Gap-adjustable gripper assembly

Abstract

The utility model relates to a gap-adjustable gripper component which is provided with a gripper mounting plate, a left clamping seat and a right clamping seat which can move close to or far away from each other along the transverse direction of the gripper mounting plate are arranged on the bottom surface of the gripper mounting plate, a front finger mounting plate is rotatably mounted on the inner side of the lower end of the left clamping seat, and a rear finger mounting plate is rotatably mounted on the inner side of the lower end of the right clamping seat. A servo motor for driving the front finger mounting plate to rotate is mounted on the outer side surface of the left clamping seat; a disc-shaped finger cushion block is mounted on the inner side face of the front finger mounting plate, a cylindrical finger cushion block is mounted on the inner side face of the rear finger mounting plate, and a telescopic sleeve for guiding the left clamping seat and the right clamping seat to move is mounted between the front finger mounting plate and the rear finger mounting plate. The servo motor on one side of the left clamping seat is adopted to singly drive the front finger mounting plate to rotate, so that the rotation synchronism of clamping jaw fingers clamped on the two sides of a workpiece can be ensured, and the stability of adjusting the distance between the left clamping seat and the right clamping seat is improved by means of the action of the telescopic sleeve.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hand claw component with adjustable spacing. Background Art

[0002] With the continuous development of intelligent technology, industrial robots have been widely used in various industries. During the operation, the robot grips the workpiece with the fingers at both ends of its gripper assembly and then performs movements such as rotation and swinging.

[0003] In the gripper assembly structure used in existing robots, the fingers that grip the workpiece are mounted on left and right mounting plates, and the finger mounting plates at the left and right ends are independently driven by their own motors to rotate, thereby adjusting the orientation of the workpiece. However, this method of driving two motors separately can easily cause the left and right finger mounting plates to rotate out of sync, and has high requirements for motor control. Summary of the invention

[0004] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides a gripper assembly with adjustable spacing which can ensure the synchronous and consistent rotation of finger mounting plates.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a gripper assembly with adjustable spacing, comprising a horizontally placed gripper mounting plate, a left clamping seat being provided at the left end of the bottom surface of the gripper mounting plate, and a right clamping seat being provided at the right end of the bottom surface of the gripper mounting plate, the left clamping seat and the right clamping seat being able to move laterally closer or farther along the gripper mounting plate; a front finger mounting plate being rotatably mounted on the inner side of the lower end of the left clamping seat, a rear finger mounting plate being rotatably mounted on the inner side of the lower end of the right clamping seat, and a servo motor driving the front finger mounting plate to rotate being mounted on the outer side surface of the left clamping seat; a disc-shaped finger pad being mounted on the inner side surface of the front finger mounting plate, and a columnar finger pad being mounted on the inner side surface of the rear finger mounting plate, and a telescopic sleeve guiding the movement of the left clamping seat and the right clamping seat being mounted between the front finger mounting plate and the rear finger mounting plate.

[0006] Specifically, a pair of linear guide rails are fixed at intervals on the bottom surface of the gripper mounting plate, and slider mounting plates are fixed on the upper end surfaces of the left clamping seat and the right clamping seat, respectively, and sliders that slide with the linear guide rails are fixed on the slider mounting plates.

[0007] Furthermore, an adjusting cylinder is provided between the slider mounting plates, and a double-ear lifting ring is hinged on the slider mounting plate located on the upper end surface of the left clamping seat, the piston rod at the front end of the adjusting cylinder is connected to the double-ear lifting ring, and the cylinder bracket at the rear end of the adjusting cylinder is hinged to the slider mounting plate on the upper end surface of the right clamping seat.

[0008] Specifically, the telescopic sleeve includes a sliding sleeve and a telescopic rod. The left end of the sliding sleeve is fixed to the front finger mounting plate through a flange, and the rear end of the telescopic rod is fixed to the rear finger mounting plate. The front end of the telescopic rod is slidably matched with the inner hole of the sliding sleeve, and a limit baffle is fixed on the telescopic rod and fits with the flange at the right end of the sliding sleeve.

[0009] Furthermore, a left mounting seat is installed on the left clamping seat, a servo motor is connected to a reducer, a driving shaft connected to the output shaft of the reducer is rotatably installed in the left mounting seat, and the end of the driving shaft is fixedly connected to the front finger mounting plate; a right mounting seat is installed on the right clamping seat, and a driven shaft fixedly connected to the rear finger mounting plate is rotatably provided in the right mounting seat.

[0010] Preferably, the front finger mounting plate is mounted with two disc-shaped finger pads arranged at a distance, a thin pad is fixed on the front finger mounting plate between the two disc-shaped finger pads; a contour block is fixed on the inner side of the rear finger mounting plate at a distance from the columnar finger pad.

