Robot clamping jaw structure

Abstract

The embodiment of the utility model provides a robot clamping jaw structure. The robot clamping jaw structure comprises a clamping jaw mounting seat, a clamping jaw driving motor, a curved-to-straight mechanism and two fingers, the robot clamping jaw structure is fixedly mounted on a robot mechanical arm through a clamping jaw mounting seat; a motor tail cover end of the clamping jaw driving motor is fixedly mounted on the clamping jaw mounting seat; the bending-to-straightening mechanism is fixedly connected with an output shaft of the clamping jaw driving motor, the two fingers are connected with the bending-to-straightening mechanism, and the bending-to-straightening mechanism converts rotary motion of the output shaft of the clamping jaw driving motor into linear motion of the two fingers. And the clamping jaw driving motor drives the two fingers to perform opposite opening and closing movement through the bending-to-straight mechanism, so that the robot clamping jaw structure performs clamping and releasing actions through the two fingers. According to the robot clamping jaw structure, the rotary motion of the motor is converted into the linear motion, so that the robot clamping jaw structure has large torque under the condition that the size is as small as possible, and the reliability of the robot clamping jaw structure is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot clamping claw structure. Background Art

[0002] With the advancement of computer technology, microelectronics technology, and network technology, robotics has also experienced rapid growth. Currently, robots are used not only in the industrial sector but also in areas closely related to human life, such as service robots, educational robots, and entertainment robots. These robots, which consist of heads, torsos, mechanical arms, and grippers, have brought convenience and enjoyment to human life. However, in existing technologies, the gripper structure of the robot is relatively large to achieve high torque, which in turn leads to poor gripping reliability. Utility Model Content

[0003] The present application provides a robot gripper structure to solve at least one problem in the above-mentioned prior art.

[0004] According to an embodiment of the present application, a robot gripper structure is provided, comprising: a gripper mounting base, a gripper drive motor, a bending and straightening mechanism, and two fingers;

[0005] The robot gripper structure is fixedly mounted on the robot arm through the gripper mounting base; the motor tail cover end of the gripper drive motor is fixedly mounted on the gripper mounting base; the curved-to-straight mechanism is fixedly connected to the output shaft of the gripper drive motor, and the two fingers are respectively connected to the curved-to-straight mechanism, and the curved-to-straight mechanism converts the rotational motion of the output shaft of the gripper drive motor into linear motion of the two fingers. When the gripper drive motor is working, the gripper drive motor drives the two fingers to perform opposite opening and closing movements through the curved-to-straight mechanism, so that the robot gripper structure performs a clamping and releasing action through the two fingers.

[0006] In some embodiments of the present application, the curved-to-straight mechanism includes a sheave, a pulley pin, a linear structure, a linear slider, and a finger mount;

[0007] The two wheels are fixedly connected to the output shaft of the clamping jaw driving motor, and the two wheel gears are symmetrically provided with two rotating slide grooves on the wheel gear; each of the rotating slide grooves is provided with a pulley pin; the linear structure is fixedly connected to the motor housing of the clamping jaw driving motor, and the linear structure is symmetrically provided with two linear slide grooves; each linear slide groove is provided with a linear slider; the wheel gear is located in a cavity between the linear structure and the clamping jaw driving motor, and the two pulley pins are respectively fixedly connected to one end face of one linear slider; the other end faces of the two linear sliders are respectively fixedly connected to the two fingers through the finger mounting members; when the clamping jaw driving motor works, the output shaft of the clamping jaw driving motor drives the wheel to rotate, and the two pulley pins respectively slide in the two rotating slide grooves, and respectively drive the two linear sliders to move linearly along the linear slide grooves, and the two linear sliders are relatively close to or away from each other, so as to make the two fingers perform opposite opening and closing movements through the finger mounting members.

[0008] In some embodiments of the present application, the groove wheel is a plate structure, the middle part of the groove wheel is fixedly connected to the output shaft of the clamp drive motor with bolts, and the two rotating grooves are symmetrically arranged on the end face of the groove wheel away from the clamp drive motor; each of the rotating grooves is a linear groove structure, and the diameter of the pulley pin is adapted to the width of the rotating groove; the middle part of the groove wheel is a circular plate structure, the diameter of which is adapted to the diameter of the output shaft of the clamp drive motor, and is fixedly connected to the end face of the output shaft of the clamp drive motor with bolts; the groove wheel is provided with two straight edges at both ends of the rotating grooves, and the two end edges of the groove wheel are integrally transitionally connected to the middle part of the groove wheel.

