Adjustable robot gripper structure

Abstract

The utility model discloses an adjustable robot gripper structure, which relates to the technical field of robot grippers, and comprises a bottom plate, the top end of the bottom plate is fixedly connected with a support frame, the top end of the bottom plate is fixedly connected with a rotating mechanism, and the top of the rotating mechanism is rotatably connected with an adjusting mechanism. The right portion of the adjusting mechanism is rotationally connected with an auxiliary mechanism, the rotating mechanism comprises a first motor and a mounting frame, and the bottom end of the first motor is fixedly connected with the top end of the bottom plate. According to the adjustable robot gripper structure, the second motor is started, the second motor drives the worm to rotate, the worm is meshed with the worm gear, the worm gear drives the rotating rod to rotate synchronously, the rotating rod drives the connecting block to rotate synchronously, the connecting block drives the fixing block to rotate synchronously, and the fixing block drives the robot gripper to rotate synchronously. Therefore, the bending angle of the robot gripper is changed, and the effect of conveniently adjusting the bending angle of the robot gripper is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to an adjustable robot gripper structure. Background Art

[0002] A robot is a multi-joint manipulator or a multi-degree-of-freedom machine device. It is often used in industrial production. The robot's mechanical arm drives a gripper structure to grab objects and move them to the corresponding position.

[0003] For example, Chinese patent document CN210650708U discloses an adjustable robot gripper structure, including a frame structure and an adjustment structure; it is connected to the robot arm through a mounting plate, and a rotating motor drives the screw structure to rotate. Through the action of the left-handed thread segment and the right-handed thread segment, the first driving block and the second driving block respectively drive the first grasping member and the second grasping member to move toward the middle of the frame structure. At this time, the distance between the first grasping member and the second grasping member becomes closer, and the rotating motor reverses, successively making the distance between the first grasping member and the second grasping member farther, and adjusting the distance between the first grasping member and the second grasping member according to the length of the columnar structure. Subsequently, the telescopic columns of the cylinder structures in the two groups of clamping members extend, so that the moving block and the extension plate move toward the middle of the moving plate in the groove and the opening respectively, and the arc plate follows the movement and clamps the columnar structure. The first grasping member and the second grasping member respectively clamp the two ends of the columnar structure to complete the grasping process of the columnar structure, which is very convenient to use.

[0004] The existing technology has the following problems:

[0005] The robot gripper of the prior art cannot be rotated when in use, which reduces the practicality of the device. At the same time, the robot gripper of the prior art cannot be rotated at multiple angles when in use, which reduces the practicality of the device. Utility Model Content

[0006] The utility model provides an adjustable robot gripper structure to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0008] An adjustable robot gripper structure comprises a base plate, the top of the base plate is fixedly connected to a support frame, the top of the base plate is fixedly connected to a rotating mechanism, the top of the rotating mechanism is rotatably connected to an adjusting mechanism, the right part of the adjusting mechanism is rotatably connected to an auxiliary mechanism, the rotating mechanism comprises a motor 1 and a mounting frame, the bottom end of the motor 1 is fixedly connected to the top of the base plate, the adjusting mechanism comprises a connecting arm, the left part of the connecting arm is rotatably connected to the top of the mounting frame, the right end of the connecting arm is fixedly connected to the connecting frame, and the auxiliary mechanism comprises a fixed block, the left part of the fixed block is rotatably connected to the right part of the connecting frame.

[0009] Preferably: the output end of the motor 1 is fixedly connected to a rotating seat, the top of the rotating seat is fixedly connected to a mounting frame, the top of the rotating seat is rotatably connected to a telescopic cylinder, and the top of the telescopic cylinder is rotatably connected to the bottom of the connecting arm.

[0010] Preferably, four guide blocks 1 are fixedly connected to the bottom end of the rotating seat in a circular array, the outer wall of the guide block 1 is slidably connected to the top of the support frame, and the outer shape of the guide block 1 is T-shaped.

