Manipulator gripper capable of finely adjusting position

Abstract

The utility model discloses a manipulator gripper capable of finely adjusting the position, which relates to the technical field of manipulator grippers and comprises a base, a mounting groove is arranged on the top surface of the base, a moving seat is slidably arranged in the mounting groove, a mounting seat is vertically arranged on the top surface of the moving seat, a mounting cavity is arranged in the mounting seat, and a lead screw is transversely and rotatably arranged on the side wall of the mounting seat. A fixed column is vertically and fixedly connected to the top of the moving seat, a vertical connecting rod is slidably attached to the front end face of the fixed column, a guide opening is formed in the upper portion of the mounting seat, and a guide assembly of the connecting rod is arranged in the guide opening; an adjusting assembly is arranged in the mounting groove; according to the utility model, the lead screw is matched with the motor, so that the mechanical gripper can conveniently grasp, the working convenience is improved, the screw rod penetrating through the base is matched with the motor outside the fixed block, the position of the mechanical gripper can be conveniently adjusted, objects with changed positions can be conveniently taken, the working efficiency is improved, the movement of the gripper can be realized, and the working efficiency is improved. And finally, the problem that the gripper cannot move is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator claws, in particular to a manipulator claw capable of fine-adjusting position. Background Art

[0002] The manipulator gripper is a part of the robot arm, which has the functions of grasping, carrying, rotating, etc. The design of the gripper involves multiple technical fields, including mechanical design, electronic control, sensor technology, etc. The existing manipulator gripper is mainly composed of a frame, a gripper, a finger end tool, a control system and an electric drive sensor. The gripper is convenient for grasping objects in a fixed position and can provide accurate response. However, once the position is offset to a certain extent, the corresponding gripping position cannot be adjusted due to the movement of the object position, resulting in an empty gripping situation, making the equipment unable to work effectively. Therefore, the above problems need to be improved. Utility Model Content

[0003] The utility model aims to solve the shortcomings in the prior art and proposes a mechanical hand claw capable of fine-adjusting position.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mechanical arm claw with fine-adjustable position, including a base, a mounting groove is provided on the top surface of the base, a movable seat is slidably provided in the mounting groove, a mounting seat is vertically provided in the middle of the top surface of the movable seat, a mounting cavity is provided inside the lower part of the mounting seat, a lead screw is provided at the lower part of the two side walls of the mounting seat for horizontal rotation, a dual-axis motor for lead screw driving is horizontally provided inside the mounting cavity, both sides of the rear end of the top of the movable seat are vertically fixed with fixed columns, the front end surfaces of the fixed columns are slidably fitted with vertical connecting rods, the inner sides of the top ends of the connecting rods are vertically fixed with clamping plates, a guide opening is horizontally provided on the upper part of one side of the mounting seat, and a guide component for stabilizing the connecting rod is provided inside the guide opening; an adjustment component for starting the movable seat is provided in the mounting groove.

[0005] Preferably, a roller is fixedly connected to the bottom of the rear end of the connecting rod, a stabilizing channel is horizontally opened at the lower part of the front end surface of the fixed column, the rear end of the roller movably extends into the interior of the stabilizing channel, and an anti-slip block is fixedly connected to the rear end of the roller; the inner wall of the roller slides in contact with the inner wall of the stabilizing channel.

[0006] Preferably, the guide assembly includes guide blocks slidably arranged at the front and rear ends of the guide opening and a positioning rod longitudinally fixed in the middle part of the guide opening. The front end faces of the two guide blocks are laterally provided with guide strip openings, and the positioning rod passes through the guide strip openings of the two guide blocks. The outer end of one of the guide blocks extends from the guide strip opening and is fixedly connected to one of the connecting rods, and the outer end of the other guide block also extends from the guide strip opening and is fixedly connected to the other connecting rod; the opposite surfaces of the two guide blocks slide laterally and fit together.

