Robot gripper with adjustable gripper

Abstract

The utility model relates to the technical field of robot grippers, in particular to a gripper-adjustable robot gripper which comprises a robot arm, a gear ring is arranged in the robot arm, and a limiting assembly is installed above the gear ring. And the adjusting assembly comprises a gear ring, the inner wall of the gear ring is meshed with a gear, the lower portion of the gear is connected with a lead screw, and the outer wall of the lead screw is connected with a nut pair. According to the robot gripper, due to the arrangement of the adjusting assembly, the total length of the movable plate and the base plate is increased, the length of the gripper is increased, practicability is improved, the gripper can conveniently grab large objects, the objects are prevented from falling off in the grabbing process, and due to the arrangement of the limiting assembly, when a limiting rod is clamped into a limiting disc, the limiting rod can be clamped into the limiting disc, and the clamping effect is good. The limiting disc can be limited, then the gear ring is limited, and the situation that the gear cannot be engaged with the gear ring when the foundation plate moves back due to slight vibration generated by operation of the robot arm and position deviation of the gear ring is avoided.

Description

Technical Field

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

[0002] In the field of robots, a robot gripper is an end effector installed at the end of a robot to enable the robot to grasp objects, and the robot gripper can grasp an object through a driver.

[0003] However, the length of the existing robot gripper is fixed. When grasping a smaller object, the robot gripper can easily complete the grasping. However, when grasping a larger object, since the length of the robot gripper cannot be adjusted, the contact area between the robot gripper and the object is too small, making it difficult to stably grasp, and the object is likely to fall during the grasping process. Content of the Utility Model

[0004] The purpose of the utility model is to provide a robot gripper with an adjustable gripper to solve the problem that the length of the robot gripper cannot be adjusted as mentioned in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A robot gripper with an adjustable gripper, comprising:

[0006] A robot arm, inside which a toothed ring is arranged, and a limiting component is installed above the toothed ring;

[0007] An adjusting component, which includes a toothed ring, a gear meshes with the inner wall of the toothed ring, a lead screw is connected below the gear, a nut pair is connected to the outer wall of the lead screw, a moving plate is arranged on the outer wall of the nut pair, and a base plate is arranged on the outer wall of the moving plate.

[0008] Preferably, the limiting component includes a limiting disc, a limiting rod meshes above the limiting disc, a connecting rod is connected above the limiting rod, a spring is arranged around the connecting rod, and a housing is arranged around the spring.

[0009] Preferably, the toothed ring is rotatably connected to the robot arm, and the lead screw is fixedly connected to the gear.

[0010] Preferably, the nut pair is fixedly connected to the moving plate, and the moving plate is slidably connected to the base plate.

[0011] Preferably, the limiting disc is fixedly connected to the toothed ring, and the connecting rod is fixedly connected to the limiting rod.

[0012] Preferably, the limiting rod is slidably connected to the robot arm, and the housing is fixedly connected to the robot arm.

[0013] Preferably, both ends of the spring are fixedly connected to the housing and the limiting rod respectively.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] (1) Through the setting of the adjusting component, the novel robot gripper can rotate the toothed ring from the outside of the robot arm according to the size of the object to be grasped. The toothed ring drives the gear to rotate, the gear drives the lead screw to rotate, the lead screw drives the nut pair to move, and the nut pair drives the moving plate to move downward, so that the total length of the moving plate and the base plate increases, the length of the gripper is increased, the practicability is improved, it is convenient for the gripper to grasp larger objects, and the object is prevented from falling during the grasping process.

[0016] (2) Through the setting of the limiting component, when the base plate grasps an object, the base plate will be driven by the actuator of the robot arm to move closer to each other. The limiting rod can be inserted into the limiting disc to fix the position of the limiting disc. When the toothed ring needs to be rotated, the connecting rod can be lifted, and the connecting rod drives the limiting rod to move upward, which does not affect the rotation of the limiting disc and the toothed ring. After the limiting rod is inserted into the limiting disc, the limiting disc can be limited, and then the toothed ring can be limited, so as to avoid the position deviation of the toothed ring caused by the slight vibration generated by the operation of the robot arm, resulting in the inability of the gear to mesh with the toothed ring when the base plate moves back. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a front view schematic diagram of the overall structure of the present utility model;

[0018] Figure 2 is a partial cross-sectional structure schematic diagram of the robot gripper of the present utility model;

[0019] Figure 3 is of the present utility model Figure 2 schematic diagram of the structure of part A;

[0020] Figure 4 is an exploded schematic diagram of the adjusting component of the present utility model;

[0021] Figure 5 is a partial parts exploded schematic diagram of the limiting component of the present utility model.

[0022] In the figure: 01, robot arm; 02, adjusting component; 21, toothed ring; 22, gear; 23, lead screw; 24, nut pair; 25, moving plate; 26, base plate; 03, limiting component; 31, limiting disc; 32, limiting rod; 33, connecting rod; 34, spring; 35, housing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0024] Please refer to Figures 1-5 , an embodiment provided by the present utility model: a robot gripper with an adjustable gripper. The robot arm 01 and the nut pair 24 used in this application are both products that can be directly purchased on the market, and their principles and connection methods are all prior arts well-known to those skilled in the art, so they will not be elaborated here.

