Flexible gripper structure of robot

Abstract

The utility model relates to a flexible gripper structure of a robot, in particular to the flexible gripper structure of the robot, which comprises a base, one side of the outer surface of the base is fixedly connected with a motor, the output end of the motor is fixedly connected with a driving shaft, and the outer surface of the driving shaft is in threaded connection with a threaded sleeve. The flexible gripper of the robot is provided with a special air bag structure, along with different input air pressures of the pneumatic controller, the clamping jaw can generate different actions such as holding and opening so as to complete the task of grabbing and releasing an object, an existing flexible gripper of the robot is provided with a protection device, the flexible gripper of the robot can be protected by an arc-shaped shell after being used, and the safety of the robot is improved. According to the flexible gripper of the robot, the gripper is prevented from being exposed outside and damaged, so that the service life of the flexible gripper of the robot is prolonged, the taking device installed on the base can be matched with a worker to take the flexible gripper of the robot more conveniently for grabbing, and the situation that the flexible gripper of the robot falls off from the hand is avoided.

Description

Technical Field

[0001] The utility model relates to a robot flexible gripper structure, in particular to a robot flexible gripper structure. Background Art

[0002] The robot's flexible gripper structure is a design that is different from the traditional rigid structure. It adapts to and grasps objects of different shapes and sizes by using flexible materials and special designs. The flexible gripper has a special airbag structure. With the different air pressures input by the pneumatic controller, the gripper will produce different actions, such as clenching and opening, to complete the task of grasping and releasing objects. The design of the robot's flexible gripper structure aims to improve versatility, rapid adjustment capabilities, precise positioning, intelligent control and multiple grasping methods. This structure enables the robot gripper to adapt to various complex and special grasping scenarios, improves its adaptability and reliability, and is widely used in processing and manufacturing, inspection and quality control, medical care, logistics and warehousing, handling and assembly.

[0003] After use, the main clamping and grasping part of the robot's flexible gripper cannot be stored. The material used to make the gripper is relatively soft and tough, but if it is not protected, the gripper will be corroded by external moisture and dust, which will reduce the gripper's toughness or even break. A damaged flexible gripper cannot be used anymore, which will damage relatively soft objects, thereby reducing the service life of the robot's flexible gripper. Utility Model Content

[0004] The main purpose of the utility model is to provide a robot flexible gripper structure to solve the problems raised in the relevant technology. After the use of the robot flexible gripper, its main clamping and grasping part cannot be stored and preserved. The material making the gripper is relatively soft and tough, but if it is not protected, the gripper will be eroded by external moisture and dust, which will reduce the toughness of the gripper and even break it. The damaged flexible gripper cannot be used anymore, which will cause damage to relatively soft objects, thereby reducing the service life of the robot flexible gripper.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a robot flexible gripper structure is provided, including a base, a motor is fixedly connected to one side of the outer surface of the base, a drive shaft is fixedly connected to the output end of the motor, a threaded sleeve is threadedly connected to the outer surface of the drive shaft, a support disk is rotatably connected to one side of the outer surface of the drive shaft, a guide rail is fixedly connected to the arc surface of the support disk, a slider is slidably connected to the outer surface of the guide rail, a connecting rod is hinged to one side of the outer surface of the slider, the other end of the connecting rod is hinged to the threaded sleeve, a protective device is provided on the outer surface of the slider, a picking device is provided on the outer surface of the base, the protective device includes a rectangular frame, a rectangular block is inserted into the inner wall of the rectangular frame, and an arc-shaped shell is fixedly connected to one side of the outer surface of the rectangular block.

[0006] Furthermore, a fixing hole is opened on one side of the outer surface of the rectangular frame, a first bolt is inserted and connected to the inner wall of the fixing hole, and a first thread groove is opened on one side of the outer surface of the rectangular block, and the surface area and shape of the inner wall of the first thread groove are adapted to the surface area and shape of the first bolt.

[0007] Furthermore, a circular frame is sleeved on the outer surface of the arc-shaped shell, and a connecting hole is opened on the outer surface of the circular frame.

[0008] Furthermore, a second bolt is inserted and connected to the inner wall of the connecting hole, and a second thread groove is opened on one side of the outer surface of the arc-shaped shell, and the surface area and shape of the inner wall of the second thread groove are adapted to the surface area and shape of the second bolt.

[0009] Furthermore, the picking device includes a connecting block, which is fixedly connected to the outer surface of the base, a rotating block is rotatably connected to one side of the outer surface of the connecting block, a hollow rectangular rod is fixedly connected to one side of the outer surface of the rotating block, a concave rod is slidably connected to the inner wall of the hollow rectangular rod, and an anti-slip pad is fixedly connected to one side of the outer surface of the concave rod.

[0010] Furthermore, an adjustment groove is provided on one side of the outer surface of the concave rod, and an adjustment hole is provided on one side of the outer surface of the hollow rectangular rod. A fixing buckle is inserted and connected to the inner wall of the adjusting hole, and the outer surface area size and shape of the fixing buckle are adapted to the inner surface area size and shape of the adjusting groove.

