Intelligent robot gripper

Abstract

The utility model discloses an intelligent robot gripper, relates to the field of clamping jaws, and adopts the technical scheme that the intelligent robot gripper comprises a base, a clamping jaw and a ball screw pair, the base is provided with a sliding rail, the two clamping jaws are oppositely arranged, and the clamping jaws are in sliding fit with the sliding rail; the ball screw pair comprises a lead screw and moving parts, the lead screw comprises positive and negative threads, the two ends of the lead screw are rotationally matched relative to the base, the lead screw is driven by a motor, the positive and negative threads of the lead screw are in threaded fit with the moving parts respectively, and the two moving parts are fixed to the two clamping jaws respectively. The clamping jaws are driven by the lead screws to get close to and get away from each other, workpieces can be well clamped, the clamping range is very large, and the clamping requirements of workpieces of more sizes can be met.

Description

Technical Field

[0001] The utility model relates to an intelligent robot gripper, mainly to the field of grippers. Background Art

[0002] When performing tasks, robots need to use various grippers to clamp objects. Commonly used grippers include the precision grippers disclosed in patent document with publication number CN104440168A, in which one end of the gripper is hinged to the base, and then the two grippers are opened and closed by a screw. There are some problems when using this solution, namely, the gripper has a maximum opening and closing angle, that is, there is an obvious upper limit to the objects that can be clamped, and the size of the clamped object is small, which cannot meet the needs of clamping larger objects. Utility Model Content

[0003] In view of the deficiencies of the above-mentioned prior art, the utility model proposes an intelligent robot gripper, which can well clamp the workpiece by driving the gripper to move closer and farther away through a screw rod, and the clamping range is very large, which can meet the clamping needs of workpieces of more sizes.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is: comprising a base, a clamping claw and a ball screw pair;

[0005] The base is provided with a slide rail, the two clamping jaws are arranged opposite to each other, and the clamping jaws are slidably matched with the slide rail;

[0006] The ball screw pair includes a screw and a moving part. The screw includes positive and negative threads. Both ends of the screw are rotatably matched relative to the base. The screw is driven by a motor. The positive and negative threads of the screw are respectively threadedly matched with the moving part. The two moving parts are respectively fixed to the two clamps.

[0007] The technical principles and beneficial effects of the utility model are as follows:

[0008] When in use, the motor drives the screw rod to rotate. The screw rod is provided with positive and negative threads. Therefore, when the screw rod is rotated, the two moving parts matched thereon will approach or move away synchronously, that is, the two clamping jaws approach or move away, thereby achieving clamping and loosening of the workpiece.

[0009] This solution can well clamp the workpiece by driving the clamping jaws to move closer and farther away through a screw rod, and the clamping range is very large, which can meet the clamping needs of workpieces of more sizes.

[0010] Preferably, the lead screw is a 30-degree trapezoidal lead screw, which can provide greater torque and more stable position control.

[0011] Preferably, the inner side of the clamping jaw is a first V-shaped groove. The inner wall of the first V-shaped groove is provided with a soft contact layer. A wider range of clamping versatility can be provided. The workpiece can be protected from damage.

[0012] Preferably, a soft contact pad is provided on the inner side of the front end of the clamping jaw, and the inner side of the soft contact pad is provided with a second V-shaped groove. The soft contact pad can protect the workpiece from being damaged by collision, and can be provided at the front end to clamp a smaller workpiece. It can provide a wider range of clamping versatility and can clamp workpieces in a smaller space.

[0013] Preferably, the inner surface of the second V-shaped groove includes a transverse groove and a vertical groove perpendicular to each other, so as to provide clamping in both transverse and vertical directions, with more clamping modes and more convenient use.

[0014] Preferably, the soft contact pad is made of rubber material, which can protect the workpiece and avoid damage caused by collision.

