Robot clamp gripper

Abstract

The utility model discloses a robot clamp gripper which comprises a plurality of fixing claws, an adjusting mechanism is arranged on the fixing claws, and the adjusting mechanism comprises a plurality of fixing pipes, a plurality of rubber blocks, a plurality of top blocks, a plurality of threaded sleeves, a plurality of hexagonal sections, a plurality of springs, a plurality of adjusting discs, a plurality of adjusting bolts, a plurality of top balls and a plurality of lubricating mechanisms. The multiple fixing pipes are installed on the fixing claws respectively, a threaded sleeve is in threaded connection with the interior of each fixing pipe, a rubber block is installed on the ejector block, the ejector block is slidably connected to the fixing claws, one end of the spring is connected to the threaded sleeve, and the main function of the adjusting mechanism is to provide accurate clamping force adjustment. Different adjusting bolts are used for being connected to different numbers of adjusting discs, fine adjustment of clamping force applied to the rubber block can be achieved, and the robot can flexibly adjust the clamping force according to different objects and operation requirements through the adjusting mode.

Description

Technical Field

[0001] The utility model relates to the technical field of clamp grippers, and more specifically, to a robot clamp gripper. Background Art

[0002] In the prior art, robots often rely on grippers to achieve stable grasping of objects when performing clamping or other precision operations. The core function of these grippers is to firmly control objects through gripping force, especially when dealing with grippers of different sizes, shapes or textures. However, existing robot grippers have certain limitations in adjusting the gripping force, especially in adjusting the gripping force of rubber blocks (which are often used to provide the necessary friction and cushioning).

[0003] First, different gripper designs require different levels of gripping force for different types of objects and operating requirements. For example, when handling fragile or easily damaged objects, a lighter gripping force is required to avoid damage, while when handling heavy or smooth objects, a stronger gripping force is required to ensure stability. In the prior art, the gripping force adjustment of many robot grippers is not flexible and cannot automatically or quickly adapt to different objects and operating environments, thus limiting the flexibility and application range of the robot.

[0004] Secondly, the gripping force adjustment of the rubber block is the key to ensure gripping effect and safety. As part of the gripper, the rubber block provides the necessary friction and softness to adapt to objects of different shapes and hardness. However, in the prior art, many robot grippers cannot easily adjust the gripping force of these rubber blocks, which may lead to inefficiency or failure to achieve the expected gripping effect when handling specific grippers. Utility Model Content

[0005] 1. Technical issues to be resolved

[0006] In view of the problems existing in the prior art, the utility model provides a robot clamp gripper to solve the technical problem of insufficient clamping force mentioned in the background technology.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot clamp gripper, comprising a fixed claw, an adjusting mechanism is arranged on the fixed claw, the adjusting mechanism comprises a fixed tube, a rubber block, a top block, a threaded sleeve, a hexagonal section, a spring, an adjusting disk, an adjusting bolt, a top ball and a lubricating mechanism, a plurality of the fixed tubes are arranged, and the plurality of the fixed tubes are respectively mounted on the fixed claw, a threaded sleeve is respectively threadedly connected in each of the fixed tubes, a rubber block is mounted on the top block, the top block is slidably connected to the fixed claw, one end of the spring is connected to the threaded sleeve, the other end of the spring is connected to the top ball, the top ball abuts against the top block, the hexagonal section is mounted on the threaded sleeve, a plurality of the adjusting disks are arranged, and the plurality of the adjusting disks are respectively equidistantly mounted on the spring, a groove is arranged in the threaded sleeve, the adjusting bolt is threadedly connected to the threaded sleeve and the plurality of the adjusting disks, and the lubricating mechanism is cooperatively connected to the fixed claw.

[0009] The utility model is further configured that a follower block is provided on the fixing claw, a fixing seat is provided on the external equipment, the follower block is rotatably connected to the fixing seat, and the design of the follower block ensures the fixing effect.

