Gripper of industrial robot

Abstract

The utility model relates to the technical field of industrial robot accessories, and particularly discloses a gripper of an industrial robot, which comprises a gripper mechanism, the gripper mechanism comprises a mounting plate and a gripping wall, and one end of the gripping wall is provided with a linkage mechanism and a gripping plate mechanism; the plate grabbing mechanism comprises a clamping plate and a plate expanding and clamping plate, the clamping plate is used for increasing the contact surface with a clamped object after rotating, and the plate expanding and clamping plate is used for clamping a small object; the linkage mechanism comprises a driving box and a linkage box, and the driving box is used for being matched with the clamping plate. Through mutual cooperation of the linkage mechanism and the plate grabbing mechanism, the clamping face can be enlarged when a rectangular object is clamped, so that clamping is more stable, through mutual cooperation of the linkage mechanism and the plate grabbing mechanism, after a telescopic rod is completely pushed by a hydraulic cylinder, a clamping plate can be matched with operation of a servo motor, and the clamping efficiency is improved. And the gap of the clamping tail end is reduced, so that small objects can be clamped, and the clamping range is expanded.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robot accessories, and particularly relates to a gripper of an industrial robot. Background Art

[0002] Industrial robots refer to mechanical equipment in the field of industrial manufacturing that can imitate human movements and behaviors instead of manual operations. Industrial robots can be divided into many categories according to their functions, including grinding robots, transport robots, welding robots, etc. Among them, transport robots or handling robots are usually equipped with corresponding grippers on the premise of realizing transportation operations, and use the grippers to grab materials to realize material transfer operations.

[0003] In the Chinese patent publication number CN219445127U, a gripper for an industrial robot is mentioned, comprising a top plate, with multiple groups of sliders slidably connected inside the top plate, with two sliders in each group being rotatably connected to a connecting rod via a rotating shaft, a long rod fixedly mounted at the end of the connecting rod, a sliding hole connected to the outside world provided in the long rod, an end rod fixedly mounted at the end of the long rod, a clamping plate fixedly mounted at the end of the end rod, an opening and closing assembly provided at the bottom of the top plate, the opening and closing assembly comprising a cylinder fixedly mounted on the bottom surface of the top plate, a round rod provided on the telescopic shaft of the cylinder, the round rod and the sliding hole being slidably connected, a plurality of sliding grooves provided in the top plate, a support seat fixedly mounted at the center of the round rod, a screw fixedly mounted at the end of the round rod, a nut threadedly connected to the screw. The utility model facilitates the addition or reduction of the number of clamping plates as needed, facilitates clamping and opening operations, and is easy to use.

[0004] When the above-mentioned device is in use, since the clamping plate is arc-shaped, its contact surface is limited when clamping rectangular objects, thereby limiting the stability of the clamping; in addition, since the long rod and the sliding hole in the above-mentioned device are limited, when the cylinder pushes the support seat to the end of the sliding hole, there is still a large gap between the two clamping plates, making it impossible to clamp small objects, thereby limiting the clamping range. Utility Model Content

[0005] The purpose of the utility model is to provide a gripper for an industrial robot to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A gripper of an industrial robot includes a gripper mechanism, wherein the gripper mechanism includes a mounting plate and a gripping wall, and one end of the gripping wall is provided with a linkage mechanism and a gripping plate mechanism; the gripping plate mechanism includes a clamping plate and an expansion plate, wherein the clamping plate is used to increase the contact surface with the clamped object after rotation, and the expansion plate is used to clamp small objects; the linkage mechanism includes a drive box and a linkage box, wherein the drive box is used to cooperate with the clamping plate, and the linkage box is used to drive the expansion plate.

[0008] Preferably, one end of the clamping plate close to the grabbing wall is rotatably connected to the grabbing wall via a shaft, and the clamping plate is fixedly connected to a worm gear via the shaft, and the worm gear is rotatably connected to the interior of the drive box.

[0009] Preferably: the drive box and the linkage box are respectively located on both sides of the telescopic rod and are fixedly connected, a drive motor is installed above the drive box, a worm is installed at the output end of the drive motor, the worm is rotatably connected to the inside of the drive box, and the worm cooperates with the worm wheel.

[0010] Preferably: the clamping plate is provided with a sliding groove, a sliding block is slidably connected inside the sliding groove, a screw rod is rotatably connected inside the sliding groove, the screw rod passes through the threaded connection to the sliding block, the expansion clamping plate is fixedly connected above the sliding block, and a gasket is installed below the clamping plate.

[0011] Preferably: one end of the screw rod is fixedly connected to a linkage gear, the linkage gear is rotatably connected to the clamping plate, a servo motor is installed above the linkage box, a drive gear is installed at the output end of the servo motor, the drive gear is located below the linkage box, and the drive gear is used to cooperate with the linkage gear.

