groups of clamp structures according to the specific shape of the workpiece, drive the rotating rod to rotate through the driving structure, and adjust the relative position of the appropriate clamp when rotating so that the clamps of the two rotating rods correspond to each other, so that the mounting plate and the rotating rod can be driven to move by the electrically-controlled sliding structure to clamp the workpiece. The structure is reasonable, which makes it convenient to select the corresponding clamp according to different workpieces and can be quickly switched, thereby improving the scope of application and convenience of use. Through the setting of clamp one, clamp two and clamp three, it is convenient to cooperate with workpieces of different shapes. Through the setting of the driving motor, the active gear plate and the driven gear plate, it is convenient to drive the rotating rod to rotate. Through the setting of the positioning hole and the mounting hole, it is convenient to realize the connection and fixation of the screw and other structures. Through the setting of the electric slider, it is convenient to drive the mounting plate to move automatically. Through the setting of the connecting frame, it is convenient to realize the installation and disassembly connection between the mounting plate and the electric slider. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the connecting bracket of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the fixture installation component of the utility model.

[0020] In the figure: 1. connecting bracket; 2. fixture installation assembly; 3. electric control slide; 4. electric slider; 5. driving gear plate; 6. mounting plate; 7. driving motor; 8. mounting frame; 9. driven gear plate; 10. fixture one; 11. rotating rod; 12. fixture two; 13. fixture three. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0022] Reference Figure 1-3A robot gripper device comprises a connecting bracket 1 and two clamp mounting assemblies 2 symmetrically arranged at the bottom of the connecting bracket 1. The tops of the two clamp mounting assemblies 2 are connected to the bottom of the connecting bracket 1 through an electrically controlled sliding structure. The clamp mounting assembly 2 comprises a cross bar and two mounting plates 6 fixedly connected to both ends of the cross bar. A rotating rod 11 is horizontally arranged between the two mounting plates 6. The two ends of the rotating rod 11 are respectively rotatably connected to the side walls of the two mounting plates 6. A driving structure matching the rotating rod 11 is installed on the side wall of the mounting plate 6 on one side. Three sets of clamp structures are arranged on the outer wall of the rotating rod 11. The three sets of clamp structures are arranged along the rotating rod 11. The circular array in the circumferential direction, specifically, through the arrangement of the rotating rod 11, the clamp installation assembly 2 and the three groups of clamp structures, it is easy to select the appropriate clamps from the three groups of clamp structures according to the specific shape of the workpiece, and the rotating rod 11 is driven to rotate by the driving structure, and the relative position of the appropriate clamps is rotated so that the clamps of the two rotating rods 11 correspond to each other, so that the mounting plate 6 and the rotating rod 11 can be driven to move by the electrically controlled sliding structure to clamp the workpiece. The structure is reasonable, which is convenient for selecting the corresponding clamps according to different workpieces, and can be quickly switched, thereby improving the scope of application and convenience of use.

[0023] Furthermore, the three groups of clamp structures include clamp one 10, clamp two 12 and clamp three 13. Clamp one 10, clamp two 12 and clamp three 13 are each provided with a plurality of horizontal circular arrays along the rotating rod 11. Specifically, through the provision of clamp one 10, clamp two 12 and clamp three 13, it is convenient to cooperate with workpieces of different shapes.

[0024] Furthermore, the driving structure includes a driving motor 7 connected to one side of the mounting plate 6 through a mounting frame 8 and a driving gear plate 5 arranged inside the mounting frame 8. The output shaft of the driving motor 7 passes through the mounting frame 8 through a shaft sleeve and is transmission-connected to the driving gear plate 5. One side of the driving gear plate 5 is connected to a driven gear plate 9 through tooth meshing. A shaft rod with one end passing through the mounting plate 6 through the shaft sleeve is fixedly connected at the center of one side of the driven gear plate 9. One end of the shaft rod is connected to the end of the rotating rod 11. Specifically, through the arrangement of the driving motor 7, the driving gear plate 5 and the driven gear plate 9, it is convenient to drive the rotating rod 11 to rotate.

[0025] Furthermore, one side of clamp 1 10, clamp 2 12 and clamp 3 13 is provided with a positioning hole, and the outer ring of the rotating rod 11 is provided with a plurality of mounting holes that are compatible with the positioning holes. Specifically, through the setting of the positioning holes and the mounting holes, it is convenient to achieve the coordination of structures such as screws for connection and fixation.