[0009] In some embodiments of the present application, the linear structure includes a linear slide seat and a linear slide cover;

[0010] The linear slide seat is a shell structure with an open end, the open end of the linear slide seat is fixedly connected to the motor housing of the clamping jaw driving motor, the groove wheel is located in the shell of the linear slide seat, and two first linear slides are provided on the end surface of the linear slide seat, and each of the first linear slides passes through the inside and outside of the shell of the linear slide seat; the linear slide cover is fixedly connected to the end surface of the linear slide seat away from the clamping jaw driving motor, and two second linear slides are provided on the linear slide cover, each of the second linear slides passes through the opposite end surfaces of the linear slide cover, and the two second linear slides are respectively arranged in a one-to-one correspondence with the two first linear slides; the first linear slide and the second linear slide together constitute the linear slide, and the linear slide block is clamped between the linear slide block and the linear slide cover, and the two ends of the linear slide block are respectively arranged in the first linear slide block and the second linear slide block.

[0011] In some embodiments of the present application, the end face shape and size of the linear slide seat are adapted to the end face shape and size of the linear slide cover; a plurality of first mounting holes are provided at the two opposite edges of the linear slide cover, and a plurality of second mounting holes are provided at the two opposite edges of the linear slide seat, and the plurality of second mounting holes are respectively arranged in one-to-one correspondence with the plurality of first mounting holes, and a plurality of third mounting holes are provided on the motor housing of the clamping drive motor, and the plurality of third mounting holes are respectively arranged in one-to-one correspondence with the plurality of second mounting holes, and the first mounting holes, the second mounting holes and the third mounting holes are sequentially penetrated and fixed by bolts, and the linear slide cover, the linear slide seat and the motor housing of the clamping drive motor are fixedly connected.

[0012] In some embodiments of the present application, the vertical cross-section of the linear slider is a cross shape, the vertical cross-section of the first linear slide is an inverted convex groove shape, and the vertical cross-section of the second linear slide is a convex groove shape; the two ends of the large diameter portion of the linear slider are respectively arranged on the large diameter portion of the first linear slide and the large diameter portion of the second linear slide, and the two small diameter portions of the linear slider are respectively arranged on the small diameter portion of the first linear slide and the small diameter portion of the second linear slide, and the small diameter width of the linear slider is adapted to the small diameter width of the first linear slide and the small diameter width of the second linear slide, and the large diameter width of the linear slider is adapted to the large diameter width of the first linear slide and the large diameter width of the second linear slide.

[0013] In some embodiments of the present application, a plurality of first positioning through holes are provided on the linear slide seat, a plurality of second positioning through holes are provided on the linear slide cover, and the plurality of second positioning through holes are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes, and a plurality of first positioning slots are provided on the motor housing of the clamping drive motor, and the plurality of first positioning slots are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes; the second positioning through holes, the first positioning through holes and the first positioning slots are sequentially penetrated by positioning pins, and the linear slide cover, the linear slide seat and the motor housing of the clamping drive motor are positioned and connected.

[0014] In some embodiments of the present application, each of the finger mounting parts includes a slider connecting part and a finger connecting part that are integrally formed, and both the slider connecting part and the finger connecting part are rectangular structures; the slider connecting part is extended along the linear slide groove, and the slider connecting part is fixedly connected to the end face of the linear slider away from the linear structure by bolts; the finger connecting part is vertically connected to one end of the slider connecting part, and the finger bolt is fixedly connected to the inner end face of the finger connecting part.

[0015] In some embodiments of the present application, a clamping claw positioning block is provided at the middle of the end face of the linear slider away from the linear structure, and the clamping claw positioning block is a rectangular structure; a slider positioning groove is provided on the end face of the slider connecting portion close to the linear slider, and the slider positioning groove is provided corresponding to the clamping claw positioning block, and the shape and size of the slider positioning groove are equal to the shape and size of the clamping claw positioning block, and the linear slider and the finger mounting part are positioned and connected through the slider positioning groove and the clamping claw positioning block.

[0016] In some embodiments of the present application, a plurality of third positioning through holes are provided on the groove wheel, and a plurality of second positioning slots are provided on the end face of the output shaft of the clamp driving motor, and the plurality of second positioning slots are respectively arranged in one-to-one correspondence with the plurality of third positioning through holes, and the third positioning through holes and the second positioning slots are sequentially penetrated by positioning pins, so that the groove wheel and the output shaft of the clamp driving motor are positioned and connected.

