Robot clamping jaw device
By designing a robotic jaw clamping device with threaded rods and movable plates, the problem of poor clamping hand adjustment performance in the prior art is solved, and flexible adjustment and high flexibility of jaw clamping components are achieved, so that different models of products can be effectively grasped.
Patent Information
- Application Number
- CN202420646185.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-29
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-03-29
AI Technical Summary
The existing robot claw clamping device has poor adjustment performance and cannot effectively adjust the distance between clamping hands, resulting in poor flexibility and difficulty in grasping different models of products.
A robotic jaw device including a first connecting plate, two sets of jaw assemblies, a first drive motor, a threaded rod and a movable plate is designed. The first driving motor drives the threaded rod to rotate, so that the movable plate moves along the length of the threaded rod, drives the jaw assembly to slide, adjusts its relative distance, and improves flexibility.
It realizes flexible adjustment of the jaw assembly, improves the flexibility of the jaw device, can effectively grasp different models of products, and enhances the flexibility of use.
Smart Images
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Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robot clamping claws, in particular to a robot clamping claw device. Background Art
[0002] The gripper is the most common type of end effector. The gripper can be installed on the arm of an industrial robot to directly grasp the workpiece or the parts that perform the operation. It has the function of clamping, transporting, and placing the workpiece to a certain location.
[0003] However, the robot grippers currently in use have poor adjustment performance and cannot adjust the distance between the two grippers well, which results in poor adjustment effect and low flexibility of the grippers when in use. Utility Model Content
[0004] The utility model aims to provide a robot gripper device.
[0005] The utility model provides a robot gripper device, comprising a first connecting plate (101), two groups of gripper assemblies (601), a first driving motor (501), a threaded rod (502) and a movable plate (503) provided with threaded holes; the two groups of gripper assemblies (601) are symmetrically arranged at the bottom of the first connecting plate (101), and are both slidably connected to the first connecting plate (101); one end of the threaded rod (502) is fixed to the execution end of the first driving motor (501), and the other end is inserted into the threaded hole and threadedly connected to the movable plate (503); the movable plate (503) is fixed to one of the two groups of gripper assemblies (601); the first driving motor (501) is fixed to one side of the first connecting plate (101).
[0006] Preferably, the clamping jaw assembly (601) comprises a first top plate (6011); two groups of first sliding blocks (6017) are respectively fixed to the top of the first top plate (6011) near its two ends; and four groups of first sliding rails matching the first sliding blocks (6017) are fixed to the bottom of the first connecting plate (101).
[0007] Preferably, a first stopper (103) is also fixed to one side of the first connecting plate (101); the first stopper (103) and the first driving motor (501) are located on the same side of the first connecting plate (101).
[0008] Preferably, the robot gripper device provided by the utility model further includes a first bearing (404), an optical axis (402) and a second connecting plate (403); a bearing assembly hole (1011) matching the first bearing (404) is provided at the center of the first connecting plate (101); a first fixing hole (4031) is provided at the center of the second connecting plate (403); the first bearing (404) is fixed at the bearing assembly hole (1011); the optical axis (402) is assembled with the first bearing (404); one end of the optical axis (402) is inserted into the first fixing hole (4031) and fixed to the second connecting plate (403); the second connecting plate (403) is arranged below the first connecting plate (101).
[0009] Preferably, the robot gripper device provided by the utility model further comprises two groups of first connecting members (401) with second fixing holes (4011) fixed at both ends; a first column (6015) is fixed on the first top plates (6011) of the two groups of the gripper assemblies (601); a second column (4032) is fixed at both ends of the second connecting plate (403); the first column (6015) is inserted into the second fixing hole (4011) at one end of the first connecting member (401) and is movably connected to the first connecting member (401); the second column (4032) is inserted into the second fixing hole (4011) at the other end of the first connecting member (401) and is movably connected to the first connecting member (401).
[0010] Preferably, the robot gripper device provided by the utility model further comprises a connecting seat (301), two groups of second slide rails (202) and four groups of second slide blocks (203) matching the second slide rails (202); the connecting seat (301) comprises a first base plate (3034), a first ring body (3031) and a second ring body (3032); the first ring body (3031) is fixed between the second ring body (3032) and the first base plate (3034); the second ring body (3032) The outer diameter is larger than the outer diameter of the first ring body (3031); a first through hole (3033) is opened on the first bottom plate (3034); the first through hole (3033), the first ring body (3031) and the second ring body (3032) are coaxially arranged; the second sliding block (203) is fixed to the bottom of the first bottom plate (3034); two groups of the second sliding rails (202) are arranged in parallel and fixed to the top of the first connecting plate (101) along the width direction of the first connecting plate (101).
