Gripper

Abstract

The utility model relates to a gripper which comprises a gripper body, a left swing arm, a right swing arm, a driving mechanism, a left clamping mechanism and a right clamping mechanism, the left swing arm and the right swing arm are installed on the gripper body and connected with the gripper body in a pivoted mode, and the driving mechanism is connected with the left swing arm and the right swing arm and drives the left swing arm and the right swing arm to synchronously swing up and down, open or close. The left clamping mechanism is installed on the left swing arm, and the right clamping mechanism is installed on the right swing arm. The driving mechanism comprises four sets of worm and gear and a power source, the four sets of worm and gear are installed on the gripper body, two sets of worm and gear are connected with the left swing arm, two sets of worm and gear are connected with the right swing arm, the power source is connected with the four sets of worm and gear, and the left swing arm and the right swing arm are driven to swing up and down synchronously. And the lifting gripper can bear the weight.

Description

Technical Field

[0001] The utility model relates to a gripper, in particular to a swing-arm gripper with a large load-bearing capacity. Background Art

[0002] In the existing gripper, its left clamping mechanism and right clamping mechanism are directly installed on the gripper body, which can bear a large weight, but the distance between the left clamping mechanism and the right clamping mechanism is fixed and cannot be adjusted. (For example, Patent: 202420042902.0, a handling robot gripper; 20242004290.X, an assembly robot gripper)

[0003] We designed to adopt a swing-arm structure to adjust the distance between the left clamping mechanism and the right clamping mechanism to adapt to the grasping of workpieces (cylinders, boxes) of different lengths, but this undoubtedly greatly reduces the weight that the gripper can bear. Summary of the Utility Model

[0004] The present utility model provides a gripper, aiming to improve the swing-arm structure and enhance the weight that the gripper can bear.

[0005] The technical solution of the present utility model is as follows:

[0006] A gripper, which includes a gripper body, a left swing arm, a right swing arm, a driving mechanism, a left clamping mechanism, and a right clamping mechanism. The left swing arm and the right swing arm are installed on the gripper body and pivotally connected to the gripper body. The driving mechanism is connected to the left swing arm and the right swing arm to drive the left swing arm and the right swing arm to swing up and down synchronously, open or close. The left clamping mechanism is installed on the left swing arm, and the right clamping mechanism is installed on the right swing arm. The driving mechanism includes four sets of worm gears and worm wheels and a power source. The four sets of worm gears and worm wheels are installed on the gripper body. Two sets of worm gears and worm wheels are connected to the left swing arm, and two sets of worm gears and worm wheels are connected to the right swing arm. The power source is connected to the four sets of worm gears and worm wheels to drive the left swing arm and the right swing arm to swing up and down synchronously.

[0007] For a gripper with a swing-arm structure, the connection between the driving mechanism and the swing arm restricts the improvement of its load-bearing capacity. You know, the weight borne by the gripper is ultimately distributed to the connection between the driving mechanism and the swing arm. Therefore, we designed to adopt four sets of worm gears and worm wheels with two left swing arms and two right swing arms. The design of the worm gears and worm wheels improves the weight that the gripper can bear. At the same time, the four sets of worm gears and worm wheels share the weight borne by the gripper, further enhancing the weight that the gripper can bear.

[0008] There are two left swing arms and two right swing arms. The two left swing arms are one above the other, and the two right swing arms are one above the other.

[0009] The two sets of worm gears connecting the left swing arm are the upper left worm gear and the lower left worm gear, and the two sets of worm gears connecting the right swing arm are the upper right worm gear and the lower right worm gear. The upper left worm gear is connected to the upper left swing arm, the lower left worm gear is connected to the lower left swing arm, the upper right worm gear is connected to the upper right swing arm, and the lower right worm gear is connected to the lower right swing arm.

[0010] A left shaft and a right shaft are installed on the gripper body. The left shaft is directly connected to the upper left worm gear and connected to the lower left worm gear through a gear. The right shaft is directly connected to the upper right worm gear and connected to the lower right worm gear through a gear. The power source is a motor, which is installed on the gripper body and located between the left shaft and the right shaft. The power source is connected to the left shaft and the right shaft through bevel gears.