[0017] The beneficial effects of the embodiments of the present application are as follows:

[0018] The robot gripper structure converts the rotational motion of the motor into linear motion, so that it has large torque while being as small as possible and has high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the first-perspective structure of the robot gripper structure provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the robot gripper structure from a second perspective provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of an exploded structure of a robot gripper structure provided in an embodiment of the present application;

[0023] Figure 4 This is a schematic diagram of the assembly of the sheave in the robot gripper structure provided in an embodiment of the present application;

[0024] Figure 5 Partial structure of the bending-straightening mechanism in the robot gripper structure provided in the embodiment of the present application Figure 1 ;

[0025] Figure 6 Partial structure of the bending-straightening mechanism in the robot gripper structure provided in the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this utility model.

[0027] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, "including" is not limited to the listed structures, but may optionally include structures not listed, or may optionally include other components inherent to those structures.

[0028] The present application discloses a robot gripper structure, which is described in detail below.

[0029] Figure 1 – Figure 6FIG. 1 shows a robot gripper structure provided according to an embodiment of the present application. Figure 1 – Figure 6 As shown, the robot gripper structure includes: a gripper mounting base 1, a gripper drive motor 2, a bending-straightening mechanism 3, and two fingers 4. The gripper mounting base 1 is used to fix the gripper structure as a whole to the robot arm. The gripper drive motor 2 is the driving component of the robot gripper structure. It drives the two fingers 4 to perform linear motion through the bending-straightening mechanism 3 to achieve a gripping and releasing action. Specifically, the robot gripper structure is fixedly mounted on the robot arm via the gripper mounting base 1; the motor tail cover end of the gripper drive motor 2 is fixedly mounted on the gripper mounting base 1; the bending-straightening mechanism 3 is fixedly connected to the output shaft 21 of the gripper drive motor 2, and the two fingers 4 are respectively connected to the bending-straightening mechanism 3. The bending-straightening mechanism 3 converts the rotational motion of the output shaft 21 of the gripper drive motor 2 into linear motion of the two fingers 4. When the gripper drive motor 2 is working, the gripper drive motor 2 drives the two fingers 4 to perform opposite opening and closing motions through the bending-straightening mechanism 3, so that the robot gripper structure performs a gripping and releasing action through the two fingers 4.

[0030] In some embodiments, as Figure 3 – Figure 6As shown, the curved-to-straight mechanism 3 includes a sheave 31, a pulley pin 32, a linear structure 33, a linear slider 34, and a finger mounting member 35. The sheave 31 is fixedly connected to the output shaft 21 of the gripper drive motor 2, and two rotating grooves 311 are symmetrically provided on the sheave 31, with a pulley pin 32 disposed in each rotating groove 311. The linear structure 33 is fixedly connected to the motor housing 22 of the gripper drive motor 2, and two linear grooves are symmetrically provided on the linear structure 33, with a linear slider 34 disposed in each linear groove. The sheave 31 is located in a cavity between the linear structure 33 and the gripper drive motor 2, and the two pulley pins 32 disposed in the two rotating grooves 311 are respectively fixedly connected to one end face of a linear slider 34. The pulley pin 32 and the linear slider 34 then convert the rotational motion of the sheave 31 into the linear motion of the linear structure 33. The other end surfaces of the two linear sliders 34 are fixedly connected to the two fingers 4 via finger mounting members 35. When the gripper drive motor 2 is in operation, the output shaft 21 of the gripper drive motor 2 drives the sheave 31 to rotate. The two pulley pins 32 slide within the two rotating grooves 311, respectively, and drive the two linear sliders 34 to move linearly along the linear grooves. The two linear sliders 34 move closer or further apart, causing the two fingers 4 to open and close in opposite directions via the finger mounting members 35, thereby achieving the object gripping and placing action of the robot gripper structure. In a specific embodiment, the pulley pin 32 is fixedly connected to the threaded hole at the bottom of the linear slider 34 via its own screw. The pulley pin 32 itself has a rotatable bearing, thus acting as a pulley that can rotate within the rotating groove 311 and drive the linear slider 34 to move.

