Robot clamping jaw structure with multi-dimensional adjustment function

Abstract

The utility model discloses a multi-dimensionally adjustable robot clamping jaw structure, which belongs to the technical field of robot clamping jaws and comprises a connecting seat and three groups of adjustable finger components, and a synchronous adjusting component used for driving two groups of adjustable finger components respectively positioned at two ends of the connecting seat to rotate synchronously is mounted on the connecting seat. The rotation directions of the two groups of adjustable finger assemblies are opposite; the adjustable finger assembly comprises a first motor, a second motor, a supporting frame, a movable plate, a cloth belt, a clamping block, a second worm gear, a torsional spring, a second transverse shaft, a threaded rod, a sliding hole, a second worm, a sliding block, a straight rod and a third transverse shaft. By means of the mode, the three sets of adjusting type finger assemblies can meet various forms of arrangement, the positions of two of the adjusting type finger assemblies can be changed, then multi-dimensional adjustment is achieved, and the application scene is wider.

Description

Technical Field

[0001] The utility model relates to the technical field of robot clamping claws, in particular to a robot clamping claw structure with multi-dimensional adjustment. Background Art

[0002] The robot claw structure is an important part of the robot's performance of tasks such as grasping.

[0003] For example, Chinese patent CN108908382B discloses a tendon-driven coupled adaptive three-finger differential robot gripper device. The robot's finger coupling rapid retraction and adaptive composite grasping functions and the entire gripper's adaptive grasping function are comprehensively realized by using three double-tendon-driven series coupled adaptive fingers and a single-input three-output differential.

[0004] However, the above structure still has the following problems: since the positions of the three fingers are fixed, multi-dimensional adjustment cannot be achieved, and it is only suitable for use in some specific scenarios, which limits the scope of its use.

[0005] Based on this, the utility model designs a robot claw structure with multi-dimensional adjustment to solve the above problems. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the prior art, the utility model provides a robot claw structure with multi-dimensional adjustment.

[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A multi-dimensionally adjustable robot claw structure comprises a connecting seat and three sets of adjustable finger assemblies;

[0009] The connecting seat is provided with a synchronous adjustment component for driving two groups of adjustable finger components respectively located at two ends of the connecting seat to rotate synchronously, and the rotation directions of the two groups of adjustable finger components are opposite;

[0010] The adjustable finger assembly comprises a first motor, a second motor, a support frame, a movable plate, a cloth belt, a clamping block, a second worm gear, a torsion spring, a second transverse axis, a threaded rod, a sliding hole, a second worm gear, a sliding block, a straight rod and a third transverse axis; the clamping block is rotatably connected to the upper end of the movable plate through the second transverse axis, and the second transverse axis is equipped with a torsion spring, and both ends of the torsion spring are limited by abutting against the clamping block and the movable plate. The support frame is fixedly connected to the first motor, the output end of the first motor is fixedly connected to the bottom of the threaded rod, the top of the threaded rod is rotatably connected to the support frame, the sliding block is threadedly connected to the threaded rod, the sliding block is fixedly connected to the lower end of the cloth belt, the support frame is provided with a sliding hole for matching the cloth belt to pass through, the upper end of the cloth belt is fixedly connected to the clamping block, the lower end of the movable plate is fixedly installed with the third transverse axis, and both ends of the third transverse axis are rotatably connected to the support frame, the middle part of the third transverse axis is fixedly connected with the second worm gear, the second worm gear is meshed with the second worm gear, the bottom of the second worm gear is fixedly connected to the driving end of the second motor, and the second motor is fixedly installed on the outer side wall of the support frame.

[0011] Furthermore, U-shaped grooves are provided on the inner and outer sides of the support frame. The inner U-shaped groove is used to install the first motor, threaded rod and sliding block, and the outer U-shaped groove is used to rotatably connect with both ends of the third horizontal axis, thereby realizing the rotatable connection between the lower end of the movable plate and the support frame.

[0012] Furthermore, a groove for fitting the second worm gear is formed at the lower end of the movable plate.

[0013] Furthermore, the sliding block is vertically fitted and slidably connected to the side wall of the U-shaped groove inside the support frame.

[0014] Furthermore, the synchronous adjustment component includes a driving member, a first transverse axis and a ninety-degree reversing component, the driving member is fixedly mounted on the connecting seat, the first transverse axis is rotatably mounted inside the connecting seat, the driving end of the driving member is fixedly connected to one end of the first transverse axis, and the two ends of the first transverse axis are respectively connected to the support frame above it through the ninety-degree reversing assembly, and the two support frames rotate in opposite directions.

[0015] Furthermore, the driving member is a servo motor, and the output end of the servo motor is fixedly connected to one end of the first horizontal axis.

