Gripper for speed reducer and robot

Abstract

The utility model discloses a gripper for a speed reducer and a robot in the field of mechanical clamping jaw design, the gripper comprises a central frame I, a plurality of horizontally connected main body frames are arranged on the central frame I in the circumferential direction, and openings of the plurality of main body frames are arranged in the same direction; each main body frame is internally provided with a forming finger capable of moving in the length direction of the main body frame, a driving mechanism is installed at the joint of the multiple main body frames, the driving mechanism is in transmission connection with the forming fingers, the multiple forming fingers are provided with first positions synchronously close to the first center frame, and second positions synchronously close to the second center frame are provided with second positions synchronously close to the second center frame. When the first position is synchronously far away from the first center frame and the second position is synchronously far away from the first center frame, the driving mechanism works so that the multiple forming fingers can be switched between the first position and the second position; the forming fingers are synchronously adjusted through the driving mechanism, clamping and releasing of objects are achieved, objects of different sizes can be clamped, and the compatibility of the gripper is improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical gripper design, and in particular to a gripper and a robot for a reducer. Background Art

[0002] With the development of the intelligent manufacturing industry, the development of industrial robots has also advanced by leaps and bounds. It is predicted that the output of industrial robots in China will reach 489,200 sets in 2024. Among them, one of the core of industrial robots is the reducer, and the product quality of the reducer is crucial to the robot;

[0003] In order to improve the stability of reducer products and enhance the efficiency of enterprise production lines, enterprises will build a comprehensive intelligent production line to conduct various tests, inspections and packaging on reducers in order to adapt to new market forms and enhance the core competitiveness of enterprises! The most basic mechanism on the intelligent production line is robot handling, but the reducers produced by enterprises have various specifications and sizes, which puts forward higher requirements on the compatibility of robot grippers. Utility Model Content

[0004] The purpose of the present application is to provide a gripper for a reducer to solve the defect that mechanical grippers in the prior art have low compatibility with reducers of various specifications and sizes when carrying reducers.

[0005] In order to solve the above technical problems, this application is implemented by adopting the following technical solutions:

[0006] In the first aspect, a gripper for a reducer includes a central frame one, wherein a plurality of horizontally connected main frames are circumferentially arranged on the central frame one, the openings of the plurality of main frames are arranged in the same direction, each of the main frames is provided with a forming finger that can move along the length direction of the main frame, a driving mechanism is installed at the intersection of the plurality of main frames, the driving mechanism is transmission-connected to the forming fingers, the plurality of forming fingers have a first position synchronously approaching the central frame one, and a second position synchronously away from the central frame one, and the driving mechanism works to switch the plurality of forming fingers between the first position and the second position.

[0007] In a further solution of the present application, the main frame includes a main support plate, two guide rail mounting plates and an end plate;

[0008] The main support plate is connected to the central frame 1, the two guide rail mounting plates are fixed on both sides of the main support plate in the length direction, the end plate is fixed on the side of the main support plate away from the main frame, and the forming finger is slidably installed between the corresponding two guide rail mounting plates.

[0009] In a further solution, a guide mechanism is installed between the forming finger and the guide rail mounting plate;

[0010] The guiding mechanism comprises a linear guide rail fixed on the guide rail mounting plate, a slider is slidably matched on the linear guide rail, and the forming fingers are correspondingly connected to the slider.

[0011] According to a further solution, a screw is rotatably provided between each end plate and the corresponding side wall of the main frame, a screw nut is threadedly mounted on the screw, a nut seat is fixed outside the screw nut, the slider is fixedly connected to the nut seat, the forming finger is connected to the side of the nut seat away from the main support plate, and the driving mechanism is transmission-connected to the screw.

[0012] In a further embodiment, the driving mechanism includes a central frame 2 and a motor;

[0013] A rotating shaft is longitudinally rotatably installed in the central frame 2, a first bevel gear is fixed to one end of the rotating shaft placed in the central frame 1, a second bevel gear is fixed to one end of the rotating shaft placed in the central frame 2, the motor is vertically fixed to one side of the central frame 2, an input bevel gear is fixed to one end of the output shaft of the motor placed in the central frame 2, the input bevel gear is meshed with the second bevel gear, each of the screw rods is fixed to one end of the central frame 1 with an output bevel gear, and a plurality of the output bevel gears are all meshed with the first bevel gear.

