Robot clamp gripper

Abstract

The utility model relates to the field of robot grippers, in particular to a robot clamp gripper which comprises a fixing frame, a driving piece is fixedly installed on the top of the fixing frame, the shaft end of the driving piece is arranged in the fixing frame and fixedly connected with a connecting plate, and the other end of the connecting plate is provided with a pair of grippers through a clamping assembly. A movable plate is arranged on the side face of the gripper, a clamping part used for clamping goods is arranged on the other side of the movable plate, an adjusting assembly is arranged in the gripper, and the adjusting assembly is used for driving the movable plate to rotate. The two sides of the movable plate are provided with non-slip mats and curved grooves, the movable plate is driven to rotate in cooperation with the adjusting assembly to achieve switching of the clamping function of the robot gripper, in this way, goods with the flat surface can be clamped, cylindrical goods can also be clamped, on one hand, the goods carrying efficiency is improved, and on the other hand, the clamping function of the robot gripper is improved. And on the other hand, the application range of the utility model becomes wide and wider.

Description

Technical Field

[0001] The utility model relates to the field of robot grippers, in particular to a robot clamp gripper. Background Art

[0002] A robot gripper is a device used by robots to grab and hold objects. It is usually composed of components such as a robotic arm, a gripper, a sensor, and a control system. The robot gripper can be designed with different shapes and functions according to different task requirements, such as for grabbing parts, assembling products, and moving materials.

[0003] In order to enable the robot to quickly clamp and operate the goods, it is necessary to use a robot clamp gripper to work. For example, the prior art Chinese patent announcement number "CN214981116U" discloses a robot clamp gripper, including a fixed plate, a rotating mechanism is arranged at the upper end of the fixed plate, a bidirectional threaded rod is arranged inside the fixed plate, a threaded connection block is arranged at one end of the bidirectional threaded rod, a clamp is arranged at the lower end of the threaded connection block, a telescopic rod is arranged on one side of the clamp, a protrusion is arranged on the other side of the clamp, and a support plate is arranged at one end of the telescopic rod. The robot clamp gripper can improve the clamping stability of irregular objects when clamping irregular objects by arranging the clamp, the bidirectional threaded rod, the threaded connection block, the protrusion, the reset spring, the slot, the support plate, the telescopic rod, the fixing hole and the positioning hole, which can effectively avoid the damage of the objects due to the excessive clamping force, improve the clamping efficiency of the gripper, and at the same time, when clamping relatively square objects, it can effectively avoid the slipping of the objects due to the wetness, and improve the safety of the gripper during use.

[0004] Some robot grippers clamp goods by driving a pair of clamps. However, in actual operations, considering that similar grippers have flat clamping ends, they can only clamp goods with regular shapes at both ends and cannot clamp and transport cylindrical goods. Therefore, similar robot grippers have limited application scope and low practicality. Utility Model Content

[0005] The utility model aims to solve the shortcomings of the prior art that only the goods with regular shapes at both ends can be clamped and operated within a small application range, and proposes a robot clamp gripper.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A robot clamp gripper is designed, comprising a fixed frame, a driving member is fixedly installed on the top of the fixed frame, the shaft end of the driving member is arranged in the fixed frame and fixedly connected to a connecting plate, the other end of the connecting plate is provided with a pair of grippers through a clamping assembly, a movable plate is provided on the side of the gripper, a clamping portion for clamping goods is provided on the other side of the movable plate, an adjusting assembly is provided in the gripper, and the adjusting assembly is used to drive the movable plate to rotate.

[0008] Furthermore, the clamping assembly includes a curved rod rotatably connected on both sides of the fixing frame, a first connecting rod is rotatably connected on both sides of the connecting plate, one end of the curved rod is rotatably connected to the other end of the first connecting rod, and the other end is rotatably connected to the top of the gripper, and the bottom of the fixing frame is rotatably connected to a second connecting rod located between the gripper.

[0009] Furthermore, the adjustment assembly includes a mounting groove provided in the gripper, a sleeve is fixedly installed on the side of the gripper, a guide rod is provided in the sleeve, one end of the guide rod is fixedly installed with the movable plate, and the other end of the guide rod is located in the mounting groove and fixedly installed with a fixed wheel and a spring, one end of the spring is in conflict with one end of the sleeve, and the other end of the spring is fixedly connected to the side of the fixed wheel.

[0010] Furthermore, the guide rod is slidably connected to the sleeve and has limit grooves on both sides of the top, limit blocks are fixedly installed on both sides of the sleeve, the limit blocks are slidably connected to the limit grooves, and a protrusion is provided at the bottom of the fixed wheel.

[0011] Furthermore, the inner side surface of the mounting groove is rotatably connected to a driving wheel below the fixed wheel, and a recessed portion is provided on one side of the driving wheel. The recessed portion can contact the bottom surface of the fixed wheel and can also accommodate and move the raised portion to drive the fixed wheel to rise and rotate.

[0012] Furthermore, a motor is fixedly mounted on the inner side surface of the mounting groove, a worm wheel is fixedly mounted on the shaft end of the driving wheel, a worm is fixedly mounted on the shaft end of the motor, and the worm wheel meshes and rotates with the worm.

