Robot servo gripper mechanism

Abstract

The utility model provides a robot servo gripper mechanism. The robot servo gripper mechanism comprises a clamp base plate, a first gripper component, a second gripper component and a driving component. The first gripper component and the second gripper component each comprise a moving plate and a workpiece clamping plate, each moving plate is provided with a sliding section and a connecting section, each connecting section is fixedly connected with the corresponding workpiece clamping plate, each workpiece clamping plate is provided with two protruding structures, and the protruding structures located on the different workpiece clamping plates are oppositely arranged. The driving component comprises a driving source and a gear rack mechanism. The driving source is used for driving the gear rack mechanism to drive the first gripper component and the second gripper component to get close to each other or get away from each other. In order to stably grab the workpiece, the workpiece clamping plate is provided with the two protruding structures matched with the grooves, when the workpiece clamping plate and the side wall of the workpiece to be grabbed are pressed tightly, the protruding structures can be clamped into the grooves, different types of workpieces can be grabbed, universality is improved, operation of replacing a gripper mechanism is reduced, and production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robot servo gripper mechanism. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks, and its design and performance combine the advantages of both human and robotic arms.

[0003] The current solution for loading and unloading parts during the welding process on the production line involves manual loading, manual welding at the welding machine position, and manual unloading after welding. The disadvantages of this current technology are high labor costs and inconsistent welding quality. This is mainly due to the need for continuous manual operation and placement, which involves many uncertainties. Therefore, a robotic servo gripper mechanism is urgently needed to solve this problem. Utility Model Content

[0004] In view of this, the present invention provides a robot servo gripper mechanism to eliminate or improve one or more defects existing in the prior art.

[0005] This utility model provides a robot servo gripper mechanism, including: a clamping base plate, a first gripper component, a second gripper component, and a driving component; the first gripper component and the second gripper component are disposed on the same side of the clamping base plate, and the driving component is disposed on the side of the clamping base plate opposite to the first gripper component;

[0006] The first gripper component and the second gripper component both include a movable plate and a workpiece clamping plate. The movable plate has a sliding section and a connecting section. The sliding section is slidably connected to the fixture base plate, and the connecting section is fixedly connected to the workpiece clamping plate. The workpiece clamping plate has two protruding structures. The protruding structures on different workpiece clamping plates are arranged facing each other. The protruding structures are used to adapt to the grooves on the workpiece to be gripped.

[0007] The driving component includes a driving source and a gear and rack mechanism, which are connected in a transmission manner. The driving source is used to drive the gear and rack mechanism to move the first gripper component and the second gripper component closer to or further away from each other.

[0008] In one embodiment, two linear guide rails are fixedly connected to the bottom of the fixture base plate. The two linear guide rails are arranged in parallel and are arranged along the length direction of the fixture base plate. A slider is fixedly connected to the side of the sliding section near the fixture base plate, and the slider is slidably connected to the linear guide rail.

[0009] In one embodiment, the sliding segment has an L-shaped structure, and the sliding segments on the two movable plates are staggered. One segment of the sliding segment is arranged along the linear guide rail, and the other segment is arranged along the width direction of the fixture base plate.

[0010] In one embodiment, the gear and rack mechanism includes a gear and two racks, the two racks being fixed on two sliding segments respectively, the racks being fixedly connected to the edges of the sliding segments along the direction of the linear guide rail, the racks extending in a direction parallel to the direction of the linear guide rail, the two sides of the gear being meshed with the two racks respectively, and the middle part of the gear being fixedly connected to the drive source.

[0011] In one embodiment, the drive source includes an electric motor or a hydraulic motor.

[0012] In one embodiment, a flange plate is fixedly connected to the side of the drive source away from the fixture base plate. The cross-section of the flange plate is larger than that of the drive source. The four corners of the flange plate are fixedly connected to the fixture base plate by support rods.

[0013] In one embodiment, a limiting plate is fixedly connected to one end of the clamping base plate along its length, the limiting plate being used to prevent the moving plate from moving beyond the edge of the clamping base plate.

[0014] In one embodiment, a clamping block is fixedly connected to the connecting segment, two clamping blocks are arranged close to each other, the clamping blocks do not extend beyond the protruding structure, and the clamping blocks are made of elastic material.

[0015] In one embodiment, a first workpiece support plate is fixedly connected to the end of the connecting segment on the first gripper component away from the fixture base plate, and a second workpiece support plate is fixedly connected to the end of the connecting segment on the second gripper component away from the fixture base plate.

[0016] In one embodiment, a third workpiece support plate is fixedly connected to the upper middle part of the connecting segment; a pressure block is fixedly connected to the middle part of the workpiece clamping plate.