[0014] In a further embodiment, the driving mechanism further comprises a third bevel gear, the third bevel gear is rotatably connected to the rotating shaft, and a plurality of output bevel gears are meshed and disposed between the third bevel gear and the first bevel gear.

[0015] According to a further solution of the present application, a plurality of the main frames are arranged in a cross shape on a horizontal plane.

[0016] According to a further solution of the present application, a connecting flange is fixed to a side of the driving mechanism away from the main frame, and a quick-change mechanism for replacing the gripper is also fixed to the connecting flange and the driving mechanism.

[0017] In a second aspect, a robot comprises a robotic arm and the above-mentioned reducer gripper, wherein the reducer gripper is fixedly connected to the mounting end of the robotic arm.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] In the present application, a plurality of movable forming fingers are designed, and the forming fingers are synchronously adjusted through a driving mechanism, that is, synchronously adjusted to a first position close to the center frame one, and synchronously adjusted to a second position away from the center frame one, so as to realize clamping and releasing of the object. The clamping spacing can be determined by the movement stroke of the forming fingers. Objects of different sizes can be clamped, thereby improving the compatibility of the gripper.

[0020] In addition, the single first bevel gear in the driving mechanism and the output bevel gears on the surrounding lead screws are used together to quickly and synchronously move each forming finger, thereby greatly improving the clamping efficiency and stability of the hand gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the structure of the main frame in the embodiment of the present application;

[0023] Figure 3 This is a schematic diagram of the structure of the connecting flange and the quick-change mechanism in the embodiment of the present application;

[0024] Figure 4 In order to reflect the structural diagram inside the main frame in the embodiment of the present application;

[0025] Figure 5 for Figure 4 A top view of

[0026] Figure 6 for Figure 5 AA direction cross-sectional view;

[0027] Figure 7 for Figure 6 The enlarged view of point I in the middle;

[0028] Figure 8 It is a schematic diagram showing the structure of the guide mechanism in this embodiment.

[0029] in

[0030] 1. Main frame; 2. Connecting flange; 3. Quick-change mechanism; 4. Driving mechanism; 5. Guide mechanism; 6. Forming fingers; 7. Main support plate; 8. End plate; 9. Guide rail mounting plate; 10. Center frame one; 11. Center frame two; 12. Quick-change connecting plate; 13. Motor; 130. Input bevel gear; 14. Output bevel gear; 15. First bevel gear; 150. Third bevel gear; 151. Second bevel gear; 16. Rotating shaft; 17. Screw; 18. Screw nut; 19. Nut seat; 20. Bearing end cover; 21. Anti-collision pad; 22. Linear guide; 23. Slider. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Embodiment 1

[0032] Reference Figure 1 In the present embodiment, a gripper for a reducer is disclosed, which includes a central frame 10, and four main frames 1 are horizontally installed outward from the edges of the central frame 10, and the four main frames 1 are arranged in a cross-shaped manner. The openings of the four main frames 1 need to be arranged in the same direction, and the direction away from the central frame 10 is selected here. A forming finger 6 that can move along the length direction of the main frame 1 is arranged in each main frame 1, and a driving mechanism 4 is installed at the intersection of the four main frames 1. The driving mechanism 4 is connected to the forming fingers 6 in a transmission manner. The four forming fingers 6 have a first position that is synchronously close to the central frame 10, and a second position that is synchronously away from the central frame 10.

[0033] When in use, the driving mechanism 4 is started to switch between the first position and the second position of the four forming fingers 6, thereby satisfying the requirement of rapid adjustment of the position of the forming fingers 6 and realizing the clamping operation of objects of different sizes.

[0034] The specific details of this embodiment are described below in conjunction with the relevant drawings;

[0035] Reference Figure 2 The specific structure of the main frame 1 in this embodiment can be reflected in the accompanying drawings. The main frame 1 includes a main support plate 7, two guide rail mounting plates 9 and an end plate 8; the two guide rail mounting plates 9 are installed on both sides of the main support plate 7 in the length direction, and the combined molded parts of the guide rail mounting plates 9 and the main support plates 7 are corresponding to the sides of the center frame 10. Because of the number and arrangement of the main frames 1, the center frame 10 at this time is a cube structure, and the four sides correspond to the four main frames 1. The end plate 8 is installed on the side of the main support plate 7 away from the center frame 10.