[0013] The utility model proposes a robot clamp gripper, which has the beneficial effect that: the utility model realizes the switching of the clamping function of the robot gripper by arranging anti-slip pads and curved grooves on both sides of the movable plate, and then cooperates with the adjustment component to drive the movable plate to rotate, so that not only the goods with flat surfaces can be clamped, but also the goods with cylindrical shapes can be clamped. On the one hand, the efficiency of handling goods is accelerated, and on the other hand, the application scope of the utility model becomes wider and the application scope becomes larger. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model;

[0015] Figure 2 This is a structural schematic diagram of the gripper of the utility model;

[0016] Figure 3 It is a structural schematic diagram of the adjustment component of the utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the guide rod of the utility model;

[0018] Figure 5 It is a structural schematic diagram of the driving wheel of the utility model.

[0019] In the figure: 1. fixed frame; 2. driving member; 3. connecting plate; 4. clamping assembly; 41. curved rod; 42. first connecting rod; 43. second connecting rod; 5. gripper; 6. movable plate; 61. anti-slip pad; 62. recessed groove; 7. clamping part; 8. adjustment assembly; 81. mounting groove; 82. sleeve; 83. guide rod; 84. fixed wheel; 841. raised part; 85. spring; 86. limit groove; 87. limit block; 88. driving wheel; 881. recessed part; 89. motor; 891. worm wheel; 892. worm. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0021] Reference Figure 1-5 A robot clamp gripper comprises a fixed frame 1, a driving member 2 is fixedly installed on the top of the fixed frame 1, the axial end of the driving member 2 is arranged in the fixed frame 1 and fixedly connected to a connecting plate 3, the other end of the connecting plate 3 is provided with a pair of grippers 5 through a clamping assembly 4, a movable plate 6 is provided on the side of the gripper 5, and a clamping portion 7 for clamping goods is provided on the other side of the movable plate 6, an adjusting assembly 8 is provided in the gripper 5, and the adjusting assembly 8 is used to drive the movable plate 6 to rotate.

[0022] It should be added that the driving member 2 is a cylinder, which drives the connecting plate 3 to move through the action of the telescopic shaft end of the cylinder, and then cooperates with the clamping assembly 4 to drive a pair of grippers 5 to clamp the goods;

[0023] In addition, the clamping portion 7 includes an anti-slip pad 61 and a recessed groove 62 provided on the side of the movable plate 6. The movable plate 6 is adjusted by the adjustment component 8 to rotate, thereby switching the clamping function of the gripper 5. The anti-slip pad 61 is suitable for clamping goods with regular surfaces, and the recessed groove 62 is suitable for clamping goods with cylindrical shapes, thereby enhancing the practicability of the clamp.

[0024] Furthermore, the clamping assembly 4 includes a curved rod 41 rotatably connected on both sides of the fixing frame 1, and a first connecting rod 42 is rotatably connected on both sides of the connecting plate 3, one end of the curved rod 41 is rotatably connected to the other end of the first connecting rod 42, and the other end thereof is rotatably connected to the top of the gripper 5, and the bottom of the fixing frame 1 is rotatably connected to the gripper 5 and a second connecting rod 43 is rotatably connected thereto.

[0025] The specific operation is that, under the drive of the cylinder shaft end, the connecting plate 3 moves, and when it moves, the curved rod 41 is flipped through the first connecting rod 42, and the curved rod 41 cooperates with the second connecting rod 43 to drive the gripper 5 to flip and clamp the goods.

[0026] Furthermore, the adjustment assembly 8 includes a mounting groove 81 provided in the gripper 5, a sleeve 82 is fixedly installed on the side of the gripper 5, a guide rod 83 is provided in the sleeve 82, one end of the guide rod 83 is fixedly installed with the movable plate 6, and the other end of the guide rod 83 is located in the mounting groove 81 and fixedly installed with a fixed wheel 84 and a spring 85, one end of the spring 85 is in contact with one end of the sleeve 82, and the other end of the spring 85 is fixedly connected to the side of the fixed wheel 84.

[0027] It is worth mentioning that a block and a slot are respectively provided on the side of the movable plate 6 facing the gripper 5, and the block can be snapped into the slot. Under normal circumstances, the guide rod 83 is supported by the spring 85, so that the movable plate 6 is constrained to be snapped into the slot by the block, and the movable plate 6 cannot rotate at will.

[0028] Then, the driving wheel 88 is used to resist the fixed wheel 84 so that the guide rod 83 drives the movable plate 6 to move upward, and the blocking block is disengaged from the slot. Then, the fixed wheel 84 and the movable plate 6 are rotated under the action of the recessed portion 881 to move the protruding portion 841. When the protruding portion 841 comes into the recessed portion 881 again after the fixed wheel 84 rotates half a circle, the fixed wheel 84 is lowered under the action of the spring 85, the movable plate 6 returns to its original position, and the blocking block continues to be clamped into the slot, completing the switching of the clamping function.

