Robot front-end gripper device
By designing the robot front-end gripper device for lifting and rotating components, the problem that traditional grippers cannot adapt to different objects shapes and sizes is solved, achieving higher adaptability and work efficiency, and broadening the application field.
Patent Information
- Application Number
- CN202421395318.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-19
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-06-19
AI Technical Summary
Traditional robot grippers use fixed structures and cannot adapt to objects of different shapes, sizes and textures, limiting the application range of robots.
A robot front-end gripper device including lifting and rotating components is designed. Through components such as threaded shafts, hydraulic rods, motor drive systems, etc., the lifting, rotating and clamping angle adjustment of grippers is realized to adapt to the shape and size of different objects. .
It improves the adaptability and work efficiency of the robot, broadens the application field, and allows the robot to handle different types of objects more flexibly.
Smart Images
Figure CN222244859U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a front-end gripper device of a robot. Background Art
[0002] With the continuous development of robotics technology, robots are being used more and more widely in industrial automation, logistics, medical and other fields. As a key component for robots to perform grasping and handling tasks, the performance of robot grippers directly affects the work efficiency and adaptability of robots.
[0003] However, most traditional robot grippers adopt a fixed structure and cannot adapt to objects of different shapes, sizes and textures, which limits the application scope of the robot. Therefore, a robot front-end gripper device is proposed to address the above problem. Utility Model Content
[0004] In order to make up for the shortcomings of the prior art and solve the problem that most traditional robot grippers adopt a fixed structure and cannot adapt to objects of different shapes, sizes and textures, thus limiting the application scope of the robot, the utility model proposes a robot front end gripper device.
[0005] The technical solution adopted by the utility model to solve the technical problem is: a robot front end gripper device described in the utility model comprises a housing and a mounting mechanism arranged above the housing, wherein the mounting mechanism comprises a lifting assembly and a rotating assembly;
[0006] The lifting assembly includes a threaded shaft, a connecting seat, a hydraulic rod, a connecting splint, a first movable shaft, a second movable shaft, a connecting rod and a third movable shaft. The threaded shaft is installed in the middle of the shell, and the outer surface of the threaded shaft is connected to the connecting seat, one side of the connecting seat is connected to the hydraulic rod, the end of the hydraulic rod is connected to the connecting splint, the top of the connecting splint is installed with the first movable shaft, the middle of the hydraulic rod is provided with the second movable shaft, and the outer surface of the second movable shaft is installed with the connecting rod, and the end of the connecting rod is installed with the third movable shaft;
[0007] The rotating assembly includes a motor, a drive shaft, a first gear, a support rod, a connecting shaft and a second gear. The motor is installed on one side of the connecting splint, the drive shaft is installed on the output end of the motor, the first gear is installed on the outer surface of the drive shaft, the support rod is installed on the end of the connecting splint, the connecting shaft is installed in the middle of the support rod, and the second gear is installed on the outer surface of the connecting shaft.
[0008] A rotating disk is installed above the shell, and a gripper is installed at the end of the supporting rod.
[0009] Preferably, the connecting seat is threadedly connected to the threaded shaft, and the hydraulic rod is rotationally connected to the connecting seat, and the hydraulic rod forms a rotating structure with the connecting clamp through the first movable shaft.
[0010] Preferably, the connecting rod forms a rotating structure with the hydraulic rod through the second movable shaft, and the connecting rod forms a rotating structure with the connecting clamp through the third movable shaft.
[0011] Preferably, the first gear is fixedly connected to the drive shaft, the drive shaft and the motor are integrated, and the first gear is meshingly connected to the second gear.
[0012] Preferably, the second gear forms a rotating structure through the connecting shaft and the connecting clamping plate, the connecting shaft and the supporting rod are an integrated structure, and the second gear is fixedly connected to the connecting shaft.
[0013] Preferably, the gripper is fixedly connected to the support rod, and the gripper is symmetrically distributed along the center of the housing.
[0014] The utility model is beneficial in that:
[0015] 1. The utility model drives the threaded shaft to rotate, and the connecting seat can be raised and lowered along the rotating direction of the threaded shaft. When the connecting seat is raised and lowered, the ends of the hydraulic rod can rotate accordingly, so that the opening size of the connecting clamp can be adjusted according to the object, which is convenient for clamping and fixing the object, and improves the adaptability of the robot;
[0016] 2. The motor of the utility model drives the drive shaft to rotate, and the drive shaft drives the first gear to rotate. The first gear is meshed with the second gear, so that the second gear rotates. The rotation of the second gear can drive the support rod to rotate. The rotation of the support rod is used to adjust the rotation angle of the gripper, thereby adjusting the angle of the gripper according to the size of the object, which is convenient for clamping and fixing the object, thereby broadening the application field of the robot and improving its utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative labor.