[0016] Furthermore, the 90-degree reversing assembly includes a first worm wheel, a straight shaft and a first worm, both ends of the first horizontal shaft are fixedly connected to the first worm, the thread directions of the two first worms are opposite, the first worm is meshingly connected with the first worm wheel matching one side thereof, the first worm wheel is fixedly mounted on the straight shaft, the straight shaft is rotatably mounted on the connecting seat, and the upper end of the straight shaft passes through the connecting seat and is fixedly connected to the bottom of the support frame above it.

[0017] Furthermore, the upper end of the straight shaft is rotatably connected to the upper end of the connecting seat via a bearing.

[0018] Furthermore, the upper ends of the two straight shafts are fixedly connected to the support frames of the two groups of adjustable finger assemblies located at both ends of the connecting seat.

[0019] Furthermore, a vertical straight rod is fixedly connected in the U-shaped groove on the inner side of the support frame.

[0020] Compared with the prior art, the utility model has the following beneficial effects: the utility model drives the first horizontal axis to rotate through the driving member, and the first horizontal axis drives the two support frames to rotate through the 90-degree reversing assembly, and the two support frames rotate in opposite directions, thereby realizing that the adjustable finger assembly can meet various arrangement forms, so that the positions of two of the adjustable finger assemblies can be changed, thereby realizing multi-dimensional adjustment and having a wider range of applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 The utility model is a three-dimensional robot claw structure with multi-dimensional adjustment Figure 1 ;

[0023] Figure 2 It is a front view of a multi-dimensionally adjustable robot claw structure of the utility model;

[0024] Figure 3 The utility model is a three-dimensional robot claw structure with multi-dimensional adjustment Figure 2 ;

[0025] Figure 4 The utility model is a three-dimensional robot claw structure with multi-dimensional adjustment Figure 3 ;

[0026] Figure 5 For along Figure 2 AA direction cross-sectional view;

[0027] Figure 6 Schematic diagram of other forms of the multi-dimensional adjustable robot claw structure of the utility model Figure 1 ;

[0028] Figure 7 Schematic diagram of other forms of the multi-dimensional adjustable robot claw structure of the utility model Figure 2 .

[0029] The numbers in the figure represent:

[0030] 1. Connecting seat; 2. Synchronous adjustment component; 21. Servo motor; 22. First worm gear; 23. Straight shaft; 24. First horizontal shaft; 25. First worm; 3. Adjustable finger component; 31. First motor; 32. Second motor; 33. Support frame; 34. Movable plate; 35. Cloth belt; 36. Clamp block; 37. Second worm gear; 38. Torsion spring; 39. Second horizontal shaft; 310. Threaded rod; 311. Sliding hole; 312. Second worm; 313. Sliding block; 314. Straight rod; 315. Third horizontal shaft. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment 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.

[0032] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0033] Embodiment 1: In some embodiments, please refer to the drawings of the specification Figure 1-Figure 5 , a multi-dimensional adjustable robot claw structure, comprising a connecting seat 1 and three sets of adjustable finger assemblies 3;

[0034] The connecting seat 1 is provided with a synchronous adjustment component 2 for driving two groups of adjustable finger components 3 respectively located at two ends of the connecting seat 1 to rotate synchronously, and the two groups of adjustable finger components 3 rotate in opposite directions;

[0035] The adjustable finger assembly 3 includes a first motor 31, a second motor 32, a support frame 33, a movable plate 34, a cloth belt 35, a clamping block 36, a second worm gear 37, a torsion spring 38, a second transverse axis 39, a threaded rod 310, a sliding hole 311, a second worm gear 312, a sliding block 313, a straight rod 314 and a third transverse axis 315; the clamping block 36 is rotatably connected to the upper end of the movable plate 34 through the second transverse axis 39, a torsion spring 38 is installed on the second transverse axis 39, and both ends of the torsion spring 38 are limited by contacting with the clamping block 36 and the movable plate 34, the support frame 33 is fixedly connected with the first motor 31, the output end of the first motor 31 is fixedly connected to the bottom of the threaded rod 310, and the threaded rod 3 The top of 10 is rotatably connected to the support frame 33, a sliding block 313 is threadedly connected to the threaded rod 310, and the sliding block 313 is fixedly connected to the lower end of the cloth belt 35. A sliding hole 311 for the cloth belt 35 to pass through is opened on the support frame 33, and the upper end of the cloth belt 35 is fixedly connected to the clamping block 36. The lower end of the movable plate 34 is fixedly installed with a third horizontal axis 315, and both ends of the third horizontal axis 315 are rotatably connected to the support frame 33. A second worm gear 37 is fixedly connected to the middle part of the third horizontal axis 315, and the second worm gear 37 is meshed with the second worm 312. The bottom of the second worm 312 is fixedly connected to the driving end of the second motor 32, and the second motor 32 is fixedly installed on the outer side wall of the support frame 33;

