Robot gripper with anti-falling function

Abstract

The utility model belongs to the technical field of robot grippers, and particularly relates to a robot gripper with an anti-falling function, which comprises a mounting plate, a robot is fixedly mounted at the top of the mounting plate, a gripper frame is fixedly mounted on the outer side of one end of the robot, and a first motor is fixedly mounted on the inner wall of the front side of the gripper frame. And a driving shaft is fixedly mounted at the output end of the first motor, through the arranged anti-falling assembly, after clamping is completed, the first motor can be controlled to drive the driving shaft to rotate, the driving shaft drives the rotating shaft to rotate through the transmission gear, the driving shaft and the rotating shaft drive the fixing shaft to rotate through the first belt after rotating, and therefore the anti-falling effect is achieved. The fixing shaft drives the control shaft to rotate through the second belt, the control shaft drives the connecting block and the baffle to move through cooperation of the rotating disc and the protruding block after rotating, the baffle can shield the articles, and the situation that the articles fall off in the moving process of the robot is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a robot gripper with an anti-falling function. Background Art

[0002] With the continuous development of science and technology, more and more industrial robots have emerged. These industrial robots are widely used in the fields of automobile manufacturing, cutting, deburring, mold spraying, grinding and polishing, material handling, packaging and pallet stacking. Especially for some repetitive work, the use of robot grippers greatly reduces the labor intensity of workers and improves work efficiency and product quality;

[0003] The announcement number CN 207290137 U discloses a robot gripper with an anti-falling function, including a shell, a connecting rod is provided on the top of the shell, an opening and an inclined bottom plate are provided on the bottom of the shell, a first pressure sensor is provided on the inner wall of the top of the shell opposite to the opening, a first electromagnet is provided on the shell opposite to the first pressure sensor, a pressure plate and a rotating door are provided on both sides of the shell opposite to each other, the pressure plate is connected to the inner wall of the shell through a spring, a magnetic block is provided on the side of the pressure plate, and a second electromagnet is provided on the shell opposite to the magnetic block;

[0004] When it is in use, the adsorption range is limited due to the obstruction of the baffle, and it is difficult for the device to clamp some objects. During the movement of the manipulator, it is difficult for the baffle to completely cover it, and there is a risk of falling. Therefore, we propose a robot gripper with an anti-fall function. Utility Model Content

[0005] The utility model aims to provide a robot gripper with an anti-falling function, which solves the existing problems.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A robot gripper with an anti-fall function comprises a mounting plate, a robot is fixedly mounted on the top of the mounting plate, a gripper frame is fixedly mounted on the outer side of one end of the robot, a first motor is fixedly mounted on the front inner wall of the gripper frame, a drive shaft is fixedly mounted on the output end of the first motor, a rotating shaft is rotatably mounted on the rear inner wall of the gripper frame, transmission gears are fixedly mounted on the outer sides of the drive shaft and the rotating shaft, and adjacent transmission gears are meshed with each other; an anti-fall component, the anti-fall component is mounted on the gripper frame, the drive shaft and the rotating shaft; and a clamping component is mounted on the gripper frame.

[0008] As a further improvement of the above scheme, the anti-fall assembly includes a fixed shaft, a first belt, a control shaft, a second belt, a turntable, a protrusion, a connecting block and a baffle. The fixed shaft is rotatably installed on the left and right sides of the rear inner wall of the gripper frame, the first belt is tensioned on the outside of the fixed shaft and the rotating shaft or the driving shaft, the control shaft is rotatably installed on the left and right sides of the rear inner wall of the gripper frame, the second belt is tensioned on the outside of the fixed shaft and the control shaft, the turntable is fixedly installed on the front side of the control shaft, the protrusion is fixedly installed on the front side of the turntable, the connecting block is slidably installed on the left and right sides of the inner side of the gripper frame, and the baffle is fixedly installed on one side of the connecting block.