[0007] Preferably, the adjustment component includes a sliding opening opened on the inner wall around the mounting groove, a guide rail installed along the sliding opening direction, a first sliding seat slidably arranged on the guide rails on both sides of the mounting groove, and a second sliding seat slidably arranged on the guide rails at the front and rear ends of the mounting groove, a first screw rod rotatably arranged between the two first sliding seats, and a first screw hole cooperating with the first screw rod is transversely opened on the upper part of one side of the moving seat, and the first screw passes through the first screw hole; a second screw rod is longitudinally rotatably arranged between the two second sliding seats, a second screw hole cooperating with the second screw rod is longitudinally opened at the lower middle part of the front end face of the moving seat, wherein a first motor for driving the first screw is provided at the outer end of one of the first sliding seats, and a second motor for driving the second screw is provided on the second sliding seat at the rear end of the base.

[0008] Preferably, the spiral directions of the two screws are opposite, and the outer ends of the screws are fixed with baffles, and a threaded through hole cooperating with the screw is transversely opened at the lower part of one side of the connecting rod; the inner side of the clamping plate is provided with an anti-slip pad with vertical protrusions.

[0009] Preferably, the outer wall circumference of the base is provided with limit strip grooves cooperating with the first sliding seat and the second sliding seat along the length direction of the guide rail; the upper front and rear ends of both sides of the movable seat and the two sides of the front are longitudinally movable with guide rods, and the sliding plate is slidably arranged inside the installation groove and is connected and fixed to the guide rods.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: in the utility model, the screw and the motor cooperate to facilitate the gripping of the robot gripper, which improves the convenience of work and realizes the pick-up and placement function of the gripper. The screw rod running through the base cooperates with the motor outside the fixed block to facilitate the adjustment of the position of the robot gripper and facilitate the picking up of objects with changed positions, thereby improving the efficiency of work and realizing the movement of the gripper, and finally solving the problem that the gripper cannot move. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0012] Figure 1 This is a schematic diagram of the overall three-dimensional structure proposed by the utility model;

[0013] Figure 2 This is a schematic diagram of the structure from above proposed by the utility model;

[0014] Figure 3 This is a side view schematic diagram of the overall structure of the utility model;

[0015] Figure 4 This is a front view cross-sectional structural schematic diagram of the utility model.

[0016] Serial numbers in the figure: 1. base; 2. guide rail; 3. limit strip groove; 4. fixed column; 5. first sliding seat; 6. second motor; 7. moving seat; 8. first screw; 10. connecting rod; 11. lead screw; 12. mounting seat; 13. guide block; 14. anti-slip pad; 15. roller. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0018] Example: See Figure 1-4 A mechanical hand gripper with fine-adjustable position in the utility model comprises a base 1, a mounting groove is provided on the top surface of the base 1, a movable seat 7 is slidably provided in the mounting groove, a mounting seat 12 is vertically provided in the middle of the top surface of the movable seat 7, a mounting cavity is provided inside the lower part of the mounting seat 12, a lead screw 11 is provided at the lower part of the two side walls of the mounting seat 12 for horizontal rotation, a double-axis motor for driving the lead screw 11 is horizontally provided inside the mounting cavity, and the double-axis motor cooperates with the lead screw 11 to facilitate the movement of the connecting rods 10 on both sides to the inside, which plays a clamping role; both sides of the rear end of the top of the movable seat 7 are vertically fixed with fixed columns 4, the front end surfaces of the fixed columns 4 are slidably fitted with vertical connecting rods 10, and the inner sides of the top ends of the connecting rods 10 are vertically fixed with clamping plates, and the mounting seat A guide opening is horizontally opened on the upper part of one side of 12, and a guide component for stabilizing the connecting rod 10 is arranged inside the guide opening; an adjustment component for starting the movable seat 7 is arranged in the mounting groove, and the movable seat 7 cooperates with the fixed column 4 to facilitate the stability of the connecting rod 10, and can effectively prevent the position of the connecting rod 10 from being offset or misplaced; a roller 15 is fixedly connected to the bottom of the rear end of the connecting rod 10, and a stabilizing channel is horizontally opened at the lower part of the front end surface of the fixed column 4, the rear end of the roller 15 extends movably into the interior of the stabilizing channel, and an anti-slip block is fixedly connected to the rear end of the roller 15; the inner wall of the roller 15 is slidably fitted with the inner wall of the stabilizing channel, and the roller 15 arranged above the fixed column 4 is clamped with the inner side of the stabilizing channel, which can effectively prevent the connecting rod 10 from tilting when it is squeezed inward.