[0011] Preferably, the robot gripper device provided by the utility model further comprises a hydraulic telescopic device (201) provided with an execution end; the execution end is fixed to one side of the connecting seat (301).
[0012] Preferably, two second stoppers (102) are also fixed on the top of the first connecting plate (101); the two second stoppers (102) are arranged on both sides of the first bottom plate (3034) and are located between the two sets of second slide rails (202).
[0013] Preferably, the clamping jaw assembly (601) further comprises two groups of first side panels (6012) and two groups of square reinforcement plates (6013); the two groups of the first side panels (6012) are symmetrically fixed at both ends of the first top panel (6011); the two groups of the square reinforcement plates (6013) are fixed between the two groups of the first side panels (6012); and a plastic sleeve (6014) is fixed on one side of the two groups of the first side panels (6012).
[0014] Preferably, the robot gripper device provided by the utility model further includes a triangular reinforcement plate (504); the movable plate is fixed to the first side plate (6012); and the two sides of the triangular reinforcement plate (504) are respectively fixed to the first side plate (6012) and the movable plate (503).
[0015] The robot gripper device provided by the utility model drives the threaded rod (502) to rotate by the rotation of the first drive motor (501), thereby enabling the movable plate (503) to move along the length direction of the threaded rod (502), thereby driving the gripper assembly (601) connected to the movable plate (503) to slide, thereby flexibly adjusting the relative distance between the two groups of gripper assemblies (601), improving the flexibility of the two gripper assemblies (601), and thus being able to grasp products of different models. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the structure of the robot gripper device provided by the utility model from a first perspective;
[0017] Figure 2 A bottom view schematic diagram of the structure of the robot gripper device provided by the utility model;
[0018] Figure 3 A schematic diagram of the structure of the robot gripper device provided by the utility model from a second perspective;
[0019] Figure 4 A schematic diagram of the top view of the robot gripper device provided by the utility model;
[0020] Figure 5 A schematic cross-sectional structure diagram of the robot gripper device provided by the utility model;
[0021] Figure 6 for Figure 5 A partial enlarged structural schematic diagram of the cross-sectional structure shown;
[0022] Figure 7 This is a schematic diagram of the assembly structure of the first driving motor, the threaded rod, the movable plate and the first connecting plate according to an embodiment of the utility model;
[0023] Figure 8 It is a schematic diagram of the assembly structure of the optical axis, the first bearing, the second connecting plate, the first connecting member and the first connecting plate according to an embodiment of the utility model;
[0024] Fig. 9 This is a schematic diagram of the assembly structure of the clamping jaw assembly, the first sliding block and the first sliding rail according to an embodiment of the utility model;
[0025] Fig.10 This is a schematic diagram of the assembly structure of the first sliding block and the first sliding rail according to an embodiment of the utility model;
[0026] Fig.11 This is a structural schematic diagram of the first connecting plate according to an embodiment of the utility model;
[0027] Fig.12 This is a schematic structural diagram of the first connecting member according to an embodiment of the utility model;
[0028] Fig.13 This is a schematic structural diagram of the first bearing according to an embodiment of the utility model;
[0029] Fig.14 It is a structural schematic diagram of the connecting socket described in an embodiment of the utility model. DETAILED DESCRIPTION
[0030] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of 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.
[0031] like Figure 1-Figure 14As shown, the robot gripper device provided in this embodiment includes a first connecting plate 101, two groups of gripper assemblies 601, a first driving motor 501, a threaded rod 502 and a movable plate 503 provided with threaded holes; the two groups of gripper assemblies 601 are symmetrically arranged at the bottom of the first connecting plate 101, and are both slidably connected to the first connecting plate 101; one end of the threaded rod 502 is fixed to the execution end of the first driving motor 501, and the other end is inserted into the threaded hole and threadedly connected to the movable plate 503; the movable plate 503 is fixed to one of the two groups of gripper assemblies 601; the first driving motor 501 is fixed to one side of the first connecting plate 101. Those skilled in the art can understand that the rotation of the first drive motor 501 drives the threaded rod 502 to rotate, so that the movable plate 503 can move along the length direction of the threaded rod 502, and then drive the jaw assembly 601 connected to the movable plate 503 to slide, thereby flexibly adjusting the relative distance between the two groups of jaw assemblies 601, improving the flexibility of the two jaw assemblies 601, and being able to grasp products of different models.