[0009] As a further improvement of the above scheme, the clamping assembly includes a second motor, a bidirectional screw, a fixed rod and a clamping block. The second motor is fixedly installed on an inner wall of one side of the gripper frame, the bidirectional screw is fixedly installed on the output end of the second motor, the fixed rod is fixedly installed between the inner sides of the gripper frame, the clamping block is threadedly installed on the left and right sides of the outer side of the bidirectional screw, and the clamping block is slidably installed on the left and right sides of the outer side of the fixed rod.

[0010] By adopting the above technical solution, the clamping block can slide in opposite directions through the cooperation between the bidirectional screw rod and the threaded hole after being subjected to force, so as to clamp and fix the object.

[0011] As a further improvement of the above solution, a threaded hole and a through slot are provided on one side of the clamping block, the bidirectional screw rod is engaged with the threaded hole, and the outer diameter of the fixing rod is the same as the inner diameter of the through slot.

[0012] By adopting the above technical solution, the threaded hole makes it easy for the bidirectional screw to drive the clamping block to bear force after rotation, and the through groove makes it easy for the fixing rod to limit the clamping block so that the clamping block can only slide.

[0013] As a further improvement of the above solution, grooves with the same width as the first belt and the second belt are opened on the outer sides of the driving shaft, the rotating shaft, the fixed shaft and the control shaft, and the first belt and the second belt are tensioned and arranged on the inner sides of the grooves.

[0014] By adopting the above technical solution, the contact area between the first belt and the second belt and the multiple shafts is increased during the rotation process, so that the first belt and the second belt are not easily separated during the rotation process.

[0015] As a further improvement of the above solution, the inner walls on the left and right sides of the gripper frame are provided with limiting sliding grooves, and the baffle is slidably installed on the inner side of the limiting sliding grooves.

[0016] By adopting the above technical solution, the limiting slide groove makes the baffle plate more stable during movement and not easy to shift position.

[0017] As a further improvement of the above solution, an annular groove is provided on the top of the connecting block, and the outer diameter of the protrusion is the same as the width of the annular groove.

[0018] By adopting the above technical solution, the annular groove makes it easy for the protrusion to drive the connecting block to be subjected to force after rotation. Since the connecting block is limited, the connecting block can drive the baffle to perform reciprocating linear motion after being subjected to force.

[0019] Compared with the prior art, the beneficial effects of the utility model are:

[0020] (1) The utility model is a robot gripper with an anti-fall function. Through the anti-fall component, after the clamping is completed, the first motor can be controlled to drive the driving shaft to rotate, so that the driving shaft drives the rotating shaft to rotate through the transmission gear, so that the driving shaft and the rotating shaft drive the fixed shaft to rotate through the first belt after the rotation, so that the fixed shaft drives the control shaft to rotate through the second belt, and after the control shaft rotates, the connection block and the baffle are driven to move through the cooperation of the turntable and the protrusion, so that the baffle can cover the object and prevent the object from falling during the movement of the robot;

[0021] (2) The utility model provides a robot gripper with an anti-falling function. When clamping an object, the baffle slides into the inner side of the gripper frame through the provided clamping assembly, and controls the second motor to drive the bidirectional screw to rotate, so that the bidirectional screw can drive the clamping block to slide in the opposite direction after the rotation, so that the clamping block clamps and fixes the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of a robot gripper with an anti-falling function proposed by the utility model;

[0024] Figure 2 This is a partial three-dimensional structural schematic diagram of a robot gripper with an anti-falling function proposed by the utility model;

[0025] Figure 3 This is a partial three-dimensional structural schematic diagram of a robot gripper with an anti-falling function proposed by the utility model;

[0026] Figure 4 This is a partial three-dimensional structural schematic diagram of a robot gripper with an anti-falling function proposed by the utility model.