[0017] The robot servo gripper mechanism in this embodiment of the invention has the following technical effects: The workpiece to be gripped has grooves on both sides. To achieve stable gripping, the workpiece clamping plate has two protruding structures that fit into the grooves. When the workpiece clamping plate is pressed against the side wall of the workpiece, the protruding structures can be engaged in the grooves. The fixture base plate serves as an overall support structure. The drive source drives the gear and rack mechanism to move the first gripper component and the second gripper component closer or further apart, thereby realizing the gripping and releasing actions of the robot servo gripper mechanism. It can grip different types of workpieces, improving versatility, reducing the need to replace gripper mechanisms, and improving production efficiency. The robot servo gripper mechanism in this embodiment of the invention replaces manual loading and unloading with a mechanical structure and a loading robot, thereby improving production quality and reducing labor costs.

[0018] Additional advantages, objects, and features of this invention will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the description, or may be learned by practice of the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures specifically pointed out in the description and drawings.

[0019] Those skilled in the art will understand that the objectives and advantages achievable with this invention are not limited to those specifically described above, and that the above and other objectives achievable with this invention will become clearer from the following detailed description. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, do not constitute a limitation thereof. The components in the drawings are not drawn to scale but are merely for illustrating the principles of the present invention. For ease of illustration and description of certain parts of the present invention, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to the present invention.

[0021] Figure 1 This is a three-dimensional structural diagram of the robot servo gripper mechanism in one embodiment of the present invention.

[0022] Figure 2 This is a front view of a robot servo gripper mechanism according to one embodiment of the present invention.

[0023] Figure 3 This is a left view of a robot servo gripper mechanism according to one embodiment of the present invention.

[0024] Figure 4 This is a top view of a robot servo gripper mechanism according to one embodiment of the present invention.

[0025] Figure 5 This is a bottom view of a robot servo gripper mechanism according to one embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the working state of a robot servo gripper mechanism in one embodiment of the present invention.

[0027] Reference numerals: 1. Flange plate; 2. Fixture base plate; 3. Workpiece clamping plate; 4. Clamping plate fixing plate; 5. First moving plate; 6. Second moving plate; 7. Support rod; 8. Third workpiece support plate; 9. Second workpiece support plate; 10. First workpiece support plate; 11. Clamping block; 12. Pressure block; 13. Gear; 14. Rack; 15. Limiting plate; 16. Motor; 17. Reducer; 18. Linear guide rail; 19. Slider. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this utility model are used to explain the present utility model, but are not intended to limit the present utility model.

[0029] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0030] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0031] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0032] In the following description, embodiments of the present invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0033] This utility model provides a robot servo gripper mechanism, including: a clamping base plate 2, a first gripper component, a second gripper component, and a driving component; the first gripper component and the second gripper component are disposed on the same side of the clamping base plate 2, and the driving component is disposed on the side of the clamping base plate 2 away from the first gripper component; wherein, both the first gripper component and the second gripper component include a moving plate and a workpiece clamping plate 3, the moving plate has a sliding section and a connecting section, the sliding section is slidably connected to the clamping base plate 2, and the connecting section is fixedly connected to the workpiece clamping plate 3, the workpiece clamping plate 3 has two protruding structures, the protruding structures located on different workpiece clamping plates 3 are arranged facing each other, and the protruding structures are used to adapt to the grooves on the workpiece to be gripped; the driving component includes a driving source and a gear and rack mechanism, the driving source and the gear and rack mechanism are connected in a transmission connection, the driving source is used to drive the gear and rack mechanism to move the first gripper component and the second gripper component closer to each other or further away from each other.

[0034] Reference Figure 1 and Figure 6 Specifically, in this embodiment, the workpiece to be gripped has grooves on both sides. To achieve stable gripping of the workpiece, the workpiece clamping plate 3 has two protruding structures that fit into the grooves. When the workpiece clamping plate 3 is pressed against the side wall of the workpiece to be gripped, the protruding structures can be engaged in the grooves. The fixture base plate 2 serves as an overall support structure. The drive source is used to drive the gear and rack mechanism to move the first gripper component and the second gripper component closer or further apart, so as to realize the gripping and releasing action of the robot servo gripper mechanism. Specifically, the moving plate includes a first moving plate 5 and a second moving plate 6. The first moving plate 5 is mounted on the first gripper component, and the second moving plate 6 is mounted on the second gripper component. The workpiece clamping plate 3 has a pressure block 12 in the middle.