[0010] The utility model is further configured that a telescopic rod is slidably provided on the fixing seat, the telescopic rod is connected to an external device, and the design of the telescopic rod ensures the power supply for the clamping.

[0011] The utility model is further configured such that a pull plate is fitted on the follower block and the telescopic rod, a plurality of fixing bolts are provided on the pull plate, and the plurality of fixing bolts are rotatably connected to the pull plate, the follower block and the telescopic rod respectively. The design of the pull plate ensures the transmission of power.

[0012] The utility model is further configured such that the lubrication mechanism includes a sealing tube and a sealing plug, an oil storage tank is opened in the fixing bolt, a plurality of sealing tubes are installed on the fixing bolt, and a sealing plug is respectively clamped on each of the sealing tubes. The design of the lubrication mechanism ensures the continuity of lubrication.

[0013] The utility model is further configured that a plurality of lubrication grooves are provided on the side wall of the fixing bolt, and the plurality of lubrication grooves are connected to the oil storage tank. The design of the lubrication grooves ensures the continuity of lubrication.

[0014] The utility model is further configured such that a hexagonal sleeve is provided on the fixing bolt, a plurality of vertical blocks and transverse blocks are provided inside the fixing bolt, the plurality of vertical blocks and transverse blocks are respectively connected to the hexagonal sleeve, and the design of the hexagonal sleeve ensures the convenience of rotation of the fixing bolt.

[0015] The utility model is further configured that a nut is threadedly connected to the fixing bolt, and the nut is fitted on the pull plate, and the design of the nut ensures the fixing effect.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the utility model provides a robot clamp gripper, which has the following beneficial effects:

[0018] 1. The main function of the adjustment mechanism is to provide precise clamping force adjustment. By using different adjustment bolts connected to different numbers of adjustment disks, the clamping force applied to the rubber block can be finely adjusted. This adjustment method enables the robot to flexibly adjust the clamping force according to different objects and operating requirements, thereby adapting to various different working environments. This design not only improves the applicability and flexibility of the clamp, but also ensures safety and reliability when grasping different clamps.

[0019] 2. The lubrication mechanism is to ensure the reliability and smoothness of the gripper's long-term operation. Through the design of an oil storage tank and a lubrication tank, the lubricating oil can be injected and evenly distributed to each moving part when needed. This lubrication method not only reduces friction and wear, extends the service life of the gripper, but also improves the smoothness and accuracy of the operation. This lubrication mechanism is particularly important, especially when used for a long time or frequently. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a robot clamp gripper in the utility model;

[0021] Figure 2 It is a cross-sectional structural schematic diagram of the adjustment mechanism in the utility model;

[0022] Figure 3 It is a cross-sectional structural schematic diagram of the lubrication mechanism in the utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the rubber block in the utility model;

[0024] Figure 5 It is a structural schematic diagram of the fixing claw in the utility model.