[0012] Preferably: a hydraulic cylinder is installed above the mounting plate, a telescopic rod is provided at the output end of the hydraulic cylinder, the telescopic rod passes through the mounting plate, one end of the grabbing wall is rotatably connected to the bottom of the mounting plate, and the telescopic rod is movably connected to the grabbing wall.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The utility model cooperates with the linkage mechanism and the gripping plate mechanism to expand the clamping surface when clamping rectangular objects, thereby making the clamping more stable.

[0015] 2. The utility model cooperates with the linkage mechanism and the grab plate mechanism. After the telescopic rod is completely pushed by the hydraulic cylinder, the clamping plate cooperates with the operation of the servo motor to narrow the gap at the clamping end, thereby clamping small objects and expanding the clamping range. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a side view of the gripping mechanism of the utility model;

[0017] Figure 2 For this utility model Figure 1 The structural diagram of the middle part;

[0018] Figure 3 This is a structural diagram of the linkage mechanism and the grab plate mechanism of the utility model;

[0019] Figure 4 It is a structural diagram of the linkage mechanism and the grab plate mechanism of the utility model.

[0020] In the picture:

[0021] 1. Gripping mechanism; 11. Mounting plate; 12. Hydraulic cylinder; 13. Telescopic rod; 14. Wall grabbing;

[0022] 2. Linkage mechanism; 21. Drive box; 22. Drive motor; 23. Worm; 24. Linkage box; 25. Servo motor; 26. Drive gear;

[0023] 3. Grabbing plate mechanism; 31. Clamping plate; 32. Gasket; 33. Slide groove; 34. Worm gear; 35. Sliding block; 36. Expanding clamping plate; 37. Screw rod; 38. Linkage gear. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Reference Figures 1-4 As shown, the utility model provides a gripper of an industrial robot, comprising a gripper mechanism 1, the gripper mechanism 1 comprising a mounting plate 11 and a gripping wall 14, one end of the gripping wall 14 being provided with a linkage mechanism 2 and a gripping plate mechanism 3;

[0026] The gripping plate mechanism 3 includes a clamping plate 31 and an expanding clamping plate 36. The clamping plate 31 is used to increase the contact surface with the clamped object after rotation, and the expanding clamping plate 36 is used to clamp small objects.

[0027] The linkage mechanism 2 includes a drive box 21 and a linkage box 24 . The drive box 21 is used to cooperate with the clamping plate 31 , and the linkage box 24 is used to drive the expansion clamping plate 36 .

[0028] In a further embodiment, one end of the clamping plate 31 close to the grabbing wall 14 is rotatably connected to the grabbing wall 14 via a shaft, and the clamping plate 31 is fixedly connected to a worm gear 34 via the shaft, and the worm gear 34 is rotatably connected to the interior of the drive box 21 .

[0029] In this embodiment, a limiting groove is provided on one side of the gripping wall 14 close to the clamping plate 31 to limit the rotation angle of the clamping plate 31 to 105 degrees; the clamping plate 31 is rotatably connected to the limiting groove via a connecting block and an axis.

[0030] In a further embodiment, the drive box 21 and the linkage box 24 are respectively located on both sides of the telescopic rod 13 and are fixedly connected. A drive motor 22 is installed above the drive box 21, and a worm 23 is installed at the output end of the drive motor 22. The worm 23 is rotatably connected to the inside of the drive box 21, and the worm 23 cooperates with the worm gear 34.

[0031] In this embodiment, when the driving motor 22 is in operation, the worm 23 can be used to cause the clamping plate 31 to rotate around the worm gear 34 .

[0032] In a further embodiment, the clamping plate 31 is provided with a sliding groove 33, and the sliding block 35 is slidably connected inside the sliding groove 33. The inside of the sliding groove 33 is also rotatably connected to a screw rod 37, which passes through the threaded connection sliding block 35. The expansion clamping plate 36 is fixedly connected above the sliding block 35, and a gasket 32 ​​is installed below the clamping plate 31.

[0033] In this embodiment, when the clamping plate 31 rotates ninety degrees around the worm gear 34 , the gasket 32 ​​can clamp the edge of the rectangular object, thereby making the clamping more stable.

[0034] In a further embodiment, one end of the screw rod 37 is fixedly connected to a linkage gear 38, and the linkage gear 38 is rotatably connected to the clamping plate 31. A servo motor 25 is installed above the linkage box 24, and a drive gear 26 is installed at the output end of the servo motor 25. The drive gear 26 is located below the linkage box 24, and the drive gear 26 is used to cooperate with the linkage gear 38.

[0035] In this embodiment, a notch is provided in the clamping plate 31 at the linkage gear 38, and the notch allows part of the linkage gear 38 to be located outside the clamping plate 31. Therefore, when the clamping plate 31 rotates one hundred and five degrees with the worm gear 34 as the center, the linkage gear 38 will engage with the drive gear 26. At this time, the operation of the servo motor 25 can cause the sliding block 35 to move with the expansion clamping plate 36 through the linkage gear 38 and the screw rod 37, thereby shortening the original clamping blind area.