[0027] In the figure: 1. mounting plate; 2. robot; 3. gripper frame; 4. first motor; 5. drive shaft; 6. rotating shaft; 7. transmission gear; 8. fixed shaft; 9. first belt; 10. control shaft; 11. second belt; 12. turntable; 13. bump; 14. connecting block; 15. baffle; 16. second motor; 17. bidirectional screw rod; 18. fixed rod; 19. clamping block. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] refer to Figure 1-4 A robot gripper with an anti-falling function comprises a mounting plate 1, a robot 2 is fixedly mounted on the top of the mounting plate 1, a gripper frame 3 is fixedly mounted on the outer side of one end of the robot 2, a first motor 4 is fixedly mounted on the front inner wall of the gripper frame 3, a driving shaft 5 is fixedly mounted on the output end of the first motor 4, a rotating shaft 6 is rotatably mounted on the rear inner wall of the gripper frame 3, transmission gears 7 are fixedly mounted on the outer sides of the driving shaft 5 and the rotating shaft 6, and adjacent transmission gears 7 are meshed with each other; an anti-falling component, the anti-falling component is mounted on the gripper frame 3, the driving shaft 5 and the rotating shaft 6; a clamping component, the clamping component is mounted on the gripper frame 3.

[0030] In this embodiment, the anti-fall assembly includes a fixed shaft 8, a first belt 9, a control shaft 10, a second belt 11, a turntable 12, a protrusion 13, a connecting block 14 and a baffle 15. The fixed shaft 8 is rotatably installed on the left and right sides of the rear inner wall of the gripper frame 3, the first belt 9 is tensioned on the outside of the fixed shaft 8 and the rotating shaft 6 or the driving shaft 5, the control shaft 10 is rotatably installed on the left and right sides of the rear inner wall of the gripper frame 3, the second belt 11 is tensioned on the outside of the fixed shaft 8 and the control shaft 10, the turntable 12 is fixedly installed on the front side of the control shaft 10, the protrusion 13 is fixedly installed on the front side of the turntable 12, the connecting block 14 is slidably installed on the left and right sides of the inner side of the gripper frame 3, and the baffle 15 is fixedly installed on one side of the connecting block 14.

[0031] In this embodiment, the clamping assembly includes a second motor 16, a bidirectional screw rod 17, a fixed rod 18 and a clamping block 19. The second motor 16 is fixedly installed on the inner wall of one side of the gripper frame 3, the bidirectional screw rod 17 is fixedly installed on the output end of the second motor 16, the fixed rod 18 is fixedly installed between the inner sides of the gripper frame 3, the clamping block 19 is threadedly installed on the left and right sides of the outer side of the bidirectional screw rod 17, and the clamping block 19 is slidably installed on the left and right sides of the outer side of the fixed rod 18.

[0032] In this embodiment, a threaded hole and a through slot are provided on one side of the clamping block 19 , the bidirectional screw rod 17 is engaged with the threaded hole, and the outer diameter of the fixing rod 18 is the same as the inner diameter of the through slot.

[0033] In this embodiment, grooves with the same width as the first belt 9 and the second belt 11 are formed on the outer sides of the driving shaft 5, the rotating shaft 6, the fixed shaft 8 and the control shaft 10, and the first belt 9 and the second belt 11 are tensioned on the inner sides of the grooves.

[0034] In this embodiment, the inner walls on the left and right sides of the gripper frame 3 are provided with limiting sliding grooves, and the baffle 15 is slidably installed on the inner side of the limiting sliding grooves.

[0035] In this embodiment, an annular groove is formed on the top of the connecting block 14, and the outer diameter of the protrusion 13 is the same as the width of the annular groove.