[0029] In more detail, the guide rod 83 is slidably connected to the sleeve 82 and is provided with limit grooves 86 on both sides of the top, and limit blocks 87 are fixedly installed on both sides of the sleeve 82. The limit blocks 87 are slidably connected to the limit grooves 86, and a protrusion 841 is provided at the bottom of the fixed wheel 84. The purpose of providing the limit grooves 86 and the limit blocks 87 is to ensure that the guide rod 83 will not twist arbitrarily and damage the spring 85 when moving.

[0030] In general, the inner side surface of the mounting groove 81 is located below the fixed wheel 84 and is rotatably connected to a driving wheel 88. A recessed portion 881 is provided on one side of the driving wheel 88. The recessed portion 881 can contact the bottom surface of the fixed wheel 84 and can also accommodate and move the raised portion 841 to drive the fixed wheel 84 to rise and rotate.

[0031] Under normal circumstances, both sides of the recessed portion 881 are in contact with the bottom of the fixed wheel 84, and the raised portion 841 is located in the recessed portion 881. When the driving wheel 88 rotates, the recessed portion 881 will utilize the recessed portion to contact the fixed wheel 84 when rotating to raise the fixed wheel 84 and the movable plate 6, and then move the raised portion 841 to rotate the fixed wheel 84.

[0032] Finally, a motor 89 is fixedly mounted on the inner side surface of the mounting groove 81, a worm wheel 891 is fixedly mounted on the shaft end of the driving wheel 88, a worm 892 is fixedly mounted on the shaft end of the motor 89, the worm wheel 891 meshes and rotates with the worm 892, and the worm wheel 891 is driven to rotate by the motor 89 to drive the worm 892, thereby driving the driving wheel 88 to rotate.

[0033] Working mode: When working, the cylinder drives the connecting plate 3 to move. When it moves, the first connecting rod 42 cooperates with the curved rod 41 and the second connecting rod 43 to drive the gripper 5 to flip and clamp the goods. When the clamping function needs to be changed, the motor 89 drives the worm 892 to drive the worm wheel 891 and the driving wheel 88 to rotate. When the driving wheel 88 rotates, the recessed portion 881 contacts the raised portion 841, so that the fixed wheel 84 is contacted and drives the movable plate 6 to rotate and rise. After the movable plate 6 rises, the card block disengages from the card slot and rotates to change the position of the anti-slip pad 61 and the recessed slot 62. Then, under the action of the spring 85, the fixed wheel 84 and the movable plate 6 descend, and the card block is connected to the raised portion 841 in the card slot and comes to the recessed portion 881, waiting for the next drive to rotate.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot gripper, comprising a fixing frame (1), characterized in that: A driving member (2) is fixedly mounted on the top of the fixed frame (1); the shaft end of the driving member (2) is arranged in the fixed frame (1) and is fixedly connected to a connecting plate (3); the other end of the connecting plate (3) is provided with a pair of grippers (5) through a clamping assembly (4); a movable plate (6) is provided on the side of the grippers (5); a clamping portion (7) for clamping goods is provided on the other side of the movable plate (6); an adjusting assembly (8) is provided in the grippers (5); the adjusting assembly (8) is used to drive the movable plate (6) to rotate; The adjustment assembly (8) comprises a mounting groove (81) provided in the gripper (5), a sleeve (82) is fixedly installed on the side of the gripper (5), a guide rod (83) is provided in the sleeve (82), one end of the guide rod (83) is fixedly installed with the movable plate (6), and the other end of the guide rod (83) is located in the mounting groove (81) and fixedly installed with a fixed wheel (84) and sleeved with a spring (85), one end of the spring (85) is in contact with one end of the sleeve (82), and the other end of the spring (85) is fixedly connected to the side of the fixed wheel (84); The guide rod (83) is slidably connected to the sleeve (82) and is provided with limit grooves (86) on both sides of the top; limit blocks (87) are fixedly installed on both sides of the sleeve (82); the limit blocks (87) are slidably connected to the limit grooves (86); and a protrusion (841) is provided at the bottom of the fixed wheel (84); The inner side surface of the mounting groove (81) is located below the fixed wheel (84) and is rotatably connected to a driving wheel (88); a recessed portion (881) is provided on one side of the driving wheel (88); the recessed portion (881) is capable of contacting the bottom surface of the fixed wheel (84) and can also accommodate and move the raised portion (841) to drive the fixed wheel (84) to rise and rotate; A motor (89) is fixedly mounted on the inner side surface of the mounting groove (81), a worm wheel (891) is fixedly mounted on the shaft end of the driving wheel (88), a worm (892) is fixedly mounted on the shaft end of the motor (89), and the worm wheel (891) and the worm (892) are meshed and rotated.

2. A robot gripper according to claim 1, characterized in that: The clamping assembly (4) comprises a curved rod (41) rotatably connected to both sides of the fixing frame (1); a first connecting rod (42) is rotatably connected to both sides of the connecting plate (3); one end of the curved rod (41) is rotatably connected to the other end of the first connecting rod (42), and the other end of the curved rod (41) is rotatably connected to the top of the gripper (5); and the bottom of the fixing frame (1) is rotatably connected to a second connecting rod (43) located between the gripper (5).

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