[0025] It includes: a robot arm 01, a toothed ring 21 is arranged inside the robot arm 01, and a limiting component 03 is installed above the toothed ring 21;

[0026] An adjusting component 02, the adjusting component 02 includes a toothed ring 21, a gear 22 is meshed with the inner wall of the toothed ring 21, the gear 22 can drive a lead screw 23 to rotate, the lead screw 23 drives a nut pair 24 and a moving plate 25 to move, the gear 22 is connected with the lead screw 23 below, the outer wall of the lead screw 23 is connected with the nut pair 24, the nut pair 24 can drive the moving plate 25 to move, adjusting the total length of the moving plate 25 and the base plate 26, which is convenient for grasping objects of different sizes. The outer wall of the nut pair 24 is provided with a moving plate 25, the outer wall of the moving plate 25 is provided with a base plate 26, and the base plate 26 plays a guiding role for the moving plate 25.

[0027] Further, the limiting component 03 includes a limiting disc 31, the limiting rod 32 moves upward without affecting the rotation of the limiting disc 31 and the toothed ring 21, the limiting rod 32 is clamped into the limiting disc 31 to limit the limiting disc 31 and the toothed ring 21, the limiting rod 32 is meshed with the upper part of the limiting disc 31, the upper part of the limiting rod 32 is connected with a connecting rod 33, a spring 34 is arranged around the connecting rod 33, the spring 34 provides elastic force, under the elastic force of the spring 34, the limiting rod 32 is clamped into the limiting disc 31 to limit the limiting disc 31 and the toothed ring 21, and a housing 35 is arranged around the spring 34.

[0028] Further, the toothed ring 21 is rotatably connected with the robot arm 01 to ensure that the robot arm 01 does not affect the rotation of the toothed ring 21, the lead screw 23 is fixedly connected with the gear 22 to ensure that the gear 22 can drive the lead screw 23 to rotate, and the lead screw 23 drives the nut pair 24 and the moving plate 25 to move.

[0029] Further, the nut pair 24 is fixedly connected to the moving plate 25 to ensure that the nut pair 24 can drive the moving plate 25 to move, adjust the total length of the moving plate 25 and the base plate 26, and facilitate the grasping of objects of different sizes. The moving plate 25 is slidably connected to the base plate 26, and the base plate 26 plays a guiding role for the moving plate 25.

[0030] Further, the limiting disk 31 is fixedly connected to the gear ring 21 to ensure the integrity of the gear ring 21 and the limiting disk 31. The connecting rod 33 is fixedly connected to the limiting rod 32 to ensure that when the connecting rod 33 moves upward, it can drive the limiting rod 32 to move.

[0031] Further, the limiting rod 32 is slidably connected to the robot arm 01 to ensure that the robot arm 01 does not affect the movement of the limiting rod 32. When the limiting rod 32 moves upward, it does not affect the rotation of the limiting disk 31 and the gear ring 21. The limiting rod 32 is inserted into the limiting disk 31 to limit the limiting disk 31 and the gear ring 21. The housing 35 is fixedly connected to the robot arm 01 to ensure the stability of the housing 35.

[0032] Further, both ends of the spring 34 are fixedly connected to the housing 35 and the limiting rod 32 respectively. The spring 34 provides elastic force. Under the elastic force of the spring 34, the limiting rod 32 is inserted into the limiting disk 31 to limit the limiting disk 31 and the gear ring 21.

[0033] Working principle: When in use, first lift the connecting rod 33. The connecting rod 33 drives the limiting rod 32 to move upward, which does not affect the rotation of the limiting disk 31 and the gear ring 21. Rotate the gear ring 21, the gear ring 21 drives the gear 22 to rotate, the gear 22 drives the lead screw 23 to rotate, the lead screw 23 drives the nut pair 24 to move, the nut pair 24 drives the moving plate 25 to move downward, so that the total length of the moving plate 25 and the base plate 26 increases. Release the connecting rod 33. Under the elastic force of the spring 34, the limiting rod 32 is inserted into the limiting disk 31 to limit the limiting disk 31 and the gear ring 21. The driver in the robot arm 01 can drive the base plates 26 to approach each other to grasp the object. The above is all the working principles of the present invention.

[0034] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A robot gripper with an adjustable gripper, characterized in that, Comprising: A robotic arm (01), inside which a toothed ring (21) is provided, and a limiting component (03) is installed above the toothed ring (21); An adjusting component (02), the adjusting component (02) includes a toothed ring (21), a gear (22) is engaged with the inner wall of the toothed ring (21), a lead screw (23) is connected below the gear (22), a nut pair (24) is connected to the outer wall of the lead screw (23), a moving plate (25) is arranged on the outer wall of the nut pair (24), and a base plate (26) is arranged on the outer wall of the moving plate (25).

2. The robotic gripper with an adjustable gripper according to claim 1, wherein: The limiting component (03) includes a limiting disk (31), a limiting rod (32) is engaged above the limiting disk (31), a connecting rod (33) is connected above the limiting rod (32), a spring (34) is arranged around the connecting rod (33), and a housing (35) is arranged around the spring (34).

3. The robotic gripper with an adjustable gripper according to claim 1, characterized in that: The toothed ring (21) is rotatably connected to the robotic arm (01), and the lead screw (23) is fixedly connected to the gear (22).

4. The robotic gripper with an adjustable gripper according to claim 1, wherein: The nut pair (24) is fixedly connected to the moving plate (25), and the moving plate (25) is slidably connected to the base plate (26).

5. The robot gripper with an adjustable gripper according to claim 2, characterized in that: The limiting disk (31) is fixedly connected to the toothed ring (21), and the connecting rod (33) is fixedly connected to the limiting rod (32).

6. The robotic gripper with an adjustable gripper according to claim 2, wherein: The limiting rod (32) is slidably connected to the robotic arm (01), and the housing (35) is fixedly connected to the robotic arm (01).

7. The robot gripper with an adjustable gripper according to claim 2, characterized in that: Both ends of the spring (34) are fixedly connected to the housing (35) and the limiting rod (32) respectively.

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