[0031] In some specific embodiments, Figure 3 and Figure 4 As shown, the sheave 31 is a plate structure, the middle portion of which is bolted to the output shaft 21 of the jaw drive motor 2. Two rotation slots 311 are symmetrically arranged on the end surface of the sheave 31 away from the jaw drive motor 2. Each rotation slot 311 is a linear slot structure, and the diameter of the pulley pin 32 matches the width of the rotation slot 311 to ensure that the pulley pin 32 can move within the rotation slot 311 along the extension direction of the rotation slot 311. In addition, the middle part of the groove wheel 31 is a circular plate structure, the diameter of which is adapted to the diameter of the output shaft 21 of the clamp drive motor 2, and is bolted and fixedly connected to the end face of the output shaft 21 of the clamp drive motor 2, and the groove wheel 31 is provided with two rotating grooves 311, the two end edges of which are straight edges, and the two end edges of the groove wheel 31 are transitionally connected to the middle part of the groove wheel 31 as a whole, that is, the groove wheel 31 is a nearly elliptical plate structure, thereby ensuring the fixed installation stability of the groove wheel 31 while the overall structure of the groove wheel 31 is as small as possible.

[0032] Further, such as Figure 3 and Figure 6 As shown, a plurality of fourth mounting holes 212 are uniformly arranged along the circumferential direction on the end face of the output shaft 21 of the clamp driving motor 2. Correspondingly, a plurality of fifth mounting holes 313 are arranged on the sheave 31, that is, a plurality of fifth mounting holes 313 are uniformly arranged along the circumferential direction in the middle part of the sheave 31, and the plurality of fifth mounting holes 313 are respectively arranged in one-to-one correspondence with the plurality of fourth mounting holes 212. The fifth mounting holes 313 and the fourth mounting holes 212 are sequentially penetrated and fixed by bolts to realize the fixed installation of the sheave 31 on the output shaft 21 of the clamp driving motor 2. Furthermore, a plurality of third positioning through holes 312 are provided on the groove wheel 31. Correspondingly, a plurality of second positioning slots 211 are provided on the end face of the output shaft 21 of the clamping drive motor 2, and the plurality of second positioning slots 211 are respectively arranged in one-to-one correspondence with the plurality of third positioning through holes 312. The third positioning through holes 312 and the second positioning slots 211 are sequentially penetrated by positioning pins to realize the positioning connection between the groove wheel 31 and the output shaft 21 of the clamping drive motor 2, and improve the assembly efficiency between the two.

[0033] In other specific embodiments, Figure 3 、 Figure 5 and Figure 6As shown, the linear structure 33 includes a linear chute seat 331 and a linear chute cover 332. The linear slider 34 is disposed between the linear chute seat 331 and the linear chute cover 332 to limit and secure the linear slider 34. The linear chute seat 331 also positions the sheave 31 between the linear structure 33 and the gripper drive motor 2, allowing it to rotate with the gripper drive motor 2. The linear chute seat 331 is a housing structure with one end open. The open end of the linear chute seat 331 is fixedly connected to the motor housing 22 of the gripper drive motor 2. A cavity is formed between the linear chute seat 331 and the motor housing 22 for accommodating the sheave 31. The sheave 31 is located within the housing of the linear chute seat 331. The linear chute cover 332 is fixedly connected to the end face of the linear chute seat 331 facing away from the gripper drive motor 2. A space is reserved between the linear chute cover 332 and the linear chute seat 331 for the linear slider 34, which also limits its position. In detail, two first linear slides 3311 are provided on the end surface of the linear slide seat 331, and each first linear slide 3311 passes through the inside and outside of the shell of the linear slide seat 331. Similarly, two second linear slides 3321 are also provided on the linear slide cover 332, and each second linear slide 3321 passes through the opposite end surfaces of the linear slide cover 332, and the two second linear slides 3321 are respectively arranged in a one-to-one correspondence with the two first linear slides 3311. When the linear slide seat 331 and the linear slide cover 332 are assembled and fixed therebetween, the linear slide block 34 is clamped between the linear slide seat 331 and the linear slide cover 332, and the two ends of the linear slide block 34 are respectively arranged in the first linear slide block 3311 and the second linear slide block 3321, so that the first linear slide block 3311 and the second linear slide block 3321 together constitute a horizontal linear slide, so that the linear slide block 34 can only move linearly, and the two linear slide blocks 34 can move relatively independently.