[0011] The left clamping mechanism is pivotally connected to the two left swing arms respectively, and the right clamping mechanism is pivotally connected to the two right swing arms respectively.

[0012] The left clamping mechanism and the right clamping mechanism are arranged side by side and are both grab hooks. When grasping a cylinder, the grab hooks hold the cylinder.

[0013] The left clamping mechanism includes a left cross beam, a left hook, and two left guide groove tubes. The right clamping mechanism includes a right cross beam, a right hook, and two right guide groove tubes. The left cross beam is pivotally connected to the two left swing arms. The left hook is installed on the left cross beam, and the two left guide groove tubes are installed on the left cross beam. The right cross beam is pivotally connected to the two right swing arms. The right hook is installed on the right cross beam, and the two right guide groove tubes are installed on the right cross beam. Inner clamping plates are installed in both the two left guide groove tubes and the two right guide groove tubes. When grasping a box, the left hook and the right hook cooperate to hook the box cover, and the two left guide groove tubes and the two right guide groove tubes are respectively inserted into two left guide grooves and two right guide grooves on the box body, and the box body is clamped by the inner clamping plates.

[0014] The left hook is pivotally connected to the left cross beam, and the right hook is pivotally connected to the right cross beam. A left driving structure is installed on the left cross beam. The left driving structure is connected to the left hook and drives the left hook to swing. A right driving structure is installed on the right cross beam. The right driving structure is connected to the right hook and drives the right hook to swing.

[0015] Both the left driving structure and the right driving structure are composed of a cylinder connected to a gear and a rack.

[0016] The gripper is symmetric about its central axis. When grasping workpieces (cylinders, boxes), the force is balanced and the transfer of workpieces (cylinders, boxes) is stable. Description of the Drawings

[0017] Figure 1 It is a three-dimensional view of the gripper of the handling robot (grasping a cylinder).

[0018] Figure 2 It is a three-dimensional view of the gripper of a handling robot.

[0019] Figure 3 It is a top view of the gripper of a handling robot.

[0020] Figure 4 It is Figure 3 The schematic cross-sectional view in the A-A direction in

[0021] Figure 5 It is a three-dimensional view of the gripper of an assembly robot (grabbing a box).

[0022] Figure 6 It is a three-dimensional view of the gripper of an assembly robot.

[0023] Figure 7 It is a top view of the gripper of an assembly robot.

[0024] Figure 8 It is Figure 7 The schematic cross-sectional view in the B-B direction in

[0025] In the figure

[0026] The gripper 1 of the handling robot: its gripper body 1-1, left swing arm 1-2, right swing arm 1-3, left clamping mechanism 1-4, right clamping mechanism 1-5, worm and worm gear 1-6, left shaft 1-7, right shaft 1-8;

[0027] The gripper 2 of the assembly robot: its gripper body 2-1, left swing arm 2-2, right swing arm 2-3, left clamping mechanism 2-4, left cross beam 2-4-1, left hook 2-4-2, left guide groove tube 2-4-3, inner clamping plate 2-4-4 installed in the left guide groove tube, left drive structure 2-4-5, right clamping mechanism 2-5, right cross beam 2-5-1, right hook 2-5-2, right guide groove tube 2-5-3, inner clamping plate 2-5-4 installed in the right guide groove tube, right drive structure 2-5-5, worm and worm gear 2-6, left shaft 2-7, right shaft 2-8. Specific embodiments

[0028] Embodiment

[0029] As Figures 1-4 shown, a gripper of a handling robot, the gripper 1 includes a gripper body 1-1, two left swing arms 1-2, two right swing arms 1-3, a drive mechanism, a left clamping mechanism 1-4, a right clamping mechanism 1-5. The two left swing arms 1-2 and the two right swing arms 1-3 are installed on the gripper body 1-1, and their roots are pivotally connected to the gripper body 1-1. The two left swing arms 1-2 are one above the other, and the two right swing arms 1-3 are one above the other;