[0011] The beneficial effects of the utility model are: BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0013] Figure 1 It is a right-side three-dimensional structural schematic diagram of the utility model.

[0014] Figure 2 It is a left-side three-dimensional structural schematic diagram of the utility model.

[0015] Figure 3 It is a structural schematic diagram of the main viewing direction of the utility model.

[0016] In the figure: 1. Gripper mounting plate, 2. Linear guide, 3. Left clamping seat, 4. Right clamping seat, 5. Slider mounting plate, 6. Slider, 7. Adjusting cylinder, 8. Double ear lifting ring, 9. Cylinder bracket, 10. Front finger mounting plate, 11. Rear finger mounting plate, 12. Left mounting seat, 13. Right mounting seat, 14. Reducer, 15. Servo motor, 16. Driving shaft, 17. Driven shaft, 18. Sliding sleeve, 19. Telescopic rod, 20. Limit baffle, 21. Disc finger pad, 22. Thin pad, 23. Columnar finger pad, 24. Profiling block, 25. Proximity switch, 26. Hexagonal bolt. DETAILED DESCRIPTION

[0017] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0018] like Figure 1 to Figure 3 A gripper assembly with adjustable spacing is shown, which has a horizontally placed gripper mounting plate 1, a pair of left-right linear guide rails 2 are fixed at a spacing on the bottom surface of the gripper mounting plate 1, a left clamping seat 3 is provided at the left end of the bottom surface of the gripper mounting plate 1, and a right clamping seat 4 is provided at the right end of the bottom surface of the gripper mounting plate 1, and slider mounting plates 5 are respectively fixed to the upper end surfaces of the left clamping seat 3 and the right clamping seat 4, and each slider mounting plate 5 is fixed to a slider 6 that slides with the linear guide rail 2.

[0019] An adjusting cylinder 7 is provided between the slider mounting plates 5, and a double-ear lifting ring 8 is hinged on the slider mounting plate 5 located on the upper end surface of the left clamping seat 3. The piston rod at the front end of the adjusting cylinder 7 is connected to the double-ear lifting ring 8, and the rear end of the adjusting cylinder 7 is provided with a cylinder bracket 9, and the cylinder bracket 9 is hinged to the slider mounting plate 5 on the upper end surface of the right clamping seat 4. Through the action of the adjusting cylinder 7, the left clamping seat 3 and the right clamping seat 4 can be moved closer or farther along the left and right directions of the gripper mounting plate 1, thereby adjusting the distance between the left clamping seat 3 and the right clamping seat 4.

[0020] A front finger mounting plate 10 is provided on the inner side of the lower end of the left clamping seat 3, and a rear finger mounting plate 11 is provided on the inner side of the lower end of the right clamping seat 4. A left mounting seat 12 is installed in the left clamping seat 3, and a right mounting seat 13 is installed on the right clamping seat 4. A reducer 14 is fixed to the outer side of the left clamping seat 12, and a servo motor 15 is fixedly connected to the reducer 14. The output shaft of the servo motor 15 is drivingly connected to the input shaft of the reducer 14. A driving shaft 16 drivingly connected to the output shaft of the reducer 14 is rotatably installed in the left mounting seat 3, and the end of the driving shaft 16 is fixedly connected to the front finger mounting plate 10. A driven shaft 17 fixedly connected to the rear finger mounting plate 11 is rotatably provided in the right mounting seat 4.

[0021] A telescopic sleeve guiding the movement of the left clamping seat 3 and the right clamping seat 4 is installed between the front finger mounting plate 10 and the rear finger mounting plate 11. The telescopic sleeve includes a sliding sleeve 18 and a telescopic rod 19. The left end of the sliding sleeve 18 is fixed to the front finger mounting plate 10 through a flange, and the rear end of the telescopic rod 19 is fixed to the rear finger mounting plate 11. The front end of the telescopic rod 19 is slidably matched with the inner hole of the sliding sleeve 18. A limit baffle 20 is fixed on the telescopic rod 19 and fits with the flange at the right end of the sliding sleeve 18.

[0022] Two disc-shaped finger pads 21 arranged at a distance from each other are installed on the inner side of the front finger mounting plate 10, and a thin pad 22 is fixed on the front finger mounting plate 10 between the two disc-shaped finger pads 21; a columnar finger pad 23 is installed on the inner side of the rear finger mounting plate 11, and a contour block 24 is also fixed on the inner side of the rear finger mounting plate 11 at a distance from the columnar finger pad 23.