[0011] Preferably: the right part of the connecting arm is fixedly connected to motor 2, the output end of motor 2 is fixedly connected to a worm, the bottom of the worm is meshed with a worm wheel, the axis of the worm wheel is fixedly connected to a rotating rod, the outer wall of the rotating rod is fixedly connected to a connecting block, and the right end of the connecting block is fixedly connected to the left end of the fixed block.

[0012] Preferably: the inner cavity of the fixed block is fixedly connected to the motor three, the output end of the motor three is fixedly connected to the mounting plate, and the right part of the mounting plate is fixedly connected to the robot gripper.

[0013] Preferably, four guide blocks 2 are fixedly connected to the left end of the mounting plate in a circular array, the outer wall of the guide block 2 is slidably connected to the right part of the fixed block, and the outer shape of the guide block 2 is T-shaped.

[0014] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0015] 1. The utility model provides an adjustable robot gripper structure. When motor 1 is started, the motor 1 drives the rotating seat to rotate, so that the rotating seat drives the mounting frame to rotate synchronously, and the mounting frame drives the adjustment mechanism and the auxiliary mechanism to rotate synchronously. At the same time, the rotating seat drives the guide block 1 to slide on the top of the support frame, and the rotating seat is limited by the guide block pair, so that the rotating seat rotates more smoothly, thereby changing the direction of the robot gripper, so that the robot gripper can turn to any direction, achieving a rotation effect.

[0016] 2. The utility model provides an adjustable robot gripper structure, which starts motor 2, drives the worm to rotate, so that the worm and the worm wheel are meshed, and the worm wheel drives the rotating rod to rotate synchronously, so that the rotating rod drives the connecting block to rotate synchronously, the connecting block drives the fixed block to rotate synchronously, and the fixed block drives the robot gripper to rotate synchronously, thereby changing the bending angle of the robot gripper, which makes it easy to adjust the bending angle of the robot gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the main view of the utility model;

[0018] Figure 2 It is a schematic diagram of the cutaway structure of the main view of the utility model;

[0019] Figure 3 It is a structural schematic diagram of the adjustment mechanism of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the auxiliary mechanism of the utility model;

[0021] Figure 5 For this utility model Figure 4 Enlarged structural diagram at A in the middle.

[0022] In the figure: 1. base plate; 11. support frame; 2. rotating mechanism; 21. motor 1; 22. rotating seat; 23. guide block 1; 24. mounting frame; 25. telescopic cylinder; 3. adjusting mechanism; 31. connecting arm; 32. connecting frame; 33. motor 2; 34. worm; 35. worm wheel; 36. rotating rod; 37. connecting block; 4. auxiliary mechanism; 41. fixing block; 42. motor 3; 43. mounting plate; 44. guide block 2; 5. robot gripper. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0024] like Figure 1-Figure 4 As shown, an adjustable robot gripper structure includes a base plate 1, the top of the base plate 1 is fixedly connected to a support frame 11, the top of the base plate 1 is fixedly connected to a rotating mechanism 2, the top of the rotating mechanism 2 is rotatably connected to an adjusting mechanism 3, the right part of the adjusting mechanism 3 is rotatably connected to an auxiliary mechanism 4, the rotating mechanism 2 includes a motor 21 and a mounting frame 24, the bottom end of the motor 21 is fixedly connected to the top of the base plate 1, the adjusting mechanism 3 includes a connecting arm 31, the left part of the connecting arm 31 is rotatably connected to the top of the mounting frame 24, the right end of the connecting arm 31 is fixedly connected to a connecting frame 32, and the auxiliary mechanism 4 includes a fixed block 41, and the left part of the fixed block 41 is rotatably connected to the right part of the connecting frame 32.

[0025] By changing the orientation of the robot gripper 5 through the rotating mechanism 2 and then cooperating with the adjusting mechanism 3 and the auxiliary mechanism 4, the range of motion of the robot gripper 5 can be made wider, making it easier to grab objects.

[0026] like Figure 2 As shown, the output end of the motor 21 is fixedly connected to a rotating seat 22, the top of the rotating seat 22 is fixedly connected to a mounting frame 24, the top of the rotating seat 22 is rotatably connected to a telescopic cylinder 25, and the top of the telescopic cylinder 25 is rotatably connected to the bottom of the connecting arm 31.