[0019] In the utility model, the guide assembly includes guide blocks 13 slidably arranged at the front and rear ends of the guide opening and a positioning rod longitudinally fixed in the middle of the guide opening. The front end faces of the two guide blocks 13 are both laterally provided with guide strip openings, and the positioning rod passes through the guide strip openings of the two guide blocks 13. The outer end of one guide block 13 extends from the guide strip opening and is fixedly connected to one of the connecting rods 10, and the outer end of the other guide block 13 also extends from the guide strip opening and is fixedly connected to the other connecting rod 10; the opposite surfaces of the two guide blocks 13 slide and fit laterally, and one side of the guide block 13 is fixed to the connecting rod 10 and the other side is clamped on the inner side of the mounting seat 12, so as to further reinforce the connecting rod 10 and effectively prevent misalignment during clamping.

[0020] The cam 2 is a first motor driven by the second motor 6 and a second motor 6 is connected to the cam 2 at the rear end of the base 1 so that the cam 2 can move freely in the horizontal direction and move freely in the cam 2 at the rear end of the base 1 so as to realize the micro-control of the cam 2 and the micro-control of the cam 2 at the rear end of the base 1.

[0021] In the utility model, the spiral directions of the two screws 11 are opposite, and the outer ends of the screws 11 are fixed with baffles, and a threaded through hole matching the screw 11 is horizontally opened at the lower part of one side of the connecting rod 10; the inner side of the clamping plate is provided with an anti-slip pad 14 with vertical protrusions, and the anti-slip pad 14 bonded to the surface of the clamping plate can effectively prevent the objects from slipping when clamping the objects.

[0022] In the utility model, the outer wall circumference of the base 1 is provided with limiting strip grooves 3 that cooperate with the first sliding seat 5 and the second sliding seat along the length direction of the guide rail 2; guide rods are longitudinally movable and penetrated through the upper front and rear ends of both sides of the moving seat 7 and the two sides of the front, and a sliding plate that is connected and fixed to the guide rod is slidably arranged inside the installation groove. The sliding plate fixed to the outside of the guide rod can effectively prevent the moving seat 7 from being misplaced, and the overall structure can be further reinforced.

[0023] Working principle: When the utility model is used, the fixed rod 9 and the first screw rod 8 are passed through the inner side of the moving seat 7 and the base 1 through the guide rails 2 arranged around the base 1, and the two sides are placed between the two guide rails 2, and fixed by the baffles arranged on the two sides of the two rods, and then a first sliding seat 5 is provided on one side of the first screw rod 8, and a second motor 6 is fixedly connected to the outer side of the first sliding seat 5, and the moving seat 7 is moved in the horizontal direction by the rotation of the second motor 6, and then through the two fixed columns 4 fixed on the moving seat 7, and the fixed columns 4 are provided with rollers 15, the connecting rod 10 can reciprocate on the fixed columns 4, and then a lead screw 11 is provided on the lower side of the connecting rod 10, and the two-way motor 16 in the middle of the lead screw 11 is rotated to make the connecting rods 10 on both sides move inward, so that the clamping plate at the top of the connecting rod 10 is clamped, and then the position can be moved through the moving seat 7, and an anti-slip pad 14 is provided on the top of the connecting rod 10 to facilitate the clamping operation of the material.