[0011] Compared with the prior art, the utility model has the following beneficial effects: the robot flexible gripper has a special airbag structure, and as the air pressure input by the pneumatic controller is different, the clamping claw will produce different actions, such as clenching and opening, to complete the task of grasping and releasing objects. The robot flexible gripper is now provided with a protective device, and the robot flexible gripper will be protected by the arc-shaped outer shell after use to prevent the gripper from being exposed to the outside and damaged, thereby extending the service life of the robot flexible gripper, and the picking device installed on the base can cooperate with workers to more conveniently pick up the robot flexible gripper for grasping, thereby preventing the robot flexible gripper from falling off the hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the gripping structure of the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the protective device of the utility model;

[0015] Figure 4 It is a schematic diagram of the structure of the taking device of the utility model.

[0016] Illustrations: 1. Base; 2. Motor; 6. Drive shaft; 7. Threaded sleeve; 8. Support plate; 9. Guide rail; 10. Slider; 11. Connecting rod; 3. Grab; 4. Protective device; 5. Pick-up device; 41. Rectangular frame; 42. Rectangular block; 43. Arc-shaped shell; 44. Fixing hole; 45. First bolt; 46. First threaded groove; 47. Round frame; 48. Connecting hole; 49. Second bolt; 410. Second threaded groove; 51. Connecting block; 52. Rotating block; 53. Hollow rectangular rod; 54. Concave rod; 55. Anti-slip pad; 56. Adjustment groove; 57. Adjustment hole; 58. Fixing buckle. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the utility model to achieve the predetermined utility model purpose, the specific implementation method, structure, characteristics and effects of the utility model are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0018] See also Figure 1-Figure 4As shown, the purpose of this embodiment is to provide a robot flexible gripper structure, including a base 1, a motor 2 is fixedly connected to one side of the outer surface of the base 1, a driving shaft 6 is fixedly connected to the output end of the motor 2, a threaded sleeve 7 is threadedly connected to the outer surface of the driving shaft 6, a support plate 8 is rotatably connected to one side of the outer surface of the driving shaft 6, a guide rail 9 is fixedly connected to the arc surface of the support plate 8, a slider 10 is slidably connected to the outer surface of the guide rail 9, a connecting rod 11 is hinged to one side of the outer surface of the slider 10, the other end of the connecting rod 11 is hinged to the threaded sleeve 7, a protective device 4 is provided on the outer surface of the slider 10, and a picking device 5 is provided on the outer surface of the base 1;

[0019] The protection device 4 includes a rectangular frame 41, a rectangular block 42 is inserted and connected to the inner wall of the rectangular frame 41, and a curved shell 43 is fixedly connected to one side of the outer surface of the rectangular block 42. The curved shell 43 shields the gripper 3 from direct contact with the air, thereby preventing the gripper 3 from being corroded and damaged.

[0020] A fixing hole 44 is provided on one side of the outer surface of the rectangular frame 41, and a first bolt 45 is inserted and connected to the inner wall of the fixing hole 44. A first thread groove 46 is provided on one side of the outer surface of the rectangular block 42, and the surface area and shape of the inner wall of the first thread groove 46 are adapted to the surface area and shape of the first bolt 45. Through the cooperation of the first bolt 45 and the first thread groove 46, the arc-shaped housing 43 can be disassembled, thereby avoiding interference with the use of the gripper 3.

[0021] It should be noted that a layer of flexible rubber pad is provided on the surface of the gripper 3, which can achieve a flexible clamping effect on the object.

[0022] The outer surface of the arc-shaped housing 43 is covered with a circular frame 47, and the outer surface of the circular frame 47 is provided with a connecting hole 48. Through the function of the circular frame 47, the bottom of the gripper 3 is sealed when it is stored, so as to prevent debris and water vapor from entering the gripper 3 from below.

[0023] A second bolt 49 is inserted and connected to the inner wall of the connecting hole 48, and a second thread groove 410 is provided on one side of the outer surface of the arc-shaped housing 43. The inner wall surface area and shape of the second thread groove 410 are adapted to the outer surface area and shape of the second bolt 49. Through the cooperation of the second bolt 49 and the second thread groove 410, the circular frame 47 can be fixed to the arc-shaped housing 43 to prevent it from falling.

[0024] The picking device 5 includes a connecting block 51, which is fixedly connected to the outer surface of the base 1, and a rotating block 52 is rotatably connected to one side of the outer surface of the connecting block 51, and a hollow rectangular rod 53 is fixedly connected to one side of the outer surface of the rotating block 52, and a concave rod 54 is slidably connected to the inner wall of the hollow rectangular rod 53, and an anti-skid pad 55 is fixedly connected to one side of the outer surface of the concave rod 54, so that the flexible gripper of the picking robot will not slip when grabbing an object;

[0025] An adjustment groove 56 is provided on one side of the outer surface of the concave rod 54, and an adjustment hole 57 is provided on one side of the outer surface of the hollow rectangular rod 53. A fixing buckle 58 is inserted and connected to the inner wall of the adjusting hole 57. The outer surface area and shape of the fixing buckle 58 are matched with the inner surface area and shape of the adjusting groove 56. Through the cooperation of the adjusting groove 56, the adjusting hole 57 and the fixing buckle 58, the concave rod 54 can be put away when the picking device 5 is not in use, and at the same time, it does not hinder the robot flexible gripper from being installed on other machines for use.