[0026] Furthermore, the electric-controlled sliding structure includes two electric sliders 4 respectively connected to the top of the mounting plate 6, and electric-controlled slide grooves 3 compatible with the electric sliders 4 are provided on both sides of the bottom of the connecting bracket 1. Specifically, through the setting of the electric sliders 4, it is easy to realize automatic movement of the mounting plate 6.

[0027] Furthermore, a connecting frame fixedly connected to the electric slider 4 with bolts is fixedly connected to the top of the mounting plate 6. Specifically, the provision of the connecting frame facilitates the installation and removal connection between the mounting plate 6 and the electric slider 4.

[0028] To sum up: it is easy to select the corresponding clamps from the three groups of clamp structures according to the specific shape of the workpiece, and drive the rotating rod 11 to rotate through the driving structure, and the relative position of the corresponding clamps when rotating makes the clamps of the two rotating rods 11 correspond to each other, so that the mounting plate 6 and the rotating rod 11 can be driven to move by the electrically controlled sliding structure to clamp the workpiece. The structure is reasonable, which is easy to select the corresponding clamps according to different workpieces, and can be quickly switched, thereby improving the scope of application and convenience of use. Through the setting of clamp 1 10, clamp 2 12 and clamp 3 13, it is easy to cooperate with workpieces of different shapes. Through the setting of the driving motor 7, the active gear plate 5 and the driven gear plate 9, it is easy to drive the rotating rod 11 to rotate. Through the setting of the positioning hole and the mounting hole, it is easy to realize the connection and fixation of the screw and other structures. Through the setting of the electric slider 4, it is easy to drive the mounting plate 6 to move automatically. Through the setting of the connecting frame, it is easy to realize the installation and disassembly connection of the mounting plate 6 and the electric slider 4.

[0029] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. The utility model may be subject to various changes and improvements without departing from the spirit and scope of the utility model. These changes and improvements fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A robot gripper device, characterized in that: include: A connecting bracket (1) and two clamp mounting assemblies (2) symmetrically arranged at the bottom of the connecting bracket (1), the tops of the two clamp mounting assemblies (2) are connected to the bottom of the connecting bracket (1) through an electrically controlled sliding structure, the clamp mounting assembly (2) comprises a cross bar and two mounting plates (6) fixedly connected to the two ends of the cross bar, a rotating rod (11) is horizontally arranged between the two mounting plates (6), the two ends of the rotating rod (11) are respectively rotatably connected to the side walls of the two mounting plates (6), the side wall of the mounting plate (6) on one side is installed with a driving structure that matches the rotating rod (11), and the outer wall of the rotating rod (11) is provided with three groups of clamp structures, and the three groups of clamp structures are arranged in a circular array along the circumferential direction of the rotating rod (11).

2. A robot gripper device according to claim 1, characterized in that: The three groups of clamp structures include clamp one (10), clamp two (12) and clamp three (13), and the clamp one (10), clamp two (12) and clamp three (13) are each provided with a plurality of clamps and arranged in a circular array in the horizontal direction of the rotating rod (11).

3. A robot gripper device according to claim 1, characterized in that: The driving structure comprises a driving motor (7) connected to one side of a mounting plate (6) through a mounting frame (8) and a driving gear plate (5) arranged inside the mounting frame (8); the output shaft of the driving motor (7) penetrates the mounting frame (8) through a shaft sleeve and is transmission-connected to the driving gear plate (5); one side of the driving gear plate (5) is connected to a driven gear plate (9) through tooth meshing; a shaft rod having one end passing through the shaft sleeve and penetrating the mounting plate (6) is fixedly connected at the center of one side of the driven gear plate (9); one end of the shaft rod is connected to the end of a rotating rod (11).

4. A robot gripper device according to claim 2, characterized in that: One side of the clamp 1 (10), the clamp 2 (12) and the clamp 3 (13) is provided with a positioning hole, and the outer ring of the rotating rod (11) is provided with a plurality of mounting holes matched with the positioning holes.

5. The robot gripper device according to claim 1, characterized in that: The electric-controlled sliding structure comprises two electric sliding blocks (4) respectively connected to the top of the mounting plate (6), and both sides of the bottom of the connecting bracket (1) are provided with electric-controlled sliding grooves (3) adapted to the electric sliding blocks (4).

6. A robot gripper device according to claim 5, characterized in that: The top of the mounting plate (6) is fixedly connected to a connecting frame which is bolt-fixedly connected to the electric slider (4).

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