[0032] Further, if Fig. 9 As shown, the gripper assembly 601 includes a first top plate 6011; two groups of first sliders 6017 are fixed to the top of the first top plate 6011 near its two ends; and four groups of first slide rails matching the first slide rails 6017 are fixed to the bottom of the first connecting plate 101. Those skilled in the art can understand that the two gripper assemblies 601 can slide smoothly along the first slide rails, thereby improving the working stability of the robot gripper device provided in this embodiment.
[0033] Further, if Figure 1 and Figure 7 As shown, a first stopper 103 is fixed to one side of the first connecting plate 101; the first stopper 103 and the first driving motor 501 are located on the same side of the first connecting plate 101. Those skilled in the art can understand that the first stopper 103 can prevent the clamping jaw assembly 601 from sliding off the first slide rail.
[0034] Further, if Figure 5 , Figure 6 , Figure 8 and Fig.11As shown, the robot gripper device provided in this embodiment also includes a first bearing 404, an optical axis 402 and a second connecting plate 403; a bearing assembly hole 1011 matching the first bearing 404 is provided at the center of the first connecting plate 101; a first fixing hole 4031 is provided at the center of the second connecting plate 403; the first bearing 404 is fixed at the bearing assembly hole 1011; the optical axis 402 is assembled with the first bearing 404; one end of the optical axis 402 is inserted into the first fixing hole 4031 and fixed to the second connecting plate 403; the second connecting plate 403 is arranged below the first connecting plate 101. Those skilled in the art can understand that the optical axis 402 will rotate freely in the first bearing 404 as the second connecting plate 403 rotates.
[0035] Further, if Figure 2 , Fig. 9 and Fig.12 As shown, the robot gripper device provided in this embodiment also includes two groups of first connecting members 401 with second fixing holes 4011 fixed at both ends; first columns 6015 are fixed on the first top plates 6011 of the two groups of the gripper assemblies 601; second columns 4032 are fixed at both ends of the second connecting plate 403; the first column 6015 is inserted into the second fixing hole 4011 at one end of the first connecting member 401 and is movably connected to the first connecting member 401; the second column 4032 is inserted into the second fixing hole 4011 at the other end of the first connecting member 401 and is movably connected to the first connecting member 401. Those skilled in the art can understand that when the first motor rotates, the gripper assembly 601 connected to the first motor moves, and the transmission of the two groups of first connecting members 401 drives the other group of gripper assemblies 601 to move synchronously, that is, the two groups of gripper assemblies 601 will move synchronously to the middle or to both ends.
[0036] Further, if Figure 1 , Figure 6 , Figure 7 and Fig.14As shown, the robot gripper device provided in this embodiment also includes a connecting seat 301, two groups of second slide rails 202 and four groups of second sliders 203 matching the second slide rails 202; the connecting seat 301 includes a first bottom plate 3034, a first ring body 3031 and a second ring body 3032; the first ring body 3031 is fixed between the second ring body 3032 and the first bottom plate 3034; the outer diameter of the second ring body 3032 is greater than the outer diameter of the first ring body 3031; a first through hole 3033 is opened on the first bottom plate 3034; the first through hole 3033, the first ring body 3031 and the second ring body 3032 are coaxially arranged; the second slider 203 is fixed to the bottom of the first bottom plate 3034; the two groups of the second slide rails 202 are arranged in parallel and fixed to the top of the first connecting plate 101 along the width direction of the first connecting plate 101. Those skilled in the art can understand that the connecting seat 301 is used to connect with the robot.
[0037] Further, if Figure 1 , Figure 3 and Figure 4 As shown, the robot gripper device provided in this embodiment further includes a hydraulic telescopic device 201 provided with an execution end; the execution end is fixed to one side of the connection seat 301. Those skilled in the art can understand that the hydraulic telescopic device 201 is a common technical means in the art, and will not be described in detail here. By extending and retracting the execution end of the hydraulic telescopic device 201, the first connection plate 101 can be driven to move left and right, thereby improving the flexibility of the gripper assembly 601.
[0038] Further, if Figure 3 and Figure 6 As shown, two second stoppers 102 are fixed on the top of the first connecting plate 101; the two second stoppers 102 are respectively arranged on both sides of the first bottom plate 3034 and between the two sets of second slide rails 202. Those skilled in the art can understand that the second stoppers 102 can prevent the connecting seat 301 from sliding out of the second slide rails 202.
[0039] Further, if Fig. 9 As shown, the clamping jaw assembly 601 also includes two groups of first side panels 6012 and two groups of square reinforcement plates 6013; the two groups of the first side panels 6012 are symmetrically fixed at both ends of the first top plate 6011; the two groups of the square reinforcement plates 6013 are fixed between the two groups of the first side panels 6012; and a plastic sleeve 6014 is fixed on one side of the two groups of the first side panels 6012.