[0025] In the figure: 1. fixing claw; 2. fixing tube; 3. rubber block; 4. top block; 5. threaded sleeve; 6. hexagonal section; 7. spring; 8. adjusting plate; 9. adjusting bolt; 10. top ball; 11. groove; 12. follower block; 13. fixing seat; 14. telescopic rod; 15. pull plate; 16. fixing bolt; 17. sealing tube; 18. sealing plug; 19. oil storage tank; 20. lubrication groove; 21. hexagonal sleeve; 22. vertical block; 23. horizontal block; 101. nut. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0028] In the present invention, unless otherwise specified, directions such as "up" and "down" are usually used in reference to the directions shown in the drawings, or in reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are usually used in reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0029] See also Figure 1-5 A robot clamp gripper comprises a fixed claw 1, the fixed claw 1 is provided with an adjustment mechanism, the adjustment mechanism comprises a fixed tube 2, a rubber block 3, a top block 4, a threaded sleeve 5, a hexagonal section 6, a spring 7, an adjustment disk 8, an adjustment bolt 9, a top ball 10 and a lubrication mechanism, a plurality of fixed tubes 2 are provided, and the plurality of fixed tubes 2 are respectively installed on the fixed claw 1, each fixed tube 2 is respectively threadedly connected with a threaded sleeve 5, a rubber block 3 is installed on the top block 4, the top block 4 is slidably connected to the fixed claw 1, one end of the spring 7 is connected to the threaded sleeve 5, the other end of the spring 7 is connected to the top ball 10, the top ball 10 abuts against the top block 4, the hexagonal section 6 is installed on the threaded sleeve 5, the adjustment disk 8 is provided There are multiple adjusting disks 8, and the multiple adjusting disks 8 are equidistantly installed on the spring 7. A groove 11 is opened in the threaded sleeve 5. The adjusting bolt 9 is threadedly connected to the threaded sleeve 5 and the multiple adjusting disks 8. The lubrication mechanism is cooperatively connected to the fixed claw 1. The fixed claw 1 is provided with a follower block 12. A fixed seat 13 is provided on the external equipment. The follower block 12 is rotatably connected to the fixed seat 13. A telescopic rod 14 is slidably provided on the fixed seat 13. The telescopic rod 14 is connected to the external equipment. A pull plate 15 is fitted on the follower block 12 and the telescopic rod 14. A plurality of fixing bolts 16 are provided on the pull plate 15. The plurality of fixing bolts 16 are rotatably connected to the pull plate 15, the follower block 12 and the telescopic rod 14 respectively.

[0030] In this embodiment, when clamping with different clamps, first select the corresponding adjusting bolt 9 according to the corresponding situation, then thread the adjusting bolt 9 on the threaded sleeve 5, and make the adjusting bolt 9 threaded on different numbers of adjusting disks 8, so that the top ball 10 is pressed against the top block 4. Since the position of the connected part of the adjusting disk 8 is in a fixed state, only the remaining unconnected part of the spring 7 can provide thrust, thereby increasing the thrust of the spring 7, and the top ball 10 is pressed against the top block 4, and then the rubber block 3 is stuck on the clamp. By adjusting different situations, the fixing force can be changed to ensure the continuity of the adjustment.

[0031] See also Figure 3 As an implementation method of a robot clamp gripper for a lubrication mechanism: the lubrication mechanism includes a sealing tube 17 and a sealing plug 18, an oil storage tank 19 is opened in the fixing bolt 16, a plurality of sealing tubes 17 are installed on the fixing bolt 16, and a sealing plug 18 is respectively clamped on each sealing tube 17, a plurality of lubrication grooves 20 are opened on the side wall of the fixing bolt 16, and the plurality of lubrication grooves 20 are connected to the oil storage tank 19, a hexagonal sleeve 21 is provided on the fixing bolt 16, a plurality of vertical blocks 22 and transverse blocks 23 are provided in the fixing bolt 16, and the plurality of vertical blocks 22 and transverse blocks 23 are respectively connected to the hexagonal sleeve 21, and a nut 101 is threadedly connected to the fixing bolt 16, and the nut 101 is attached to the pull plate 15.

[0032] More specifically, when lubrication is needed after a long period of operation, since the gripper may be at different angles, a sealing plug 18 at the uppermost position is selected, and then lubricating oil is injected into the sealing tube 17. The lubricating oil then flows into the oil storage tank 19 and flows into the pull plate 15, the follower block 12 and the telescopic rod 14 through the lubrication groove 20, thereby completing the lubrication process.

[0033] In summary, when the overall device is in use or running: when clamping different clamps, first select the corresponding adjusting bolt 9 according to the corresponding situation, and then thread the adjusting bolt 9 on the threaded sleeve 5, and make the adjusting bolt 9 threaded on different numbers of adjusting disks 8, so that the top ball 10 is against the top block 4. Since the position of the adjusting disk 8 of the connected part is in a fixed state, only the remaining unconnected part of the spring 7 can provide thrust, thereby increasing the thrust of the spring 7, and the top ball 10 is against the top block 4, and then the rubber block 3 is stuck on the clamp. By adjusting different situations, the fixing force can be changed to ensure the continuity of the adjustment.