[0036] In a further embodiment, a hydraulic cylinder 12 is installed above the mounting plate 11, and a telescopic rod 13 is provided at the output end of the hydraulic cylinder 12. The telescopic rod 13 passes through the mounting plate 11, and one end of the grabbing wall 14 is rotatably connected to the bottom of the mounting plate 11, and the telescopic rod 13 is movably connected to the grabbing wall 14.

[0037] In this embodiment, the gripper mechanism 1 is a gripper in the prior art. When the hydraulic cylinder 12 fully extends the telescopic rod 13, the angle between the two gripping walls 14 is thirty degrees; when the clamping plate 31 rotates to be horizontal with the ground, the angle between the gasket 32 ​​and the gripping wall 14 is seventy-five degrees, which is also the maximum rotation angle of the clamping plate 31, that is, the clamping plate 31 can rotate one hundred and five degrees with the worm gear 34 as the center.

[0038] The working principle of this utility model is as follows:

[0039] When the hydraulic cylinder 12 is in operation, the two gripping walls 14 can be caused to perform a shearing motion through the telescopic rod 13, so that the gripping plate mechanism 3 can reliably close the two sides of the clamped object. At this time, the drive motor 22 is operated through the external control device, thereby causing the clamping plate 31 to rotate as a whole around the rotation connection of the worm gear 34 through the transmission of the worm 23 and the worm gear 34, thereby allowing the gasket 32 ​​to contact the surface of the rectangular object, thereby increasing the contact surface and making the clamping process more stable.

[0040] When it is necessary to clamp small objects, the hydraulic cylinder 12 can be operated to fully extend the telescopic rod 13, and then the clamping plate 31 can be rotated with the worm gear 34 through the operation of the drive motor 22 until the two clamping plates 31 are in a horizontal state. At this time, the linkage gear 38 will engage with the drive gear 26, and the servo motor 25 can be operated through the control device to rotate the drive gear 26 with the linkage box 24, thereby allowing the sliding block 35 to slide with the expansion clamping plate 36 within the limited range of the slide groove 33, so that small objects can be clamped.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripper of an industrial robot, comprising a gripper mechanism (1), characterized in that: The gripping mechanism (1) comprises a mounting plate (11) and a gripping wall (14); one end of the gripping wall (14) is provided with a linkage mechanism (2) and a gripping plate mechanism (3); The gripping plate mechanism (3) comprises a clamping plate (31) and an expanding clamping plate (36), wherein the clamping plate (31) is used to increase the contact surface with the clamped object after rotation, and the expanding clamping plate (36) is used to clamp small objects; The linkage mechanism (2) comprises a drive box (21) and a linkage box (24), wherein the drive box (21) is used to cooperate with the clamping plate (31), and the linkage box (24) is used to drive the expansion clamping plate (36).

2. The gripper of an industrial robot according to claim 1, characterized in that: One end of the clamping plate (31) close to the grabbing wall (14) is rotatably connected to the grabbing wall (14) via a shaft. The clamping plate (31) is fixedly connected to a worm gear (34) via a shaft. The worm gear (34) is rotatably connected to the interior of the drive box (21).

3. The gripper of an industrial robot according to claim 1, characterized in that: The drive box (21) and the linkage box (24) are respectively located on both sides of the telescopic rod (13) and are fixedly connected. A drive motor (22) is installed above the drive box (21). A worm (23) is installed at the output end of the drive motor (22). The worm (23) is rotatably connected to the interior of the drive box (21). The worm (23) cooperates with a worm wheel (34).

4. The gripper of an industrial robot according to claim 1, characterized in that: The clamping plate (31) is provided with a sliding groove (33), the interior of the sliding groove (33) is slidably connected to a sliding block (35), the interior of the sliding groove (33) is also rotatably connected to a screw rod (37), the screw rod (37) is threadedly connected to the sliding block (35), the expansion clamping plate (36) is fixedly connected to the top of the sliding block (35), and a gasket (32) is installed below the clamping plate (31).

5. The gripper of an industrial robot according to claim 4, characterized in that: One end of the screw rod (37) is fixedly connected to a linkage gear (38), and the linkage gear (38) is rotatably connected to the clamping plate (31). A servo motor (25) is installed above the linkage box (24), and a driving gear (26) is installed at the output end of the servo motor (25). The driving gear (26) is located below the linkage box (24) and is used to cooperate with the linkage gear (38).

6. The gripper of an industrial robot according to claim 1, characterized in that: A hydraulic cylinder (12) is installed above the mounting plate (11), and a telescopic rod (13) is provided at the output end of the hydraulic cylinder (12). The telescopic rod (13) passes through the mounting plate (11). One end of the grabbing wall (14) is rotatably connected to the bottom of the mounting plate (11), and the telescopic rod (13) is movably connected to the grabbing wall (14).

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