[0034] Further, such as Figure 2 and Figure 5As shown, the end face shape and size of the linear slide seat 331 are adapted to the end face shape and size of the linear slide cover 332, so that after the linear slide seat 331 and the linear slide cover 332 are assembled, the outer surfaces of the two overlap, thereby making the robot gripper structure more beautiful. In addition, multiple first mounting holes 3322 are provided at the two opposite edges of the linear slide cover 332, and correspondingly, multiple second mounting holes 3312 are provided at the two opposite edges of the linear slide seat 331, and the multiple second mounting holes 3312 are respectively arranged in a one-to-one correspondence with the multiple first mounting holes 3322. At the same time, multiple third mounting holes 221 are provided on the motor housing 22 of the gripper drive motor 2, and the multiple third mounting holes 221 are respectively arranged in a one-to-one correspondence with the multiple second mounting holes 3312, so that the first mounting holes 3322, the second mounting holes 3312 and the third mounting holes 221 are sequentially penetrated and fixed by bolts, thereby realizing a fixed connection between the linear slide cover 332, the linear slide seat 331 and the motor housing 22 of the gripper drive motor 2, thereby reducing the number of bolts connecting the overall gripper structure of the robot.

[0035] like Figure 5 and Figure 6 As shown, the vertical section of the linear slider 34 is a cross shape, the vertical section of the first linear slide 3311 is an inverted convex groove shape, and the vertical section of the second linear slide 3321 is a convex groove shape, and the two ends of the large diameter portion 341 of the linear slider 34 are respectively arranged at the large diameter portion of the first linear slide 3311 and the large diameter portion of the second linear slide 3321, and the two small diameter portions 342 of the linear slider 34 are respectively arranged at the small diameter portion of the first linear slide 3311 and the small diameter portion of the second linear slide 3321. The small diameter width of the linear slider 34 is adapted to the small diameter width of the first linear slide 3311 and the small diameter width of the second linear slide 3321, and the large diameter width of the linear slider 34 is adapted to the large diameter width of the first linear slide 3311 and the large diameter width of the second linear slide 3321. Therefore, when the linear slide cover 332 and the linear slide seat 331 are assembled, the first linear slide 3311 and the second linear slide 3321 form a linear slide structure for limiting the cross-shaped linear slider 34.

[0036] like Figure 3 – Figure 6As shown, a plurality of first positioning through holes 3313 are provided on the linear slide seat 331, and correspondingly, a plurality of second positioning through holes 3323 are provided on the linear slide cover 332, and the plurality of second positioning through holes 3323 are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes 3313. At the same time, a plurality of first positioning slots 222 are provided on the motor housing 22 of the clamping jaw driving motor 2, and the plurality of first positioning slots 222 are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes 3313, so that the second positioning through holes 3323, the first positioning through holes 3313 and the first positioning slots 222 are sequentially penetrated by positioning pins to realize the positioning connection among the linear slide cover 332, the linear slide seat 331 and the motor housing 22 of the clamping jaw driving motor 2.

[0037] In other embodiments, Figure 5 As shown, each finger mounting member 35 includes an integrally formed slider connection portion 351 and a finger connection portion 352. The slider connection portion 351 is used to securely connect the finger mounting member 35 to the linear slider 34, while the finger connection portion 352 is used to securely connect the finger mounting member 35 to the finger 4. Specifically, the slider connection portion 351 and the finger connection portion 352 are both rectangular structures. The slider connection portion 351 extends along the linear slideway. The slider connection portion 351 is bolted to the end face of the linear slider 34 away from the linear structure 33. Simultaneously, the finger connection portion 352 is perpendicularly connected to one end of the slider connection portion 351. The finger 4 is bolted to the inner end face of the finger connection portion 352. The finger mounting member 35 securely connects the finger 4 to the linear slider 34, thereby enabling the finger 4 to perform linear motion along with the linear slider 34. Furthermore, the finger mounting member 35 securely connects the finger 4 to the curved-to-straight mechanism 3. The corresponding model of finger 4 can be freely replaced as needed, enhancing practicality. Furthermore, a clamping jaw positioning block 343 is provided on the middle part of the end face of the linear slider 34 away from the linear structure 33. The clamping jaw positioning block 343 is a rectangular structure. Correspondingly, a slider positioning groove 3511 is provided on the end face of the slider connecting portion 351 close to the linear slider 34. The slider positioning groove 3511 is provided corresponding to the clamping jaw positioning block 343, and the shape and size of the slider positioning groove 3511 are equal to the shape and size of the clamping jaw positioning block 343. Therefore, by clamping the clamping jaw positioning block 343 in the slider positioning groove 3511, the positioning connection between the linear slider 34 and the finger mounting member 35 is realized.