[0027] By starting the motor 21, the motor 21 drives the rotating seat 22 to rotate, so that the rotating seat 22 drives the mounting frame 24 to rotate synchronously, and the mounting frame 24 drives the adjustment mechanism 3 and the auxiliary mechanism 4 to rotate synchronously, thereby changing the direction of the robot gripper 5, so that the robot gripper 5 can turn to any direction, achieving a rotation effect.

[0028] like Figure 2 As shown, four guide blocks 23 are fixedly connected to the bottom end of the rotating seat 22 in a circular array, and the outer wall of the guide block 23 is slidably connected to the top of the support frame 11. The outer shape of the guide block 23 is T-shaped.

[0029] When the rotating seat 22 rotates, it drives the guide block 1 23 to slide on the top of the support frame 11, and the guide block 1 23 limits the rotating seat 22, so that the rotating seat 22 rotates more smoothly.

[0030] like Figure 2 , Figure 3 As shown, the right part of the connecting arm 31 is fixedly connected to the motor 2 33, the output end of the motor 2 33 is fixedly connected to the worm 34, the bottom of the worm 34 is meshed with a worm wheel 35, the axis of the worm wheel 35 is fixedly connected to a rotating rod 36, the outer wall of the rotating rod 36 is fixedly connected to a connecting block 37, and the right end of the connecting block 37 is fixedly connected to the left end of the fixed block 41.

[0031] By starting the motor 2 33, the motor 2 33 drives the worm 34 to rotate, so that the worm 34 and the worm wheel 35 are meshed, and the worm wheel 35 drives the rotating rod 36 to rotate synchronously, so that the rotating rod 36 drives the connecting block 37 to rotate synchronously, and the connecting block 37 drives the fixed block 41 to rotate synchronously, and the fixed block 41 drives the robot gripper 5 to rotate synchronously, so as to change the size of the angle between the robot gripper 5 and the connecting arm 31, thereby facilitating the robot gripper 5 to grasp objects located at different positions, and playing the effect of facilitating the adjustment of the bending angle of the robot gripper 5.

[0032] like Figure 2 , Figure 4 and Figure 5As shown, the inner cavity of the fixed block 41 is fixedly connected to the motor three 42, the output end of the motor three 42 is fixedly connected to the mounting plate 43, the right part of the mounting plate 43 is fixedly connected to the robot gripper 5, the left end of the mounting plate 43 is fixedly connected to four guide blocks two 44 in a circular array, the outer wall of the guide block two 44 is slidably connected to the right part of the fixed block 41, and the outer shape of the guide block two 44 is T-shaped.

[0033] Start motor three 42 to drive the mounting plate 43 to rotate, so that the mounting plate 43 drives the guide block two 44 to rotate synchronously, and the guide block two 44 slides on the inner wall of the fixed block 41. The guide block two 44 guides the mounting plate 43, so that the mounting plate 43 rotates more smoothly. At the same time, the mounting plate 43 drives the robot gripper 5 to rotate synchronously, thereby making it easier for the robot gripper 5 to grab objects.