[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0019] Figure 2 This is a schematic diagram of the internal structure of the shell of the utility model;
[0020] Figure 3 It is a schematic diagram of the support rod rotation structure of the utility model.
[0021] In the figure: 1. outer shell; 2. turntable; 3. threaded shaft; 4. connecting seat; 5. hydraulic rod; 6. connecting splint; 7. first movable shaft; 8. second movable shaft; 9. connecting rod; 10. third movable shaft; 11. motor; 12. driving shaft; 13. first gear; 14. supporting rod; 15. connecting shaft; 16. second gear; 17. gripper. DETAILED DESCRIPTION
[0022] 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 in 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.
[0023] Embodiment 1
[0024] See also Figure 1-3 As shown, a robot front end gripper device includes a housing 1 and a mounting mechanism arranged above the housing 1, wherein the mounting mechanism includes a lifting component and a rotating component;
[0025] The lifting assembly includes a threaded shaft 3, a connecting seat 4, a hydraulic rod 5, a connecting splint 6, a first movable shaft 7, a second movable shaft 8, a connecting rod 9 and a third movable shaft 10. The threaded shaft 3 is installed in the middle of the housing 1, and the outer surface of the threaded shaft 3 is connected to the connecting seat 4, one side of the connecting seat 4 is connected to the hydraulic rod 5, the end of the hydraulic rod 5 is connected to the connecting splint 6, the top of the connecting splint 6 is installed with the first movable shaft 7, the middle of the hydraulic rod 5 is provided with the second movable shaft 8, and the outer surface of the second movable shaft 8 is installed with the connecting rod 9, and the end of the connecting rod 9 is installed with the third movable shaft 10;
[0026] The rotating assembly includes a motor 11, a drive shaft 12, a first gear 13, a support rod 14, a connecting shaft 15 and a second gear 16. The motor 11 is installed on one side of the connecting splint 6, the drive shaft 12 is installed on the output end of the motor 11, the first gear 13 is installed on the outer surface of the drive shaft 12, the support rod 14 is installed on the end of the connecting splint 6, the connecting shaft 15 is installed in the middle of the support rod 14, and the second gear 16 is installed on the outer surface of the connecting shaft 15.
[0027] Furthermore, the connecting seat 4 is threadedly connected to the threaded shaft 3, and the hydraulic rod 5 is rotationally connected to the connecting seat 4, and the hydraulic rod 5 forms a rotating structure with the connecting clamp 6 through the first movable shaft 7. By driving the threaded shaft 3 to rotate, the connecting seat 4 can be raised and lowered along the rotation direction of the threaded shaft 3. While the connecting seat 4 is being raised and lowered, the two ends of the hydraulic rod 5 can rotate accordingly, so that the opening size of the connecting clamp 6 can be adjusted according to the object, which is convenient for clamping and fixing the object, thereby improving the adaptability of the robot.
[0028] Furthermore, the connecting rod 9 forms a rotating structure with the hydraulic rod 5 through the second movable axis 8, and the connecting rod 9 forms a rotating structure with the connecting clamp plate 6 through the third movable axis 10. When the hydraulic rod 5 is extended and retracted along the moving direction of the connecting seat 4, the connecting rod 9 can be driven and the connecting clamp plate 6 can be pulled to rotate along the first movable axis 7, thereby adjusting the angle between the connecting clamp plates 6 to facilitate clamping of objects, thereby improving the working efficiency of the robot.
[0029] Furthermore, the first gear 13 is fixedly connected to the drive shaft 12, and the drive shaft 12 and the motor 11 are integrated, and the first gear 13 is meshed with the second gear 16. The motor 11 drives the drive shaft 12 to rotate, and the drive shaft 12 drives the first gear 13 to rotate. The first gear 13 is meshed with the second gear 16, so that the second gear 16 rotates, which is convenient for adjusting the movable angle of the gripper 17 according to the width of the object, thereby increasing the application space of the gripper 17.
[0030] Furthermore, the second gear 16 forms a rotating structure through the connecting shaft 15 and the connecting clamp plate 6, and the connecting shaft 15 and the support rod 14 are an integrated structure, and the second gear 16 and the connecting shaft 15 are fixedly connected. The rotation of the second gear 16 can drive the support rod 14 to rotate, and the rotation of the support rod 14 is used to adjust the rotation angle of the gripper 17, thereby adjusting the angle of the gripper 17 according to the size of the object, which is convenient for clamping and fixing the object, thereby broadening the application field of the robot and improving the use efficiency.