[0036] The implementation principle of one of the embodiments of the present application is as follows: after clamping is completed, the first motor 4 can be controlled to drive the driving shaft 5 to rotate, so that the driving shaft 5 drives the rotating shaft 6 to rotate through the transmission gear 7, so that the driving shaft 5 and the rotating shaft 6 drive the fixed shaft 8 to rotate through the first belt 9 after rotation, and the fixed shaft 8 drives the control shaft 10 to rotate through the second belt 11, so that after the control shaft 10 rotates, the connecting block 14 and the baffle 15 are driven to move through the cooperation of the turntable 12 and the protrusion 13, so that the baffle 15 can block the objects and prevent the objects from falling during the movement of the robot 2; when clamping the objects, the baffle 15 is made to slide into the inner side of the gripper frame 3, and the second motor 16 is controlled to drive the bidirectional screw rod 17 to rotate, so that the bidirectional screw rod 17 can drive the clamping block 19 to slide in the opposite direction after rotation, so that the clamping block 19 clamps and fixes the objects.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] The above is a detailed introduction to a robot gripper with an anti-fall function provided by the utility model. This article uses specific embodiments to illustrate the principle and implementation method of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A robot gripper with an anti-fall function, characterized in that: include: A mounting plate (1), a robot (2) is fixedly mounted on the top of the mounting plate (1), a gripper frame (3) is fixedly mounted on the outer side of one end of the robot (2), a first motor (4) is fixedly mounted on the front inner wall of the gripper frame (3), a driving shaft (5) is fixedly mounted on the output end of the first motor (4), a rotating shaft (6) is rotatably mounted on the rear inner wall of the gripper frame (3), transmission gears (7) are fixedly mounted on the outer sides of the driving shaft (5) and the rotating shaft (6), and adjacent transmission gears (7) are meshed with each other; An anti-falling assembly, wherein the anti-falling assembly is mounted on the gripper frame (3), the drive shaft (5) and the rotating shaft (6); A clamping assembly is mounted on a gripper frame (3).

2. The robot gripper with anti-fall function according to claim 1, characterized in that: The anti-fall assembly comprises a fixed shaft (8), a first belt (9), a control shaft (10), a second belt (11), a turntable (12), a protrusion (13), a connecting block (14) and a baffle (15); the fixed shaft (8) is rotatably mounted on the left and right sides of the rear inner wall of the gripper frame (3); the first belt (9) is tensioned on the outside of the fixed shaft (8) and the rotating shaft (6) or the driving shaft (5); the control shaft (10) is rotatably mounted on the left and right sides of the rear inner wall of the gripper frame (3); the second belt (11) is tensioned on the outside of the fixed shaft (8) and the control shaft (10); the turntable (12) is fixedly mounted on the front side of the control shaft (10); the protrusion (13) is fixedly mounted on the front side of the turntable (12); the connecting block (14) is slidably mounted on the left and right sides of the inner side of the gripper frame (3); and the baffle (15) is fixedly mounted on one side of the connecting block (14).

3. The robot gripper with anti-fall function according to claim 1, characterized in that: The clamping assembly comprises a second motor (16), a bidirectional screw rod (17), a fixing rod (18) and a clamping block (19); the second motor (16) is fixedly mounted on an inner wall of one side of the gripping frame (3); the bidirectional screw rod (17) is fixedly mounted on the output end of the second motor (16); the fixing rod (18) is fixedly mounted between the inner sides of the gripping frame (3); the clamping block (19) is threadedly mounted on the left and right sides of the outer side of the bidirectional screw rod (17); and the clamping block (19) is slidably mounted on the left and right sides of the outer side of the fixing rod (18).

4. The robot gripper with anti-fall function according to claim 3, characterized in that: A threaded hole and a through slot are provided on one side of the clamping block (19), the bidirectional screw rod (17) is meshed with the threaded hole, and the outer diameter of the fixing rod (18) is the same as the inner diameter of the through slot.

5. The robot gripper with anti-fall function according to claim 2, characterized in that: Grooves with the same width as the first belt (9) and the second belt (11) are provided on the outer sides of the driving shaft (5), the rotating shaft (6), the fixed shaft (8) and the control shaft (10), and the first belt (9) and the second belt (11) are tensioned and arranged on the inner sides of the grooves.

6. The robot gripper with anti-fall function according to claim 2, characterized in that: The inner walls on the left and right sides of the gripper frame (3) are provided with limiting sliding grooves, and the baffle (15) is slidably mounted on the inner sides of the limiting sliding grooves.

7. The robot gripper with anti-fall function according to claim 2, characterized in that: An annular groove is provided on the top of the connecting block (14), and the outer diameter of the protrusion (13) is the same as the width of the annular groove.

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