[0036] Preferably, U-shaped grooves are provided on both the inner and outer sides of the support frame 33, the inner U-shaped groove is used to install the first motor 31, the threaded rod 310 and the sliding block 313, and the outer U-shaped groove is used to be rotatably connected to both ends of the third horizontal axis 315, thereby realizing the rotatable connection between the lower end of the movable plate 34 and the support frame 33;

[0037] Preferably, a groove for fitting the second worm gear 37 is provided at the lower end of the movable plate 34;

[0038] Preferably, a vertical straight rod 314 is fixedly connected to the U-shaped groove inside the support frame 33 to enhance the support function of the support frame 33;

[0039] Preferably, the sliding block 313 is vertically fitted and slidably connected with the side wall of the U-shaped groove inside the support frame 33;

[0040] When grasping, the first motor 31 and the second motor 32 are started, the first motor 31 drives the threaded rod 310 to rotate, the threaded rod 310 drives the sliding block 313 to move downward, the sliding block 313 drives the cloth belt 35 to pull the clamping block 36 to bend, the second motor 32 drives the second worm 312 to rotate, the second worm 312 drives the second worm gear 37 to rotate, and the second worm gear 37 drives the third horizontal shaft 315 and the movable plate 34 to rotate, so as to realize the grasping action;

[0041] When releasing, the first motor 31 and the second motor 32 are started, the first motor 31 drives the threaded rod 310 to rotate in the opposite direction, the threaded rod 310 drives the sliding block 313 to move upward, the sliding block 313 drives the cloth belt 35 to release, the clamping block 36 rotates counterclockwise to reset under the restoring force of the torsion spring 38, the second motor 32 drives the second worm 312 to rotate in the opposite direction, the second worm 312 drives the second worm gear 37 to rotate in the opposite direction, and the second worm gear 37 drives the third horizontal shaft 315 and the movable plate 34 to rotate in the opposite direction, thereby realizing the stretching and releasing action;

[0042] The synchronous adjustment component 2 includes a driving member, a first transverse axis 24 and a ninety-degree reversing component. The driving member is fixedly mounted on the connecting seat 1, and the first transverse axis 24 is rotatably mounted inside the connecting seat 1. The driving end of the driving member is fixedly connected to one end of the first transverse axis 24, and the two ends of the first transverse axis 24 are respectively connected to the support frame 33 above it through the ninety-degree reversing component, and the two support frames 33 rotate in opposite directions.

[0043] The first horizontal axis 24 is driven to rotate by the driving member, and the first horizontal axis 24 drives the two support frames 33 to rotate through the 90-degree reversing component. The two support frames 33 rotate in opposite directions, so that the adjustable finger assembly 3 can meet various arrangement forms, so that the positions of two of the adjustable finger assemblies 3 can be changed, thereby realizing multi-dimensional adjustment and a wider range of applicable scenarios.

[0044] Embodiment 2: In some embodiments, Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown, as a preferred embodiment of the utility model, the driving member adopts a servo motor 21, and the output end of the servo motor 21 is fixedly connected to one end of the first horizontal axis 24.

[0045] The ninety-degree reversing assembly includes a first worm gear 22, a straight shaft 23 and a first worm 25. Both ends of the first horizontal shaft 24 are fixedly connected with the first worm gears 25. The thread directions of the two first worm gears 25 are opposite. The first worm gear 25 is meshed and connected with the first worm gear 22 that matches one side thereof. The first worm gear 22 is fixedly mounted on the straight shaft 23. The straight shaft 23 is rotatably mounted on the connecting seat 1. The upper end of the straight shaft 23 passes through the connecting seat 1 and is fixedly connected to the bottom of the support frame 33 above it.

[0046] Preferably, the upper end of the straight shaft 23 is rotatably connected to the upper end of the connecting seat 1 via a bearing;

[0047] Preferably, the upper ends of the two straight shafts 23 are fixedly connected to the support frames 33 of the two groups of adjustable finger assemblies 3 located at both ends of the connecting base 1 respectively.