[0031] Embodiment 2
[0032] See also Figure 1 and Figure 3 As shown, in comparison with Example 1, as another implementation of the present utility model, a turntable 2 is installed above the housing 1, and a gripper 17 is installed at the end of the support rod 14.
[0033] Furthermore, the gripper 17 is fixedly connected to the support rod 14, and the gripper 17 is symmetrically distributed along the center of the shell 1. By setting two groups of grippers 17, a clamping effect can be formed, and the distance between the grippers 17 can be adjusted according to the object, so as to better control the gripper 17 to move the object, thereby improving the working efficiency of the robot.
[0034] Working principle, first, by driving the threaded shaft 3 to rotate, the connecting seat 4 can be lifted and lowered along the rotation direction of the threaded shaft 3. While the connecting seat 4 is lifted and lowered, the two ends of the hydraulic rod 5 can rotate accordingly. When the hydraulic rod 5 is extended and retracted along the moving direction of the connecting seat 4, it can drive the connecting rod 9 and pull the connecting splint 6 to rotate along the first movable axis 7, thereby adjusting the angle between the connecting splints 6, which is convenient for clamping objects and improving the working efficiency of the robot. Subsequently, the motor 11 is started to drive the driving shaft 12 to rotate, and the driving shaft 12 drives the first gear 13 to rotate. The first gear 13 is meshed with the second gear 16, so that the second gear 16 rotates. The rotation of the second gear 16 can drive the support rod 14 to rotate. The rotation of the support rod 14 is used to adjust the rotation angle of the gripper 17. Therefore, the angle of the gripper 17 can be adjusted according to the size of the object, which is convenient for clamping and fixing the object, thereby broadening the application field of the robot and improving the use efficiency.
[0035] 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.
[0036] 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, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.
Claims
1. A robot front end gripper device, comprising a housing (1) and a mounting mechanism arranged above the housing (1), characterized in that: The installation mechanism includes a lifting assembly and a rotating assembly; The lifting assembly comprises a threaded shaft (3), a connecting seat (4), a hydraulic rod (5), a connecting splint (6), a first movable shaft (7), a second movable shaft (8), a connecting rod (9) and a third movable shaft (10); the threaded shaft (3) is installed in the middle of the housing (1), and the outer surface of the threaded shaft (3) is connected to the connecting seat (4); one side of the connecting seat (4) is connected to the hydraulic rod (5); the end of the hydraulic rod (5) is connected to the connecting splint (6); the top of the connecting splint (6) is installed with the first movable shaft (7); the middle of the hydraulic rod (5) is provided with a second movable shaft (8), and the outer surface of the second movable shaft (8) is installed with a connecting rod (9); the end of the connecting rod (9) is installed with the third movable shaft (10); The rotating assembly comprises a motor (11), a drive shaft (12), a first gear (13), a support rod (14), a connecting shaft (15) and a second gear (16); the motor (11) is mounted on one side of the connecting splint (6); the drive shaft (12) is mounted on the output end of the motor (11); the first gear (13) is mounted on the outer surface of the drive shaft (12); the support rod (14) is mounted on the end of the connecting splint (6); the connecting shaft (15) is mounted in the middle of the support rod (14); and the second gear (16) is mounted on the outer surface of the connecting shaft (15).
2. A robot front end gripper device according to claim 1, characterized in that: A turntable (2) is installed above the housing (1), and a gripper (17) is installed at the end of the support rod (14).
3. A robot front end gripper device according to claim 1, characterized in that: The connection seat (4) is threadedly connected to the threaded shaft (3), and the hydraulic rod (5) is rotationally connected to the connection seat (4), and the hydraulic rod (5) forms a rotation structure with the connection clamping plate (6) through the first movable shaft (7).
4. A robot front end gripper device according to claim 1, characterized in that: The connecting rod (9) forms a rotating structure with the hydraulic rod (5) through the second movable shaft (8), and the connecting rod (9) forms a rotating structure with the connecting clamping plate (6) through the third movable shaft (10).
5. The robot front end gripper device according to claim 1, characterized in that: The first gear (13) is fixedly connected to the drive shaft (12), the drive shaft (12) and the motor (11) are integrated, and the first gear (13) is meshingly connected to the second gear (16).
6. A robot front end gripper device according to claim 2, characterized in that: The second gear (16) forms a rotating structure through the connecting shaft (15) and the connecting clamping plate (6), the connecting shaft (15) and the supporting rod (14) are an integrated structure, and the second gear (16) and the connecting shaft (15) are fixedly connected.
7. A robot front end gripper device according to claim 2, characterized in that: The gripper (17) is fixedly connected to the support rod (14), and the gripper (17) is distributed symmetrically along the center of the housing (1).