A robot gripper

Abstract

This application relates to a gripper for robots, belonging to the field of gripper technology. It includes: a housing with an accommodating chamber formed within it; grippers, at least two grippers disposed opposite to each other on the housing, with a connecting rod between the grippers and the housing, the two ends of the connecting rod being rotatably connected to the grippers and the housing respectively; a drive assembly mounted on the housing, used to drive the two opposite grippers to rotate on the housing; and an adjustment assembly mounted on the side of the housing near the connecting rod, used to adjust the clamping force of the grippers. This application can reduce clamping marks left on the surface of an object when the gripper clamps it.

Description

Technical Field

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

[0002] At present, the robot gripper is an actuator installed at the end of the robot for grasping, carrying and manipulating objects. It is the direct contact point between the robot and the object being manipulated. It has a variety of designs and can adapt to objects of different shapes, sizes and materials. Common types of grippers include mechanical grippers, vacuum suction cups, magnetic grippers, flexible grippers, pneumatic grippers and hydraulic grippers.

[0003] The existing Chinese patent with publication number CN214352494U discloses a mechanical clamp, comprising: a shell, a accommodating chamber formed in the shell; a group of clamps, the clamps comprising knuckles and a connecting rod assembly connected to the shell for driving the knuckles, the knuckles comprising a grab plate and a connecting rod fixedly connected to the grab plate; a driving module, the driving module comprising a motor arranged in the shell, a screw rod fixedly connected to the output shaft of the motor and a screw sleeve that performs linear motion on the screw rod, and the force-bearing end of the connecting rod assembly is hinged on the screw sleeve.

[0004] In the related art, a motor drives a screw rod to rotate. As the screw rod rotates, a screw sleeve performs a linear motion on the screw rod. As the screw sleeve moves, a connecting rod assembly drives the knuckles to clamp the object.

[0005] With respect to the above-mentioned related technologies, the inventors believe that the clamping force of the clamping jaws is uncontrollable, which may cause the clamping jaws to easily leave clamping marks on the surface of the object when clamping the object. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide a robot gripper, which solves the technical problem that the gripping force of the gripper is uncontrollable, resulting in the gripper easily leaving gripping marks on the surface of the object during the process of gripping the object.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A robot gripper comprises: a shell having an accommodating chamber formed therein; a gripper, wherein at least two grippers are arranged opposite to each other on the shell, and a connecting rod is arranged between the gripper and the shell, and the two ends of the connecting rod are rotatably connected to the gripper and the shell respectively; a driving component, wherein the driving component is mounted on the shell and used to drive the two opposite grippers to rotate on the shell; and an adjusting component, wherein the adjusting component is mounted on a side of the shell close to the connecting rod and used to adjust the clamping force of the gripper.

[0009] Through the above technical solution, the driving component drives the clamping jaw to rotate on the shell through the connecting rod. When the clamping jaw clamps the object, the adjusting component adjusts the clamping force of the clamping jaw clamping the object. Since the clamping force of the clamping jaw can be adjusted, the clamping marks left on the surface of the object when the clamping jaw clamps the object can be reduced.

[0010] Furthermore, the driving assembly includes a first gear and a second gear, the first gear is connected to one of the connecting rods, the second gear is connected to the other connecting rod, and the first gear and the second gear are meshed, and a driving motor is installed in the accommodating chamber of the shell, and the driving motor is used to drive the first gear to rotate.

[0011] Through the above technical solution, the driving motor drives the first gear to rotate, and since the first gear is meshed with the second gear, the two clamping jaws can rotate synchronously.

[0012] Furthermore, the adjustment assembly includes a first adjustment seat and a second adjustment seat, the first adjustment seat is rotatably mounted on the clamp, the second adjustment seat is rotatably mounted on the shell, an adjustment rod is mounted on the second adjustment seat, one end of the adjustment rod passes through the first adjustment seat, an adjustment nut is mounted on the adjustment rod, a support spring is arranged between the adjustment nut and the first adjustment seat, and the support spring is pressed tightly between the first adjustment seat and the adjustment nut.