[0040] Further, if Figure 7 and Fig. 9As shown, the robot gripper device provided in this embodiment further includes a triangular reinforcing plate 504; the movable plate is fixed to the first side plate 6012; and the two sides of the triangular reinforcing plate 504 are respectively fixed to the first side plate 6012 and the movable plate 503. Those skilled in the art can understand that the triangular reinforcing plate 504 can make the connection between the movable plate and the first side plate 6012 more firmly.
[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.
Claims
1. A robot gripper device, characterized in that: It comprises a first connecting plate (101), two groups of clamping jaw assemblies (601), a first driving motor (501), a threaded rod (502) and a movable plate (503) provided with a threaded hole; the two groups of clamping jaw assemblies (601) are symmetrically arranged at the bottom of the first connecting plate (101), and are both slidably connected to the first connecting plate (101); one end of the threaded rod (502) is fixed to the execution end of the first driving motor (501), and the other end is inserted into the threaded hole and threadedly connected to the movable plate (503); the movable plate (503) is fixed to one of the two groups of clamping jaw assemblies (601); the first driving motor (501) is fixed to one side of the first connecting plate (101); The clamping jaw assembly (601) comprises a first top plate (6011); two groups of first sliding blocks (6017) are respectively fixed at the top of the first top plate (6011) near its two ends; and four groups of first sliding rails matching the first sliding blocks (6017) are fixed at the bottom of the first connecting plate (101); A first stopper (103) is also fixed to one side of the first connecting plate (101); the first stopper (103) and the first driving motor (501) are located on the same side of the first connecting plate (101); It also comprises a first bearing (404), an optical axis (402) and a second connecting plate (403); a bearing assembly hole (1011) matching the first bearing (404) is provided at the center of the first connecting plate (101); a first fixing hole (4031) is provided at the center of the second connecting plate (403); the first bearing (404) is fixed at the bearing assembly hole (1011); the optical axis (402) is assembled with the first bearing (404); one end of the optical axis (402) is inserted into the first fixing hole (4031) and fixed to the second connecting plate (403); the second connecting plate (403) is arranged below the first connecting plate (101); It also includes two groups of first connecting members (401) with second fixing holes (4011) fixed at both ends; first columns (6015) are fixed on the first top plates (6011) of the two groups of the clamping jaw assemblies (601); second columns (4032) are fixed at both ends of the second connecting plate (403); the first column (6015) is inserted into the second fixing hole (4011) at one end of the first connecting member (401) and is movably connected to the first connecting member (401); the second column (4032) is inserted into the second fixing hole (4011) at the other end of the first connecting member (401) and is movably connected to the first connecting member (401); The invention also comprises a connecting seat (301), two groups of second slide rails (202) and four groups of second slide blocks (203) matched with the second slide rails (202); the connecting seat (301) comprises a first base plate (3034), a first ring body (3031) and a second ring body (3032); the first ring body (3031) is fixed between the second ring body (3032) and the first base plate (3034); the outer diameter of the second ring body (3032) is larger than the outer diameter of the first ring body (3031); a first through hole (3033) is provided on the first base plate (3034); the first through hole (3033), the first ring body (3031) and the second ring body (3032) are coaxially arranged; the second slide block (203) is fixed at the bottom of the first base plate (3034); the two groups of the second slide rails (202) are arranged in parallel and fixed to the top of the first connecting plate (101) along the width direction of the first connecting plate (101).
2. The robot gripper device according to claim 1, characterized in that: It also includes a hydraulic telescopic device (201) provided with an execution end; the execution end is fixed to one side of the connecting seat (301).
3. The robot gripper device according to claim 2, characterized in that: Two second stoppers (102) are also fixed on the top of the first connecting plate (101); the two second stoppers (102) are arranged on both sides of the first bottom plate (3034) and are located between the two sets of second slide rails (202).
4. The robot gripper device according to claim 3, characterized in that: The clamping jaw assembly (601) further comprises two groups of first side panels (6012) and two groups of square reinforcement panels (6013); the two groups of the first side panels (6012) are symmetrically fixed at the two ends of the first top panel (6011); the two groups of the square reinforcement panels (6013) are fixed between the two groups of the first side panels (6012); and a plastic sleeve (6014) is fixed on one side of the two groups of the first side panels (6012).
5. The robot gripper device according to claim 4, characterized in that: It also includes a triangular reinforcing plate (504); the movable plate is fixed to the first side plate (6012); and the two sides of the triangular reinforcing plate (504) are respectively fixed to the first side plate (6012) and the movable plate (503).