[0034] When lubrication is needed after a long period of operation, since the gripper may be at different angles, a sealing plug 18 at the uppermost position is selected, and then lubricating oil is injected into the sealing tube 17. The lubricating oil then flows into the oil storage tank 19 and flows into the pull plate 15, the follower block 12 and the telescopic rod 14 through the lubrication groove 20, thereby completing the lubrication process.

[0035] In all the schemes mentioned above, the connection between two parts can be selected according to actual conditions by welding, bolt and nut matching connection, bolt or screw connection or other well-known connection methods, which are not described here one by one. In the above, all fixed connections are preferably welded. Although the embodiments of the utility model have been shown and described, it can be understood by ordinary technicians in this field that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the utility model. The scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A robot gripper, comprising a fixed claw (1), characterized in that: The fixing claw (1) is provided with an adjustment mechanism, which comprises a fixing tube (2), a rubber block (3), a top block (4), a threaded sleeve (5), a hexagonal section (6), a spring (7), an adjustment disk (8), an adjustment bolt (9), a top ball (10) and a lubricating mechanism. A plurality of fixing tubes (2) are provided, and the plurality of fixing tubes (2) are respectively mounted on the fixing claw (1). The threaded sleeve (5) is respectively threadedly connected in each fixing tube (2). The top block (4) is provided with a rubber block (3). The top block (4) is slidably connected to the fixing tube (2). The invention relates to a claw (1), one end of a spring (7) is connected to a threaded sleeve (5), the other end of the spring (7) is connected to a top ball (10), the top ball (10) abuts against a top block (4), a hexagonal section (6) is mounted on the threaded sleeve (5), a plurality of adjusting disks (8) are provided, and the plurality of adjusting disks (8) are respectively and equidistantly mounted on the spring (7), a groove (11) is provided in the threaded sleeve (5), an adjusting bolt (9) is threadedly connected to the threaded sleeve (5) and the plurality of adjusting disks (8), and the lubricating mechanism is cooperatively connected to the fixed claw (1).

2. A robot gripper according to claim 1, characterized in that: The fixing claw (1) is provided with a follower block (12), and the external equipment is provided with a fixing seat (13), and the follower block (12) is rotatably connected to the fixing seat (13).

3. A robot gripper according to claim 2, characterized in that: A telescopic rod (14) is slidably provided on the fixing seat (13), and the telescopic rod (14) is connected to external equipment.

4. A robot gripper according to claim 3, characterized in that: A pull plate (15) is fitted on the follower block (12) and the telescopic rod (14), and a plurality of fixing bolts (16) are provided on the pull plate (15). The plurality of fixing bolts (16) are rotatably connected to the pull plate (15), the follower block (12) and the telescopic rod (14) respectively.

5. A robot gripper according to claim 4, characterized in that: The lubrication mechanism comprises a sealing tube (17) and a sealing plug (18); an oil storage tank (19) is provided in the fixing bolt (16); a plurality of sealing tubes (17) are mounted on the fixing bolt (16); and a sealing plug (18) is clamped on each of the sealing tubes (17).

6. A robot gripper according to claim 5, characterized in that: A plurality of lubrication grooves (20) are provided on the side wall of the fixing bolt (16), and the plurality of lubrication grooves (20) are connected to the oil storage groove (19).

7. A robot gripper according to claim 6, characterized in that: A hexagonal sleeve (21) is provided on the fixing bolt (16), and a plurality of vertical blocks (22) and transverse blocks (23) are provided inside the fixing bolt (16). The plurality of vertical blocks (22) and transverse blocks (23) are respectively connected to the hexagonal sleeve (21).

8. The robot gripper according to claim 5, characterized in that: The fixing bolt (16) is threadedly connected with a nut (101), and the nut (101) is fitted on the pull plate (15).

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