[0026] When the utility model is used, the concave rod 54 with the anti-skid pad 55 is inserted into the hollow rectangular rod 53, so that the adjustment groove 56 is aligned with the adjustment hole 57, and the fixing buckle 58 is inserted into the adjustment groove 56 through the adjustment hole 57 to fix the concave rod 54, and then the motor 2 is started to drive the driving shaft 6 to rotate. Before that, it is only necessary to hold the supporting plate 8 to prevent the supporting plate 8 from rotating itself. The driving shaft 6 then drives the threaded sleeve 7 to rotate, thereby driving the threaded sleeve 7 to move upward. At the same time, the upward movement will drive the inner end of the connecting rod 11 to move upward, and then the slider 10 is dragged inward along the guide rail 9, so that the grasping clamps 3 are close to each other to grasp the object. After use, The concave rod 54 is rotated to one side of the base 1 by using the rotating block 52, and then the rectangular block 42 with the arc-shaped shell 43 is inserted into the rectangular frame 41, so that the first thread groove 46 is aligned with the fixing hole 44, and the first bolt 45 is pressed through the fixing hole 44 and inserted into the first thread groove 46 to fix the arc-shaped shell 43, and then the gripper 3 is slid to the innermost side, and at the same time the arc-shaped shell 43 is driven to completely cover the gripper 3 inside, and then the circular frame 47 is put on the arc-shaped shell 43, so that the connecting hole 48 is aligned with the second thread groove 410, and finally the second bolt 49 is pressed through the connecting hole 48 and inserted into the second thread groove 410 to fix the circular frame 47.

[0027] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0028] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot flexible gripper structure, comprising a base (1), characterized in that: A motor (2) is fixedly connected to one side of the outer surface of the base (1); a drive shaft (6) is fixedly connected to the output end of the motor (2); a threaded sleeve (7) is threadedly connected to the outer surface of the drive shaft (6); a support disk (8) is rotatably connected to one side of the outer surface of the drive shaft (6); a guide rail (9) is fixedly connected to the arc surface of the support disk (8); a slider (10) is slidably connected to the outer surface of the guide rail (9); a connecting rod (11) is hingedly connected to one side of the outer surface of the slider (10); the other end of the connecting rod (11) is hingedly connected to the threaded sleeve (7); a protective device (4) is provided on the outer surface of the slider (10); a picking device (5) is provided on the outer surface of the base (1); the protective device (4) comprises a rectangular frame (41); a rectangular block (42) is inserted and connected to the inner wall of the rectangular frame (41); and an arc-shaped shell (43) is fixedly connected to one side of the outer surface of the rectangular block (42).

2. A robot flexible gripper structure according to claim 1, characterized in that: A fixing hole (44) is provided on one side of the outer surface of the rectangular frame (41), and a first bolt (45) is inserted and connected to the inner wall of the fixing hole (44). A first thread groove (46) is provided on one side of the outer surface of the rectangular block (42), and the surface area and shape of the inner wall of the first thread groove (46) are adapted to the surface area and shape of the outer wall of the first bolt (45).

3. A robot flexible gripper structure according to claim 2, characterized in that: The outer surface of the arc-shaped housing (43) is sleeved with a circular frame (47), and the outer surface of the circular frame (47) is provided with a connecting hole (48).

4. A robot flexible gripper structure according to claim 3, characterized in that: A second bolt (49) is inserted and connected to the inner wall of the connecting hole (48), and a second thread groove (410) is opened on one side of the outer surface of the arc-shaped housing (43), and the surface area and shape of the inner wall of the second thread groove (410) are matched with the surface area and shape of the second bolt (49).

5. A robot flexible gripper structure according to claim 4, characterized in that: The picking device (5) comprises a connecting block (51), the connecting block (51) being fixedly connected to the outer surface of the base (1), one side of the outer surface of the connecting block (51) being rotatably connected to a rotating block (52), one side of the outer surface of the rotating block (52) being fixedly connected to a hollow rectangular rod (53), the inner wall of the hollow rectangular rod (53) being slidably connected to a concave rod (54), and one side of the outer surface of the concave rod (54) being fixedly connected to an anti-slip pad (55).

6. A robot flexible gripper structure according to claim 5, characterized in that: An adjustment groove (56) is provided on one side of the outer surface of the concave rod (54), an adjustment hole (57) is provided on one side of the outer surface of the hollow rectangular rod (53), a fixing buckle (58) is inserted and connected to the inner wall of the adjusting hole (57), and the outer surface area size and shape of the fixing buckle (58) are matched with the inner surface area size and shape of the adjusting groove (56).

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