[0013] Through the above technical solution, after the clamping jaws clamp an object, if the clamping jaws continue to clamp the object, the support spring will be compressed, thereby reducing the clamping marks left after the clamping jaws further clamp the object. In addition, the adjusting nut can adjust the elastic force of the support spring, so that the clamping jaws can provide different clamping forces for the object.

[0014] Furthermore, a jacket is provided on the clamping jaw, the jacket is sleeved on the clamping jaw, and a clamping surface is formed on the jacket.

[0015] Through the above technical solution, the clamping surface on the jacket contacts the object, thereby increasing the contact surface between the clamping claw and the object.

[0016] Furthermore, an anti-slip groove is provided on one side of the jacket close to the clamping surface.

[0017] Through the above technical solution, the anti-slip groove on the jacket increases the friction between the jacket and the object, thereby reducing the possibility of the object falling during the movement.

[0018] Furthermore, a first bevel gear and a second bevel gear are mounted on the housing, the first bevel gear and the second bevel gear are both rotatably mounted on the housing, and the first bevel gear is meshed with the second bevel gear, and the first bevel gear is provided with teeth, which are meshed with the first gear.

[0019] Through the above technical solution, the first bevel gear meshes with the second bevel gear, and the teeth on the first bevel gear mesh with the first gear, so that when the second bevel gear rotates, it can drive the clamping claw to rotate.

[0020] Furthermore, a third gear and a fourth gear are rotatably mounted on the shell, the third gear is connected to the second bevel gear, the fourth gear is connected to the drive motor, and the third gear and the fourth gear are meshed.

[0021] Through the above technical solution, the driving motor drives the fourth gear to rotate, and because the fourth gear is meshed with the third gear, the third gear drives the second gear to rotate.

[0022] In summary, the present application includes at least one of the following beneficial technical effects of a robot gripper:

[0023] 1. The driving assembly drives the clamping jaws to rotate on the housing through the connecting rod. When the clamping jaws clamp an object, the adjusting assembly adjusts the clamping force of the clamping jaws clamping the object. Since the clamping force of the clamping jaws can be adjusted, the clamping marks left on the surface of the object when the clamping jaws clamp the object can be reduced;

[0024] 2. The clamping sleeve and the anti-slip groove on the clamping sleeve prevent the clamping jaws from falling after clamping the object;

[0025] 3. Through the arrangement of the first bevel gear and the second bevel gear as well as the third gear and the fourth gear, the convenience of the drive motor in clamping or releasing the driving jaws is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a robot gripper mainly embodied in this embodiment;

[0027] Figure 2 This is an exploded schematic diagram of the shell structure mainly embodied in this embodiment;

[0028] Figure 3 This is a schematic diagram of the structure of the first adjustment seat and the second adjustment seat mainly embodied in this embodiment.

[0029] Figure numerals: 1. Shell; 11. Accommodating chamber; 2. Clamping jaws; 21. Jacket; 22. Clamping surface; 23. Anti-slip groove; 3. Connecting rod; 4. Adjusting assembly; 41. First adjusting seat; 42. Second adjusting seat; 43. Adjusting rod; 431. Positioning nut; 432. Adjusting nut; 44. Support spring; 5. Driving assembly; 51. First gear; 52. Second gear; 53. First bevel gear; 531. Tooth; 54. Second bevel gear; 55. Driving motor; 56. Third gear; 57. Fourth gear. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects of the utility model easier to understand, the utility model is further described below in conjunction with specific embodiments.

[0031] The following is combined with Figure 1-3 This application is described in further detail.

[0032] The embodiment of the present application discloses a gripper for a robot.

[0033] Reference Figure 1 A robot gripper includes a housing 1, a gripper 2 and a connecting rod 3 are mounted on the housing 1, and the gripper 2 is rotatably mounted on the housing 1 through the connecting rod 3. A driving component 5 and an adjusting component 4 are mounted on the housing 1, and the driving component 5 drives the gripper 2 to clamp an object. In addition, the adjusting component 4 adjusts the clamping force of the gripper 2 on the object, thereby reducing the clamping marks left by the gripper 2 on the surface of the object after the object is clamped.