[0023] In addition, proximity switches 25 are installed on the front side surface and the upper end of the inner side surface of the left clamping seat 3 and the front side surface and the upper end of the inner side surface of the right mounting seat 4, and hexagonal bolts 26 are installed on the outer side surface of the front finger mounting plate 10 and the outer side surface of the rear finger mounting plate 11. The bolt head of the hexagonal bolt 26 corresponds to the signal receiving end of the proximity switch 25. When the front finger mounting plate 10 and the rear finger mounting plate 11 are not rotated, the bolt head of the hexagonal bolt 26 corresponds to the signal receiving end of the proximity switch 25 on the front side surface of the left clamping seat 3 and the right mounting seat 4. When the front finger mounting plate 10 and the rear finger mounting plate 11 are rotated into place, the bolt head of the hexagonal bolt 26 corresponds to the signal receiving end of the proximity switch 25 on the inner side surface of the left clamping seat 3 and the right mounting seat 4, so as to control the start and stop of the servo motor 15.

[0024] When the gripper assembly is in use, the adjusting cylinder 7 drives the left clamping seat 3 and the right clamping seat 4 to move according to technical requirements, and adjusts the distance between the left clamping seat 3 and the right clamping seat 4 to the right position. During adjustment, the adjustment process is guided by the cooperation between the sliding sleeve 18 of the telescopic sleeve and the telescopic rod 19. After adjustment, the workpiece is clamped between the disc-shaped finger pad 21 and the cylindrical finger pad 23, and then the servo motor 15 drives the front finger mounting plate 10 to rotate through the reducer 14, and the rear finger mounting plate 11 follows the synchronous rotation. The gripper assembly with such a structure can ensure the rotation synchronization of the gripper fingers clamped on both sides of the workpiece because the servo motor 15 on one side of the left clamping seat 3 drives the front finger mounting plate 10 to rotate, and the stability of the distance adjustment between the left clamping seat 3 and the right clamping seat 4 is improved with the help of the telescopic sleeve.

[0025] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A gripper assembly with adjustable spacing, having a horizontally placed gripper mounting plate, characterized by: A left clamping seat is provided at the left end of the bottom surface of the gripper mounting plate, and a right clamping seat is provided at the right end of the bottom surface of the gripper mounting plate. The left clamping seat and the right clamping seat can move horizontally closer or farther along the gripper mounting plate; a front finger mounting plate is rotatably installed on the inner side of the lower end of the left clamping seat, and a rear finger mounting plate is rotatably installed on the inner side of the lower end of the right clamping seat, and a servo motor for driving the front finger mounting plate to rotate is installed on the outer side of the left clamping seat; a disc-shaped finger pad is installed on the inner side of the front finger mounting plate, and a columnar finger pad is installed on the inner side of the rear finger mounting plate, and a telescopic sleeve for guiding the movement of the left clamping seat and the right clamping seat is installed between the front finger mounting plate and the rear finger mounting plate.

2. The adjustable spacing gripper assembly according to claim 1, characterized in that: A pair of linear guide rails are fixed at intervals on the bottom surface of the gripper mounting plate, and a slider mounting plate is fixed on the upper end surface of the left clamping seat and the upper end surface of the right clamping seat respectively, and a slider that slides with the linear guide rails is fixed on the slider mounting plate.

3. The adjustable spacing gripper assembly according to claim 2, characterized in that: An adjusting cylinder is provided between the slider mounting plates, and a double-ear lifting ring is hinged on the slider mounting plate located on the upper end surface of the left clamping seat. The piston rod at the front end of the adjusting cylinder is connected to the double-ear lifting ring, and the cylinder bracket at the rear end of the adjusting cylinder is hinged to the slider mounting plate on the upper end surface of the right clamping seat.

4. The adjustable spacing gripper assembly according to claim 1, characterized in that: The telescopic sleeve includes a sliding sleeve and a telescopic rod. The left end of the sliding sleeve is fixed to the front finger mounting plate through a flange, and the rear end of the telescopic rod is fixed to the rear finger mounting plate. The front end of the telescopic rod is slidably matched with the inner hole of the sliding sleeve, and a limit baffle is fixed on the telescopic rod and fits with the flange at the right end of the sliding sleeve.

5. The adjustable spacing gripper assembly according to claim 1, characterized in that: A left mounting seat is installed on the left clamping seat, a reducer is connected to the servo motor for transmission, a driving shaft that is rotatably installed in the left mounting seat and is transmission-connected to the output shaft of the reducer, and the end of the driving shaft is fixedly connected to the front finger mounting plate; a right mounting seat is installed on the right clamping seat, and a driven shaft that is rotatably installed in the right mounting seat and is fixedly connected to the rear finger mounting plate.

6. The adjustable spacing gripper assembly according to claim 1, characterized in that: The front finger mounting plate is provided with two disc-shaped finger pads arranged at a distance, a thin pad is fixed on the front finger mounting plate between the two disc-shaped finger pads; a contour block is fixed on the inner side of the rear finger mounting plate at a distance from the columnar finger pad.

Images