[0038] The above is an introduction to the various components of the robot gripper structure provided in this embodiment and the connection relationship between them. Figure 1 – Figure 6 , the working principle of the robot gripper structure is described in detail.

[0039] In the embodiment of the present application, when the gripper drive motor 2 is in operation, the output shaft 21 of the gripper drive motor 2 drives the sheave 31 to rotate. Since the pulley pin 32 is embedded in the rotating groove 311 of the sheave 31, as the sheave 31 rotates, the pulley pin 32 slides in the rotating groove 311 and drives the linear slider 34 to move. Since the linear slider 34 is constrained by the linear groove seat 331 and the linear groove cover 332, the linear slider 34 can only move linearly, driving the finger mounting member 35 and the fingers 4 thereon to move linearly, thereby converting the rotational motion of the gripper drive motor 2 into the opposing opening and closing motion of the two fingers.

[0040] In summary, the present application discloses a robot gripper structure that converts the rotational motion of a motor into linear motion, so that it has high torque while being as small as possible and has high reliability.

[0041] Those skilled in the art will understand that the drawings are merely schematic diagrams of one embodiment, and that the components shown in the drawings are not necessarily essential to the practice of the present invention. It should also be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it need not be further defined or explained in subsequent drawings.

[0042] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances. In addition, in the description of the embodiments of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.

[0043] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection described in the claims.

Claims

1. A robot gripper structure, characterized in that: include: Gripper mounting base, gripper drive motor, bending and straightening mechanism and two fingers; The robot gripper structure is fixedly mounted on the robot arm through the gripper mounting base; the motor tail cover end of the gripper drive motor is fixedly mounted on the gripper mounting base; the curved-to-straight mechanism is fixedly connected to the output shaft of the gripper drive motor, and the two fingers are respectively connected to the curved-to-straight mechanism, and the curved-to-straight mechanism converts the rotational motion of the output shaft of the gripper drive motor into linear motion of the two fingers. When the gripper drive motor is working, the gripper drive motor drives the two fingers to perform opposite opening and closing movements through the curved-to-straight mechanism, so that the robot gripper structure performs a clamping and releasing action through the two fingers.

2. The robot gripper structure according to claim 1, characterized in that: The curved-to-straight mechanism includes a groove wheel, a pulley pin, a linear structure, a linear slider and a finger mounting member; The two wheels are fixedly connected to the output shaft of the clamping jaw driving motor, and the two wheel gears are symmetrically provided with two rotating slide grooves on the wheel gear; each of the rotating slide grooves is provided with a pulley pin; the linear structure is fixedly connected to the motor housing of the clamping jaw driving motor, and the linear structure is symmetrically provided with two linear slide grooves; each linear slide groove is provided with a linear slider; the wheel gear is located in a cavity between the linear structure and the clamping jaw driving motor, and the two pulley pins are respectively fixedly connected to one end face of one linear slider; the other end faces of the two linear sliders are respectively fixedly connected to the two fingers through the finger mounting members; when the clamping jaw driving motor works, the output shaft of the clamping jaw driving motor drives the wheel to rotate, and the two pulley pins respectively slide in the two rotating slide grooves, and respectively drive the two linear sliders to move linearly along the linear slide grooves, and the two linear sliders are relatively close to or away from each other, so as to make the two fingers perform opposite opening and closing movements through the finger mounting members.

3. The robot gripper structure according to claim 2, characterized in that: The sheave is a plate structure, the middle part of the sheave is fixedly connected to the output shaft of the clamping drive motor with bolts, and the two rotating slots are symmetrically arranged on the end face of the sheave away from the clamping drive motor; each rotating slot is a linear slot structure, and the diameter of the pulley pin is adapted to the width of the rotating slot; the middle part of the sheave is a circular plate structure, the diameter of which is adapted to the diameter of the output shaft of the clamping drive motor, and is fixedly connected to the end face of the output shaft of the clamping drive motor with bolts; the sheave is provided with two straight edges at both ends of the rotating slots, and the two end edges of the sheave are transitionally connected to the middle part of the sheave.