[0034] Two clamping jaws 2 are arranged opposite to each other on the housing 1, and the connecting rod 3 corresponds to the clamping jaws 2. One end of the two clamping jaws 2 is rotatably mounted on the housing 1, and the cross section of the clamping jaw 2 is L-shaped, and the end of the connecting rod 3 away from the housing 1 is rotatably connected to the corner of the L-shaped angle.

[0035] Reference Figure 2 Furthermore, a jacket 21 is provided on one side of the L-shaped clamping jaw 2. The jacket 21 is made of silicone. When in use, the jacket 21 is sleeved on the corresponding clamping jaw 2. When the clamping jaw 2 clamps an object, the jacket 21 on the clamping jaw 2 contacts the object. Since the silicone can be deformed when in contact with the object, it can protect the object.

[0036] In addition, a clamping surface 22 is formed on the side where the two jackets 21 are close to each other, and the clamping surface 22 is flat as a whole. An anti-skid groove 23 is provided on the side of the jacket 21 close to the clamping surface 22, and a plurality of anti-skid grooves 23 are provided at intervals on the corresponding jacket 21. When the jacket 21 clamps an object, the anti-skid grooves 23 on the jacket 21 can increase the friction between the jacket 21 and the object, thereby reducing the risk of the object falling during movement.

[0037] Reference Figure 3 The adjustment assembly 4 includes a first adjustment seat 41 and a second adjustment seat 42. The first adjustment seat 41 is rotatably connected to one end of the L-shaped clamping jaw 2 away from the jacket 21, and the second adjustment seat 42 is rotatably connected to the housing 1. An adjustment rod 43 is provided on the second adjustment seat 42. Two adjustment rods 43 are arranged at intervals on the second adjustment seat 42. One end of the two adjustment rods 43 is connected to the second adjustment seat 42, and the other end passes through the first adjustment seat 41. A positioning nut 431 is provided at one end of the two adjustment rods 43 passing through the first adjustment seat 41. The positioning nut 431 is threadedly connected to the corresponding adjustment rod 43. The positioning nut 431 positions the first adjustment seat 41, thereby preventing the first adjustment seat 41 from separating from the adjustment rod 43.

[0038] The two adjustment rods 43 are both threadedly connected with an adjustment nut 432, and the adjustment nut 432 is threadedly connected to the adjustment rod 43. Furthermore, a support spring 44 is sleeved on the adjustment rod 43, and one end of the support spring 44 is tightly pressed against the first adjustment seat 41, and the other end is tightly pressed against the adjustment nut 432. When in use, the adjustment nut 432 is rotated, and the reaction force of the support spring 44 acting on the first adjustment seat 41 is changed by changing the distance between the adjustment nut 432 and the first adjustment seat 41.

[0039] When the clamping jaw 2 is in the process of clamping an object, the support spring 44 supports the side of the L-shaped clamping jaw 2 away from the sleeve 21 through the first adjustment seat 41. After the clamping jaw 2 clamps the object, the clamping jaw 2 rotates to the side away from each other. At this time, the support spring 44 is compressed to prevent the clamping jaw 2 from excessively clamping the object, thereby protecting the object.

[0040] In order to improve the convenience of the two clamping jaws 2 to clamp an object, the driving assembly includes a first gear 51 and a second gear 52. The first gear 51 is integrally formed with one of the connecting rods 3, and the second gear 52 is integrally formed with the other connecting rod 3, and the first gear 51 is meshed with the second gear 52. When the first gear 51 rotates, since the second gear 52 is meshed with the first gear 51, the two connecting rods 3 will drive the two clamping jaws 2 to rotate toward the side close to each other.

[0041] In addition, the housing 1 is provided with a first bevel gear 53 and a second bevel gear 54, both of which are rotatably mounted on the housing 1, and the first bevel gear 53 and the second bevel gear 54 are meshed with each other. Furthermore, the first bevel gear 53 is provided with teeth 531, and a plurality of teeth 531 are evenly spaced around the first bevel gear 53. The teeth 531 on the first bevel gear 53 are meshed with the Du Yu gear. During installation, the axis of the first bevel gear 53 is parallel to the rotation axis direction of the first gear 51 and the second gear 52, and the axis direction of the second bevel gear 54 is perpendicular to the axis direction of the first bevel gear 53.