[0030] The driving mechanism includes four sets of worm gears 1-6 and a power source. The four sets of worm gears 1-6 are installed on the gripper body 1-1, namely the upper left worm gear, the lower left worm gear, the upper right worm gear, and the lower right worm gear. The upper left worm gear is connected to the upper left swing arm, the lower left worm gear is connected to the lower left swing arm, the upper right worm gear is connected to the upper right swing arm, and the lower right worm gear is connected to the lower right swing arm. A left shaft 1-7 and a right shaft 1-8 are installed on the gripper body 1-1. The left shaft 1-7 is directly connected to the upper left worm gear and connected to the lower left worm gear through a gear. The right shaft 1-8 is directly connected to the upper right worm gear and connected to the lower right worm gear through a gear. The power source is a motor 1-9, which is installed on the gripper body 1-1 and located between the left shaft 1-7 and the right shaft 1-8. The power source is connected to the left shaft 1-7 and the right shaft 1-8 through bevel gears;

[0031] The left clamping mechanism 1-4 and the right clamping mechanism 1-5 are arranged side by side and are both grab hooks. The left clamping mechanism 1-4 is respectively pivotally connected to the ends of the two left swing arms 1-2, and the right clamping mechanism 1-5 is respectively pivotally connected to the ends of the two right swing arms 1-3;

[0032] The gripper 1 is symmetric about its central axis. Embodiment

[0033] As Figures 5-8 As shown, an assembly robot gripper, the gripper 2 includes a gripper body 2-1, two left swing arms 2-2, two right swing arms 2-3, a driving mechanism, a left clamping mechanism 2-4, and a right clamping mechanism 2-5. The two left swing arms 2-2 and the two right swing arms 2-3 are installed on the gripper body 2-1, and their roots are pivotally connected to the gripper body 2-1. The two left swing arms 2-2 are one above the other, and the two right swing arms 2-3 are one above the other;

[0034] The driving mechanism includes four sets of worm gears 2-6 and a power source. The four sets of worm gears are installed on the gripper body. They are the upper left worm gear, the lower left worm gear, the upper right worm gear, and the lower right worm gear respectively. The upper left worm gear is connected to the upper left swing arm, the lower left worm gear is connected to the lower left swing arm, the upper right worm gear is connected to the upper right swing arm, and the lower right worm gear is connected to the lower right swing arm. A left shaft 2-7 and a right shaft 2-8 are installed on the gripper body 2-2. The left shaft 2-7 is directly connected to the upper left worm gear and connected to the lower left worm gear through a gear. The right shaft 2-8 is directly connected to the upper right worm gear and connected to the lower right worm gear through a gear. The power source is a motor 2-9, which is installed on the gripper body 2-1 and located between the left shaft 2-7 and the right shaft 2-8. The power source is connected to the left shaft 2-7 and the right shaft 2-8 through bevel gears;

[0035] The left clamping mechanism 2-4 includes a left cross beam 2-4-1, a left hook 2-4-2, and two left guiding groove tubes 2-4-3. The right clamping mechanism 2-5 includes a right cross beam 2-5-1, a right hook 2-5-2, and two right guiding groove tubes 2-5-3. The left cross beam 2-4-1 is pivotally connected to the ends of two left swing arms 2-2. The left hook 2-4-2 is mounted on the left cross beam 2-4-1. The two left guiding groove tubes 2-4-3 are mounted on the left cross beam 2-4-1. The right cross beam 2-5-1 is pivotally connected to the ends of two right swing arms 2-3. The right hook 2-5-2 is mounted on the right cross beam 2-5-1. The two right guiding groove tubes 2-5-3 are mounted on the right cross beam 2-5-1. Inner clamping plates 2-4-4 are mounted on both of the two left guiding groove tubes 2-4-3. Inner clamping plates 2-5-4 are mounted inside both of the two right guiding groove tubes 2-5-3. The left hook 2-4-2 is pivotally connected to the left cross beam 2-4-1. The right hook 2-5-2 is pivotally connected to the right cross beam 2-5-1. A left driving structure 2-4-5 is mounted on the left cross beam 2-4-1. The left driving structure 2-4-5 is connected to the left hook 2-4-2. The left driving structure 2-4-5 drives the left hook 2-4-2 to swing. A right driving structure 2-5-5 is mounted on the right cross beam 2-5-1. The right driving structure 2-5-5 is connected to the right hook 2-5-2. The right driving structure 2-5-5 drives the right hook 2-5-2 to swing. Both the left driving structure 2-4-5 and the right driving structure 2-5-5 are composed of a cylinder connected to a gear and a rack.