[0015] Preferably, the slide rails are respectively arranged on the upper and lower sides of the base, and the moving member is slidably matched with the slide rails on both sides at the same time, so as to form a more stable buckle with the base and improve the stability of the matching between the moving member and the base.

[0016] Preferably, the screw rod is located between the two slide rails. The screw rod drives the moving part more evenly and can drive the moving part to change position more stably.

[0017] Preferably, the base includes a threaded block, a sliding block and a connecting plate, the two threaded blocks are respectively arranged at the two ends of the connecting plate through a moving part, the threaded blocks are respectively matched with the screw rod threads, the sliding block is arranged in the middle of the connecting plate, and the sliding block is slidably matched with the slide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only four of the drawings of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of an embodiment of the utility model;

[0020] Figure 2 It is an axial cross-sectional view of an embodiment of the utility model;

[0021] Figure 3 A three-dimensional diagram of a soft contact pad according to an embodiment of the utility model;

[0022] Figure 4 It is a schematic diagram of the back side of the soft contact pad according to an embodiment of the utility model.

[0023] Among them, there are a base 1, a slide rail 2, a screw rod 3, a moving part 4, a clamping claw 5, a first V-shaped groove 6, a second V-shaped groove 7, a transverse groove 701, a vertical groove 702, a motor 8, a reducer 9, a through hole 10, an anti-slip pattern 11, a connecting plate 12, a threaded block 13, and a sliding block 14. DETAILED DESCRIPTION

[0024] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the utility model. Obviously, the described embodiments are only preferred embodiments of the utility model, not all 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.

[0025] Example

[0026] like Figure 1 As shown, the embodiment of the utility model includes a base 1, a clamping jaw 5 and a ball screw pair.

[0027] The base 1 is provided with a slide rail 2 , and the two clamping jaws 5 are arranged opposite to each other, and the clamping jaws 5 are slidably matched with the slide rail 2 .

[0028] The ball screw pair includes a screw rod 3 and a moving member 4, wherein the screw rod 3 includes positive and negative threads, and both ends of the screw rod 3 are rotatably matched with the base 1, and the screw rod 3 is driven by a motor 8, and the positive and negative threads of the screw rod 3 are respectively threadedly matched with the moving member 4, and the two moving members 4 are respectively fixed to the two clamping jaws 5. A reducer 9 is also provided between the motor 8 and the screw rod 3 for more accurately controlling the relative distance of the clamping jaws 5.

[0029] The technical principles and beneficial effects of the utility model are as follows:

[0030] When in use, the motor 8 drives the screw rod 3 to rotate. The screw rod 3 is provided with positive and negative threads. Therefore, when the screw rod 3 is rotated, the two moving parts 4 matched thereon will approach or move away synchronously, that is, the two clamping jaws 5 approach or move away, thereby achieving clamping and loosening of the workpiece.

[0031] This solution can well clamp the workpiece by driving the clamping jaws 5 to move closer and farther away through the screw rod 3, and the clamping range is very large, which can meet the clamping needs of workpieces of more sizes.

[0032] The lead screw 3 is a 30-degree trapezoidal lead screw 3, which can provide greater torque and more stable position control.

[0033] The inner side of the clamping jaw 5 is a first V-shaped groove 6. A wider range of clamping versatility can be provided. A soft contact pad is provided on the inner side of the front end of the clamping jaw 5. The soft contact pad can protect the workpiece from being damaged by collision. The soft contact pad provided at the front end can clamp a smaller workpiece.

[0034] Combination Figure 2 As shown, the inner side of the soft contact pad is provided with a second V-shaped groove 7. It can provide a wider range of clamping versatility and can clamp workpieces in a smaller space. The inner surface of the second V-shaped groove 7 includes a transverse groove 701 and a vertical groove 702 perpendicular to each other. It can provide clamping in both transverse and vertical directions, with more clamping methods and more convenient use.