[0042] The housing 1 is formed with a receiving chamber 11, and the driving assembly 5 further includes a driving motor 55, which is installed in the receiving chamber 11 of the housing 1. In addition, a third gear 56 and a fourth gear 57 are rotatably installed in the receiving chamber 11 of the housing 1, the third gear 56 is connected to the second bevel gear 54, and the fourth gear 57 is connected to the rotating shaft of the driving motor 55, and the third gear 56 is meshed with the fourth gear 57. When in use, the driving motor 55 drives the fourth gear 57 to rotate, and the fourth gear 57 drives the first gear 51 to rotate through the third gear 56, the second bevel gear 54 and the first bevel gear 53, and during the rotation of the first gear 51, the second gear 52 rotates synchronously.

[0043] The implementation principle of a robot gripper in an embodiment of the present application is as follows: the driving motor 55 drives the first bevel gear 53 to rotate through the fourth gear 57, the third gear 56 and the second bevel gear 54, and the first bevel gear 53 drives the first gear 51 to rotate. During the rotation of the second gear 52, the two connecting rods 3 rotate toward each other. When the gripper 2 clamps the object, the support spring 44 between the first adjustment seat 41 and the adjustment nut 432 is compressed. At this time, the two grippers 2 rotate toward each other.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot gripper, characterized in that: include: A housing (1), wherein a housing chamber (11) is formed in the housing (1); A clamping jaw (2), wherein at least two clamping jaws (2) are arranged opposite to each other on the housing (1), and a connecting rod (3) is arranged between the clamping jaw (2) and the housing (1), and two ends of the connecting rod (3) are rotatably connected to the clamping jaw (2) and the housing (1) respectively; A driving assembly (5), the driving assembly (5) being mounted on the housing (1), the driving assembly (5) being used to drive the two opposing clamping jaws (2) to rotate on the housing (1); An adjusting component (4) is installed on a side of the housing (1) close to the connecting rod (3), and the adjusting component (4) is used to adjust the clamping force of the clamping jaw (2).

2. A robot gripper according to claim 1, characterized in that: The driving assembly (5) comprises a first gear (51) and a second gear (52), wherein the first gear (51) is connected to one of the connecting rods (3), and the second gear (52) is connected to the other connecting rod (3), and the first gear (51) and the second gear (52) are meshed with each other. A driving motor (55) is installed in the accommodating chamber (11) of the housing (1), and the driving motor (55) is used to drive the first gear (51) to rotate.

3. A robot gripper according to claim 1, characterized in that: The adjustment assembly (4) comprises a first adjustment seat (41) and a second adjustment seat (42), wherein the first adjustment seat (41) is rotatably mounted on the clamping jaw (2), and the second adjustment seat (42) is rotatably mounted on the housing (1), an adjustment rod (43) is mounted on the second adjustment seat (42), one end of the adjustment rod (43) passes through the first adjustment seat (41), an adjustment nut (432) is mounted on the adjustment rod (43), a support spring (44) is arranged between the adjustment nut (432) and the first adjustment seat (41), and the support spring (44) is pressed tightly between the first adjustment seat (41) and the adjustment nut (432).

4. A robot gripper according to claim 1, characterized in that: The clamping jaw (2) is provided with a clamping sleeve (21), the clamping sleeve (21) is sleeved on the clamping jaw (2), and a clamping surface (22) is formed on the clamping sleeve (21).

5. A robot gripper according to claim 4, characterized in that: An anti-slip groove (23) is provided on one side of the clamping sleeve (21) close to the clamping surface (22).

6. A robot gripper according to claim 2, characterized in that: A first bevel gear (53) and a second bevel gear (54) are mounted on the housing (1); the first bevel gear (53) and the second bevel gear (54) are both rotatably mounted on the housing (1), and the first bevel gear (53) and the second bevel gear (54) are meshed with each other; the first bevel gear (53) is provided with teeth (531), and the teeth (531) are meshed with the first gear (51).

7. A robot gripper according to claim 6, characterized in that: A third gear (56) and a fourth gear (57) are rotatably mounted on the housing (1); the third gear (56) is connected to the second bevel gear (54); the fourth gear (57) is connected to the drive motor (55); and the third gear (56) and the fourth gear (57) are meshed with each other.

Images