[0024] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot gripper capable of fine-tuning its position, comprising a base (1), characterized in that: The top surface of the base (1) is provided with a mounting groove, a movable seat (7) is slidably provided in the mounting groove, a mounting seat (12) is vertically provided in the middle of the top surface of the movable seat (7), a mounting cavity is provided inside the lower part of the mounting seat (12), a lead screw (11) is rotatably provided at the lower part of the two side walls of the mounting seat (12), a double-axis motor for driving the lead screw (11) is horizontally provided inside the mounting cavity, both sides of the rear end of the top of the movable seat (7) are vertically fixed with fixed columns (4), the front end surfaces of the fixed columns (4) are slidably fitted with vertical connecting rods (10), the inner side of the top of the connecting rod (10) is vertically fixed with a clamping plate, a guide opening is horizontally provided at the upper part of one side of the mounting seat (12), a guide component for stabilizing the connecting rod (10) is provided inside the guide opening; an adjustment component for starting the movable seat (7) is provided in the mounting groove.

2. A manipulator gripper with fine-adjustable position according to claim 1, characterized in that: A roller (15) is fixedly connected to the bottom of the rear end of the connecting rod (10); a stabilizing hole is transversely opened at the lower part of the front end surface of the fixing column (4); the rear end of the roller (15) movably extends into the interior of the stabilizing hole, and an anti-dropping block is fixedly connected to the rear end of the roller (15); the inner wall of the roller (15) is slidably fitted with the inner wall of the stabilizing hole.

3. The position-adjustable manipulator gripper according to claim 2, characterized in that: The guide assembly comprises guide blocks (13) slidably arranged at the front and rear ends of the guide opening and a positioning rod longitudinally fixed in the middle of the guide opening. The front end surfaces of the two guide blocks (13) are both laterally provided with guide strip openings, and the positioning rod passes through the guide strip openings of the two guide blocks (13). The outer end of one of the guide blocks (13) extends from the guide strip opening and is fixedly connected to one of the connecting rods (10), and the outer end of the other guide block (13) also extends from the guide strip opening and is fixedly connected to the other connecting rod (10); the opposite surfaces of the two guide blocks (13) slide in contact with each other laterally.

4. The position-adjustable manipulator gripper according to claim 1, characterized in that: The adjustment assembly comprises a sliding opening formed on the inner wall around the installation groove, a guide rail (2) installed along the sliding opening, a first sliding seat (5) slidably arranged on the guide rails (2) at both sides of the installation groove, and a second sliding seat slidably arranged on the guide rails (2) at the front and rear ends of the installation groove, the first screw rod (8) being rotatably arranged between the two first sliding seats (5), and a first screw hole cooperating with the first screw rod (8) being transversely opened on the upper part of one side of the moving seat (7), and the first screw rod (8) passing through the first screw hole; the second second sliding seats being rotatably arranged between the two second sliding seats, and a second screw hole cooperating with the second screw rod being longitudinally opened at the lower middle part of the front end surface of the moving seat (7), wherein a first motor for driving the first screw rod (8) is provided at the outer end of one of the first sliding seats (5), and a second motor (6) for driving the second screw rod is provided on the second sliding seat at the rear end of the base (1).

5. The position-adjustable manipulator gripper according to claim 4, characterized in that: The spiral directions of the two lead screws (11) are opposite, and the outer ends of the lead screws (11) are fixedly connected to baffles, and a threaded through hole cooperating with the lead screw (11) is transversely opened at the lower part of one side surface of the connecting rod (10); and an anti-slip pad (14) with vertical protrusions is provided on the inner side surface of the clamping plate.

6. The position-adjustable manipulator gripper according to claim 5, characterized in that: The outer wall circumference of the base (1) is provided with limit strip grooves (3) cooperating with the first sliding seat (5) and the second sliding seat along the length direction of the guide rail (2); the upper front and rear ends of both sides of the movable seat (7) and the two sides of the front are longitudinally movably penetrated by guide rods, and the inside of the installation groove is slidably provided with a sliding plate connected and fixed to the guide rods.

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