4. The robot gripper structure according to claim 2, characterized in that: The linear structure includes a linear slide seat and a linear slide cover; The linear slide seat is a shell structure with an open end, the open end of the linear slide seat is fixedly connected to the motor housing of the clamping jaw driving motor, the groove wheel is located in the shell of the linear slide seat, and two first linear slides are provided on the end surface of the linear slide seat, and each of the first linear slides passes through the inside and outside of the shell of the linear slide seat; the linear slide cover is fixedly connected to the end surface of the linear slide seat away from the clamping jaw driving motor, and two second linear slides are provided on the linear slide cover, each of the second linear slides passes through the opposite end surfaces of the linear slide cover, and the two second linear slides are respectively arranged in a one-to-one correspondence with the two first linear slides; the first linear slide and the second linear slide together constitute the linear slide, and the linear slide block is clamped between the linear slide block and the linear slide cover, and the two ends of the linear slide block are respectively arranged in the first linear slide block and the second linear slide block.

5. The robot gripper structure according to claim 4, characterized in that: The shape and size of the end face of the linear slide seat are adapted to the shape and size of the end face of the linear slide cover; a plurality of first mounting holes are provided at the opposite edges of the linear slide cover, a plurality of second mounting holes are provided at the opposite edges of the linear slide seat, and the plurality of second mounting holes are respectively arranged in one-to-one correspondence with the plurality of first mounting holes, a plurality of third mounting holes are provided on the motor housing of the clamping jaw driving motor, and the plurality of third mounting holes are respectively arranged in one-to-one correspondence with the plurality of second mounting holes, and the first mounting holes, the second mounting holes and the third mounting holes are sequentially penetrated and fixed by bolts, and the linear slide cover, the linear slide seat and the motor housing of the clamping jaw driving motor are fixedly connected.

6. The robot gripper structure according to claim 4, characterized in that: The vertical cross-section of the linear slider is a cross shape, the vertical cross-section of the first linear slide is an inverted convex groove shape, and the vertical cross-section of the second linear slide is a convex groove shape; the two ends of the large diameter portion of the linear slider are respectively arranged on the large diameter portion of the first linear slide and the large diameter portion of the second linear slide, and the two small diameter portions of the linear slider are respectively arranged on the small diameter portion of the first linear slide and the small diameter portion of the second linear slide, and the small diameter width of the linear slider is adapted to the small diameter width of the first linear slide and the small diameter width of the second linear slide, and the large diameter width of the linear slider is adapted to the large diameter width of the first linear slide and the large diameter width of the second linear slide.

7. The robot gripper structure according to claim 4, characterized in that: The linear slide seat is provided with a plurality of first positioning through holes, the linear slide cover is provided with a plurality of second positioning through holes, and the plurality of second positioning through holes are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes, the motor housing of the clamping jaw driving motor is provided with a plurality of first positioning slots, and the plurality of first positioning slots are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes; the second positioning through holes, the first positioning through holes and the first positioning slots are sequentially penetrated by positioning pins, and the linear slide cover, the linear slide seat and the motor housing of the clamping jaw driving motor are positioned and connected.

8. The robot gripper structure according to claim 2, characterized in that: Each of the finger mounting parts includes a slider connecting part and a finger connecting part that are integrally formed, and both the slider connecting part and the finger connecting part are rectangular structures; the slider connecting part is extended along the linear slide groove, and the slider connecting part is fixedly connected to the end face of the linear slider away from the linear structure with bolts; the finger connecting part is vertically connected to one end of the slider connecting part, and the finger bolt is fixedly connected to the inner end face of the finger connecting part.

9. The robot gripper structure according to claim 8, characterized in that: A clamping claw positioning block is provided at the middle of the end face of the linear slider away from the linear structure, and the clamping claw positioning block is a rectangular structure; a slider positioning groove is provided on the end face of the slider connecting portion close to the linear slider, and the slider positioning groove is provided corresponding to the clamping claw positioning block, and the shape and size of the slider positioning groove are equal to the shape and size of the clamping claw positioning block, and the linear slider and the finger mounting part are positioned and connected through the slider positioning groove and the clamping claw positioning block.

10. The robot gripper structure according to claim 2, characterized in that: A plurality of third positioning through holes are provided on the groove wheel, and a plurality of second positioning slots are provided on the end face of the output shaft of the clamp driving motor, and the plurality of second positioning slots are respectively arranged in one-to-one correspondence with the plurality of third positioning through holes, and the third positioning through holes and the second positioning slots are sequentially penetrated by positioning pins, so that the groove wheel and the output shaft of the clamp driving motor are positioned and connected.

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