[0034] The working principle of the utility model is as follows: when in use, the motor 21 is started as needed, and the motor 21 drives the rotating seat 22 to rotate, so that the rotating seat 22 drives the mounting frame 24 to rotate synchronously, and the mounting frame 24 drives the adjusting mechanism 3 and the auxiliary mechanism 4 to rotate synchronously, and at the same time, the rotating seat 22 drives the guide block 23 to slide on the top of the support frame 11, and the guide block 23 limits the rotating seat 22, so that the rotating seat 22 rotates more smoothly, thereby changing the direction of the robot gripper 5, so that the robot gripper 5 can turn to any direction, achieving the effect of rotation, and then by starting the telescopic cylinder 25, the output end of the telescopic cylinder 25 drives the connecting arm 31 to rotate, so that the connecting arm 31 drives the robot gripper 5 to rotate synchronously, thereby changing the height of the robot gripper 5, which is convenient for the robot gripper 5 to grab objects at different heights, and at the same time, the motor 2 33 can be started, and the motor 2 33 drives the worm 34 to rotate, so that the worm 34 and the worm wheel 35 The worm gear 35 is meshed, and the worm gear 35 drives the rotating rod 36 to rotate synchronously, so that the rotating rod 36 drives the connecting block 37 to rotate synchronously, and the connecting block 37 drives the fixing block 41 to rotate synchronously, and the fixing block 41 drives the robot gripper 5 to rotate synchronously, so as to change the size of the angle between the robot gripper 5 and the connecting arm 31, thereby facilitating the robot gripper 5 to grab objects located at different positions, and playing the effect of facilitating the adjustment of the bending angle of the robot gripper 5, and during the grabbing process, the motor three 42 can be started to drive the mounting plate 43 to rotate, so that the mounting plate 43 drives the guide block two 44 to rotate synchronously, so that the guide block two 44 slides on the inner wall of the fixing block 41, and the mounting plate 43 is guided by the guide block two 44, so that the mounting plate 43 rotates more smoothly, and at the same time, the mounting plate 43 drives the robot gripper 5 to rotate synchronously, thereby making it easy for the robot gripper 5 to grab objects, wherein the robot gripper 5 belongs to the machine gripper in the prior art, thereby greatly improving the user experience.

[0035] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An adjustable robot gripper structure, comprising a base plate (1), characterized in that: The top of the base plate (1) is fixedly connected to a support frame (11), the top of the base plate (1) is fixedly connected to a rotating mechanism (2), the top of the rotating mechanism (2) is rotatably connected to an adjusting mechanism (3), the right part of the adjusting mechanism (3) is rotatably connected to an auxiliary mechanism (4), the rotating mechanism (2) comprises a motor (21) and a mounting frame (24), the bottom end of the motor (21) is fixedly connected to the top of the base plate (1), the adjusting mechanism (3) comprises a connecting arm (31), the left part of the connecting arm (31) is rotatably connected to the top of the mounting frame (24), the right end of the connecting arm (31) is fixedly connected to a connecting frame (32), and the auxiliary mechanism (4) comprises a fixed block (41), the left part of the fixed block (41) is rotatably connected to the right part of the connecting frame (32).

2. The adjustable robot gripper structure according to claim 1, characterized in that: The output end of the motor 1 (21) is fixedly connected to a rotating seat (22), the top of the rotating seat (22) is fixedly connected to a mounting frame (24), the top of the rotating seat (22) is rotatably connected to a telescopic cylinder (25), and the top of the telescopic cylinder (25) is rotatably connected to the bottom of a connecting arm (31).

3. The adjustable robot gripper structure according to claim 2, characterized in that: The bottom end of the rotating seat (22) is fixedly connected to four guide blocks (23) in a circular array, the outer wall of the guide block (23) is slidably connected to the top of the support frame (11), and the outer shape of the guide block (23) is T-shaped.

4. The adjustable robot gripper structure according to claim 1, characterized in that: The right part of the connecting arm (31) is fixedly connected to a second motor (33), the output end of the second motor (33) is fixedly connected to a worm (34), the bottom of the worm (34) is meshed with a worm wheel (35), the axis of the worm wheel (35) is fixedly connected to a rotating rod (36), the outer wall of the rotating rod (36) is fixedly connected to a connecting block (37), and the right end of the connecting block (37) is fixedly connected to the left end of the fixed block (41).

5. The adjustable robot gripper structure according to claim 1, characterized in that: The inner cavity of the fixed block (41) is fixedly connected to a motor three (42), the output end of the motor three (42) is fixedly connected to a mounting plate (43), and the right part of the mounting plate (43) is fixedly connected to a robot gripper (5).

6. The adjustable robot gripper structure according to claim 5, characterized in that: The left end of the mounting plate (43) is fixedly connected with four guide blocks (44) in a circular array, the outer wall of the guide block (44) is slidably connected to the right part of the fixed block (41), and the outer shape of the guide block (44) is T-shaped.

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