[0035] The base 1 includes a threaded block 13, a sliding block 14 and a connecting plate 12. The two threaded blocks 13 are respectively arranged at the two ends of the connecting plate 12 through a moving member 4. The threaded blocks 13 are respectively threadedly matched with the screw rod 3. The sliding block 14 is arranged in the middle of the connecting plate 12, and the sliding block 14 is slidably matched with the slide rail 2.

[0036] The soft contact pad is made of rubber material. A through hole 10 is provided at the intersection of the transverse groove 701 and the vertical groove 702. The through hole 10 extends to the rear of the soft contact pad. The bolt is passed through the through hole 10 and is located behind the front end of the clamping jaw 5. The contact surface between the soft contact pad and the front end of the clamping jaw 5 is respectively provided with anti-skid patterns 11. The anti-skid patterns 11 are radially radiated with the through hole 10 as the center. By rotating the angle of the soft contact pad, the angle of the transverse groove 701 and the vertical groove 702 can be changed to meet the requirements of different clamping angles of the workpiece. After the angle is determined, it is locked by bolts. The anti-skid patterns 11 can improve the fixing firmness of the soft contact pad. The soft contact pad is made of rubber material. It can protect the workpiece and avoid bump damage.

[0037] The slide rails 2 are respectively arranged on the upper and lower sides of the base 1, and the moving member 4 is slidably matched with the slide rails 2 on both sides at the same time, so as to form a more stable buckle with the base 1, thereby improving the stability of the cooperation between the moving member 4 and the base 1.

[0038] The screw rod 3 is located between the two slide rails 2. The screw rod 3 drives the moving part 4 more evenly and can drive the moving part 4 to change position more stably.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent robot gripper, characterized in that: It comprises a base (1), a clamping jaw (5) and a ball screw pair; The base (1) is provided with a slide rail (2), the two clamping jaws (5) are arranged opposite to each other, and the clamping jaws (5) are slidably matched with the slide rail (2); The ball screw pair comprises a screw rod (3) and a moving part (4), wherein the screw rod (3) comprises positive and negative threads, and the two ends of the screw rod (3) are rotatably matched relative to the base (1), and the screw rod (3) is driven by a motor (8), and the positive and negative threads of the screw rod (3) are respectively threadedly matched with the moving part (4), and the two moving parts (4) are respectively fixed to the two clamping jaws (5).

2. The intelligent robot gripper according to claim 1, characterized in that: The screw rod (3) is a 30-degree trapezoidal screw rod (3).

3. The intelligent robot gripper according to claim 1, characterized in that: The inner side of the clamping jaw (5) is a first V-shaped groove (6); the inner wall of the first V-shaped groove (6) is provided with a soft contact layer.

4. The intelligent robot gripper according to claim 1, characterized in that: A soft contact pad is arranged on the inner side of the front end of the clamping jaw (5); and a second V-shaped groove (7) is arranged on the inner side of the soft contact pad.

5. The intelligent robot gripper according to claim 4, characterized in that: The inner surface of the second V-shaped groove (7) comprises a transverse groove (701) and a vertical groove (702) which are perpendicular to each other.

6. The intelligent robot gripper according to claim 4, characterized in that: The soft contact pad is made of rubber.

7. The intelligent robot gripper according to claim 1, characterized in that: The slide rails (2) are respectively arranged on the upper and lower sides of the base (1), and the moving member (4) is slidably matched with the slide rails (2) on both sides at the same time.

8. The intelligent robot gripper according to claim 1, characterized in that: The screw rod (3) is located between the two slide rails (2).

9. The intelligent robot gripper according to claim 1, characterized in that: The base (1) comprises a threaded block (13), a sliding block (14) and a connecting plate (12); the two threaded blocks (13) are respectively arranged at the two ends of the connecting plate (12) through a moving member (4); the threaded blocks (13) are respectively threadedly matched with the screw rod (3); the sliding block (14) is arranged in the middle of the connecting plate (12); and the sliding block (14) is slidably matched with the slide rail (2).

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