[0036] Specific observations attached Figure 1 , 48. In this embodiment, a screw and a guide mechanism 5 are used to realize the movement of each forming finger 6. The guide mechanism 5 is installed between the forming finger 6 and the guide rail mounting plate 9. During the specific installation, a bearing end cover 20 is installed on the end plate 8 and the side plate of the central frame 10. The bearing end cover 20 has a built-in bearing. A screw 17 is rotatably arranged between each end plate 8 and the corresponding side wall of the main frame 1. A nut seat 19 with a screw nut 18 is threadedly installed on the screw 17. The forming finger 6 is fixedly connected to the side of the nut seat 19 away from the main support plate 7. The guide mechanism 5 includes a linear guide 22 fixed to the inner side of the guide rail mounting plate 9, and a slider 23 fixed to both sides of the nut seat 19. The slider 23 on each side is slidably matched with the adjacent linear guide 22. When in use, the driving mechanism 4 is started to drive the screw 17 to rotate, and the forming finger 6 on each screw 17 is controlled to move.

[0037] Reference Figures 5 to 7 In this embodiment, a preferred driving mechanism 4 structure is disclosed. The driving mechanism 4 includes a central frame 11. The central frame 11 and the central frame 10 are rotatably mounted with a rotating shaft 16. The rotating shaft 16 is placed at one end of the central frame 10 and fixed with a first bevel gear 15. The rotating shaft 16 is placed at one end of the central frame 11 and fixed with a second bevel gear 151. The motor 13 is vertically fixed to one side of the central frame 11. The output shaft of the motor 13 is placed at one end of the central frame 11 and fixed with an input bevel gear 130. The input bevel gear 130 Meshing with the second bevel gear 151, each lead screw 17 is placed on one end of the central frame 10 and is fixed with an output bevel gear 14, the four output bevel gears 14 are all meshed with the first bevel gear 15, and a third bevel gear 150 is also rotatably mounted on the rotating shaft 16, the four output bevel gears 14 are placed between the third bevel gear 150 and the first bevel gear 15, and meshed with the third bevel gear 150 and the first bevel gear 15, the third bevel gear 150 here plays a limiting role, which can effectively protect the meshing degree between the bevel gears and improve the stability of the operation of the device.

[0038] In addition, in the present embodiment, an anti-collision pad 21 is fixed on the side wall of the central frame 10. In actual use, a pressure sensor can be added to the anti-collision pad 21. The electrical signal of the pressure sensor is connected to the control system, which can effectively prevent the nut seat 19 from colliding with the central frame 10. In order to facilitate the installation of the present gripper, in the present embodiment, a connecting flange 2 is fixed on the side of the central frame 10 of the driving mechanism 4 away from the main frame 1. The connecting flange 2 and the driving mechanism 4 are also fixed with a quick-change mechanism 3 for replacing the gripper. A quick-change connecting plate 12 is installed on the central frame 11, and the connecting flange 2 is installed on the quick-change connecting plate 12. The quick-change mechanism 3 can realize the function of precise quick-change grippers by electrically controlling the extension and retraction of the engaging parts thereon (which can be controlled by a cylinder). The quick-change mechanism 3 is a mature existing technology and will not be described here. Embodiment 2

[0039] This embodiment discloses a robot, including a mechanical arm and the reducer gripper in the above embodiment, wherein the connecting flange 2 of the reducer gripper, the quick-change mechanism 3 and the mounting end of the mechanical arm are connected and fixed.

[0040] Specific use, taking the reducer as the material:

[0041] The gripper grabs the reducer;

[0042] When the robot drives the gripper to the speed reducer grabbing position: the motor 13 on the driving mechanism 4 drives the input bevel gear 130 to rotate forward, and the meshing second bevel gear 151 rotates, driving the rotating shaft 16 and the first bevel gear 15 on its upper end to rotate, and the four output bevel gears 14 meshing with the first bevel gear 15 also rotate, thereby driving the four screws 17 to rotate at the same time, and the four forming fingers 6 move away from the end plate 8 driven by the screw nut 18 to realize the function of grabbing the speed reducer. The robot grabs the speed reducer to the placement position on the production line.