[0048] The position of the middle adjustable finger assembly 3 remains unchanged. When the positions of the two adjustable finger assemblies 3 on both sides need to be adjusted, the servo motor 21 is started to drive the first horizontal shaft 24 to rotate, the first horizontal shaft 24 drives the first worm 25 to rotate, the first worm 25 drives the first worm gear 22 to rotate, the two first worm gears 22 rotate in opposite directions, the two first worm gears 22 rotate in opposite directions, the first worm gear 22 drives the straight shaft 23 to rotate, and the straight shaft 23 drives the support frame 33 to rotate. In this way, the three groups of adjustable finger assemblies 3 can be evenly distributed, such as Figure 1 The three groups of adjustable finger assemblies 3 can present relative shapes, such as Figure 6 The three groups of adjustable finger assemblies 3 can be arranged in a straight line, as shown. Figure 7 As shown, the positions of two adjustable finger assemblies 3 can be changed, thereby achieving multi-dimensional adjustment and being applicable to a wider range of scenarios.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-dimensional adjustable robot claw structure, comprising a connecting seat (1) and three sets of adjustable finger assemblies (3), characterized in that: The connecting seat (1) is provided with a synchronous adjustment assembly (2) for driving two groups of adjustable finger assemblies (3) respectively located at two ends of the connecting seat (1) to rotate synchronously, and the rotation directions of the two groups of adjustable finger assemblies (3) are opposite; The adjustable finger assembly (3) comprises a first motor (31), a second motor (32), a support frame (33), a movable plate (34), a cloth belt (35), a clamping block (36), a second worm gear (37), a torsion spring (38), a second transverse axis (39), a threaded rod (310), a sliding hole (311), a second worm gear (312), a sliding block (313), a straight rod (314) and a third transverse axis (315); the clamping block (36) is rotatably connected to the upper end of the movable plate (34) through the second transverse axis (39); a torsion spring (38) is installed on the second transverse axis (39); two ends of the torsion spring (38) are abutted against the clamping block (36) and the movable plate (34) to achieve position limiting; the support frame (33) is fixedly connected to the first motor (31); the output end of the first motor (31) is fixedly connected to the bottom of the threaded rod (310) The top of the threaded rod (310) is rotatably connected to the support frame (33), a sliding block (313) is threadedly connected to the threaded rod (310), the sliding block (313) is fixedly connected to the lower end of the cloth belt (35), the support frame (33) is provided with a sliding hole (311) for the cloth belt (35) to pass through, the upper end of the cloth belt (35) is fixedly connected to the clamping block (36), the lower end of the movable plate (34) is fixedly installed with a third transverse axis (315), and the two ends of the third transverse axis (315) are rotatably connected to the support frame (33), the middle part of the third transverse axis (315) is fixedly connected with a second worm gear (37), the second worm gear (37) is meshedly connected to the second worm (312), the bottom of the second worm (312) is fixedly connected to the driving end of the second motor (32), and the second motor (32) is fixedly installed on the outer wall of the support frame (33).

2. The multi-dimensional adjustable robot gripper structure according to claim 1, characterized in that: U-shaped grooves are provided on the inner and outer sides of the support frame (33).

3. The multi-dimensional adjustable robot claw structure according to claim 2 is characterized in that: The lower end of the movable plate (34) is provided with a groove for fitting the second worm gear (37).

4. The multi-dimensional adjustable robot claw structure according to claim 3 is characterized in that: The sliding block (313) is vertically fitted and slidably connected to the side wall of the U-shaped groove inside the support frame (33).

5. The multi-dimensional adjustable robot claw structure according to claim 4, characterized in that: The synchronous adjustment component (2) comprises a driving member, a first transverse shaft (24) and a 90-degree reversing component, wherein the driving member is fixedly mounted on the connecting seat (1), the first transverse shaft (24) is rotatably mounted inside the connecting seat (1), the driving end of the driving member is fixedly connected to one end of the first transverse shaft (24), and the two ends of the first transverse shaft (24) are respectively connected to a support frame (33) above the first transverse shaft via the 90-degree reversing component, and the two support frames (33) rotate in opposite directions.

6. The multi-dimensional adjustable robot gripper structure according to claim 5, characterized in that: The driving member is a servo motor (21), and the output end of the servo motor (21) is fixedly connected to one end of the first transverse axis (24).

7. The multi-dimensional adjustable robot gripper structure according to claim 6, characterized in that: The ninety-degree reversing assembly comprises a first worm wheel (22), a straight shaft (23) and a first worm (25); both ends of the first transverse shaft (24) are fixedly connected with the first worm (25); the thread directions of the two first worms (25) are opposite; the first worm (25) is meshedly connected with a first worm wheel (22) matched with one side thereof; the first worm wheel (22) is fixedly mounted on the straight shaft (23); the straight shaft (23) is rotatably mounted on the connecting seat (1); the upper end of the straight shaft (23) passes through the connecting seat (1) and is fixedly connected to the bottom of the supporting frame (33) above the connecting seat.

8. The multi-dimensional adjustable robot gripper structure according to claim 7, characterized in that: The upper end of the straight shaft (23) is rotatably connected to the upper end of the connecting seat (1) via a bearing.

9. The multi-dimensional adjustable robot gripper structure according to claim 8, characterized in that: The upper ends of the two straight shafts (23) are respectively fixedly connected to the support frames (33) of the two groups of adjustable finger assemblies (3) located at the two ends of the connecting seat (1).

10. The multi-dimensional adjustable robot gripper structure according to claim 9, characterized in that: A vertical straight rod (314) is also fixedly connected in the U-shaped groove inside the support frame (33).

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