[0036] The gripper 2 is symmetric about its central axis.

[0037] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A gripper, the gripper comprising a gripper body, a left swing arm, a right swing arm, a driving mechanism, a left clamping mechanism, and a right clamping mechanism. The left swing arm and the right swing arm are mounted on the gripper body and pivotally connected to the gripper body. The driving mechanism is connected to the left swing arm and the right swing arm to drive the left swing arm and the right swing arm to swing up and down synchronously, open or close. The left clamping mechanism is mounted on the left swing arm, and the right clamping mechanism is mounted on the right swing arm. It is characterized in that, The driving mechanism includes four sets of worm gears and worm wheels and a power source. The four sets of worm gears and worm wheels are installed on the gripper body. Two sets of worm gears and worm wheels are connected to the left swing arm, and two sets of worm gears and worm wheels are connected to the right swing arm. The power source is connected to the four sets of worm gears and worm wheels to drive the left swing arm and the right swing arm to swing up and down synchronously.

2. The gripper according to claim 1, characterized in that, There are two left swing arms and two right swing arms. The two left swing arms are one above the other, and the two right swing arms are one above the other. The two sets of worm gears and worm wheels connected to the left swing arm are the upper left worm gear and worm wheel and the lower left worm gear and worm wheel. The two sets of worm gears and worm wheels connected to the right swing arm are the upper right worm gear and worm wheel and the lower right worm gear and worm wheel. The upper left worm gear is connected to the upper left swing arm, the lower left worm gear is connected to the lower left swing arm, the upper right worm gear is connected to the upper right swing arm, and the lower right worm gear is connected to the lower right swing arm.

3. The gripper according to claim 2, wherein, A left shaft and a right shaft are installed on the gripper body. The left shaft is directly connected to the upper left worm gear and worm wheel and is connected to the lower left worm gear and worm wheel through a gear. The right shaft is directly connected to the upper right worm gear and worm wheel and is connected to the lower right worm gear and worm wheel through a gear. The power source is a motor, which is installed on the gripper body and is located between the left shaft and the right shaft. The power source is connected to the left shaft and the right shaft through bevel gears.

4. The gripper according to claim 3, characterized in that, The left clamping mechanism and the right clamping mechanism are arranged side by side and are both grab hooks.

5. A gripper according to claim 3, wherein, The left clamping mechanism includes a left cross beam, a left hook, and two left guiding groove tubes. The right clamping mechanism includes a right cross beam, a right hook, and two right guiding groove tubes. The left cross beam is pivotally connected to the two left swing arms. The left hook is installed on the left cross beam. The two left guiding groove tubes are installed on the left cross beam. The right cross beam is pivotally connected to the two right swing arms. The right hook is installed on the right cross beam. The two right guiding groove tubes are installed on the right cross beam. Inner clamping plates are installed in both the two left guiding groove tubes and the two right guiding groove tubes.

6. The gripper according to claim 5, characterized in that, The left hook is pivotally connected to the left cross beam, and the right hook is pivotally connected to the right cross beam. A left driving structure is installed on the left cross beam. The left driving structure is connected to the left hook and drives the left hook to swing. A right driving structure is installed on the right cross beam. The right driving structure is connected to the right hook and drives the right hook to swing. Both the left driving structure and the right driving structure are composed of a cylinder connected to a gear and a rack.

7. A gripper according to claim 1, characterized in that, The gripper is symmetric about its central axis.

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