[0043] The gripper places the reducer;

[0044] When the gripper reaches the position where the reducer is placed: the motor 13 on the driving mechanism 4 reverses, driving the input bevel gear 130 to rotate in the opposite direction, and the meshing second bevel gear 151 rotates in the opposite direction, driving the rotating shaft 16 and the first bevel gear 15 on its upper end to rotate in the opposite direction, and the four output bevel gears 14 meshing with the first bevel gear 15 also rotate in the opposite direction, thereby driving the four screws 17 to rotate in the opposite direction at the same time, and the four forming fingers 6 move closer to the end plate 8 under the drive of the screw nut 18, releasing the reducer. After the placement is completed, the robot returns to the origin position with the gripper and continues to wait for the next reducer.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

Claims

1. A gripper for a reducer, characterized in that: The invention comprises a central frame (10), wherein a plurality of horizontally connected main frames (1) are circumferentially arranged on the central frame (1), the openings of the plurality of main frames (1) are arranged in the same direction, each of the main frames (1) is provided with a forming finger (6) which can move along the length direction of the main frame (1), and a driving mechanism (4) is installed at the intersection of the plurality of main frames (1), wherein the driving mechanism (4) is connected to the forming fingers (6) in a transmission manner, and the plurality of forming fingers (6) have a first position which is synchronously close to the central frame (10) and a second position which is synchronously away from the central frame (10), and the driving mechanism (4) works so that the plurality of forming fingers (6) can switch between the first position and the second position.

2. The reducer gripper according to claim 1, characterized in that: The main frame (1) comprises a main support plate (7), two guide rail mounting plates (9) and an end plate (8); The main support plate (7) is connected to the central frame (10), the two guide rail mounting plates (9) are fixed on both sides of the main support plate (7) in the length direction, the end plate (8) is fixed on the side of the main support plate (7) away from the main frame (1), and the forming finger (6) is slidably mounted between the corresponding two guide rail mounting plates (9).

3. The reducer gripper according to claim 2, characterized in that: A guide mechanism (5) is installed between the molding finger (6) and the guide rail mounting plate (9); The guide mechanism (5) comprises a linear guide rail (22) fixed on the guide rail mounting plate (9), a slider (23) slidably fitted on the linear guide rail (22), and the forming finger (6) is correspondingly connected to the slider (23).

4. The reducer gripper according to claim 3, characterized in that: A screw (17) is rotatably provided between each end plate (8) and the corresponding side wall of the main frame (1); a screw nut (18) is threadedly mounted on the screw (17); a nut seat (19) is fixedly disposed outside the screw nut (18); the slider (23) is fixedly connected to the nut seat (19); the forming finger (6) is connected to a side of the nut seat (19) facing away from the main support plate (7); and the driving mechanism (4) is transmission-connected to the screw (17).

5. The reducer gripper according to claim 4, characterized in that: The driving mechanism (4) comprises a second central frame (11) and a motor (13); A rotating shaft (16) is longitudinally rotatably mounted in the second central frame (11); a first bevel gear (15) is fixedly mounted on one end of the rotating shaft (16) disposed in the first central frame (10); a second bevel gear (151) is fixedly mounted on one end of the rotating shaft (16) disposed in the second central frame (11); the motor (13) is vertically fixed to one side of the second central frame (11); an input bevel gear (130) is fixedly mounted on one end of the output shaft of the motor (13) disposed in the second central frame (11); the input bevel gear (130) is meshed with the second bevel gear (151); each of the lead screws (17) is fixedly mounted on one end of the first central frame (10); and a plurality of the output bevel gears (14) are meshed with the first bevel gear (15).

6. The reducer gripper according to claim 5, characterized in that: The driving mechanism (4) further comprises a third bevel gear (150), the third bevel gear (150) being rotatably connected to the rotating shaft (16), and a plurality of output bevel gears (14) being meshed and disposed between the third bevel gear (150) and the first bevel gear (15).

7. The reducer gripper according to claim 1, characterized in that: The plurality of main frames (1) are arranged in a cross shape on a horizontal plane.

8. The reducer gripper according to claim 1, characterized in that: A connecting flange (2) is fixed to a side of the driving mechanism (4) away from the main frame (1), and a quick-change mechanism (3) for replacing a gripper is also fixed to the connecting flange (2) and the driving mechanism (4).

9. A robot, characterized in that: It comprises a mechanical arm and the gripper according to any one of claims 1 to 8, wherein the mounting ends of the gripper and the mechanical arm are fixedly connected.

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