[0035] In some embodiments, two linear guide rails 18 are fixedly connected to the bottom of the clamping base plate 2. The two linear guide rails 18 are arranged in parallel and are arranged along the length direction of the clamping base plate 2. A slider 19 is fixedly connected to the sliding section near the side of the clamping base plate 2, and the slider 19 is slidably connected to the linear guide rail 18. (Refer to...) Figure 5 Multiple sliders 19 can be installed on the sliding section, for example, three sliders 19 can be installed on each sliding section. Two of the three sliders 19 are slidably connected to one of the linear guide rails 18, and the other slider 19 is slidably connected to another linear guide rail 18.

[0036] In some embodiments, refer to Figure 5 The sliding section has an L-shaped structure, with the sliding sections on the two moving plates staggered. One end of the sliding section is positioned along the linear guide rail 18, and the other end is positioned along the width direction of the fixture base plate 2. This arrangement reduces the overall size and structural dimensions of the device, making it compact and reducing material usage to save costs.

[0037] In some embodiments, refer to Figure 2 and Figure 4 The gear and rack mechanism includes a gear 13 and two racks 14. The two racks 14 are fixed on two sliding sections respectively. The racks 14 are fixedly connected to the edges of the sliding sections along the direction of the linear guide rail 18. The extension direction of the racks 14 is parallel to the extension direction of the linear guide rail 18. The two sides of the gear 13 are respectively meshed with the two racks 14, and the middle of the gear 13 is fixedly connected to the drive source. The output end of the drive source is connected to a reducer 17, which can be used for speed regulation. The drive source transmits power to the gear 13 through the reducer 17. The gear 13 drives the two racks 14 to move linearly. The two racks 14 move away from or closer to each other, which in turn drives the first gripper component and the second gripper component to move closer to or away from each other.

[0038] In some embodiments, the drive source includes an electric motor 16 or a hydraulic motor.

[0039] In some embodiments, a flange plate 1 is fixedly connected to the side of the drive source away from the fixture base plate 2. The cross-section of the flange plate 1 is larger than that of the drive source, and the four corners of the flange plate 1 are fixedly connected to the fixture base plate 2 by support rods 7. The flange plate 1 and the four support rods 7 serve to fix the motor 16 to the fixture base plate 2.

[0040] In some embodiments, a limiting plate 15 is fixedly connected to one end of the clamping base plate 2 along its length. The limiting plate 15 is used to prevent the moving plate from moving beyond the edge of the clamping base plate 2. When the first moving plate 5 or the second moving plate 6 impacts the limiting plate 15, the first moving plate 5 or the second moving plate 6 moves to its farthest limit position. The farthest limit position that the first moving plate 5 or the second moving plate 6 can reach can also be controlled by the motor 16. The motor 16 is a servo motor with high control precision.

[0041] In some embodiments, a clamping block 11 is fixedly connected to the connecting segment. Two clamping blocks 11 are arranged close to each other and do not extend beyond the protruding structure. The clamping blocks 11 are made of elastic material. The clamping blocks 11 may be made of polyurethane material to prevent excessive clamping force from damaging the workpiece.

[0042] In some embodiments, a first workpiece support plate 10 is fixedly connected to the end of the connecting section of the first gripper component away from the fixture base plate 2, and a second workpiece support plate 9 is fixedly connected to the end of the connecting section of the second gripper component away from the fixture base plate 2. The first workpiece support plate 10 and the second workpiece support plate 9 have the same structure, and their tops are used to place other workpieces. This arrangement can improve the gripping function of the gripper mechanism, enabling it to grip different types of workpieces, improving versatility, reducing the need to replace the gripper mechanism, and improving production efficiency.

[0043] In some embodiments, a third workpiece support plate 8 is fixedly connected to the upper middle part of the connecting segment; a pressure block 12 is fixedly connected to the middle part of the workpiece clamping plate 3. Both connecting segments are provided with a third workpiece support plate 8, as shown in the figure. Figure 1 and Figure 3 The height of the third workpiece support plate 8 is greater than that of the first workpiece support plate 10 and the second workpiece support plate 9, which can be used to place other workpieces, thus improving versatility.

[0044] It should be clarified that this utility model is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this utility model is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this utility model.

[0045] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0046] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. For those skilled in the art, various modifications and variations can be made to the embodiments of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot servo gripper mechanism, characterized in that, include: The fixture base plate (2), the first gripper component, the second gripper component, and the driving component are provided; the first gripper component and the second gripper component are disposed on the same side of the fixture base plate (2), and the driving component is disposed on the side of the fixture base plate (2) away from the first gripper component; The first gripper component and the second gripper component both include a movable plate and a workpiece clamping plate (3). The movable plate has a sliding section and a connecting section. The sliding section is slidably connected to the fixture base plate (2). The connecting section is fixedly connected to the workpiece clamping plate (3). The workpiece clamping plate (3) has two protruding structures. The protruding structures located on different workpiece clamping plates (3) are arranged facing each other. The protruding structures are used to adapt to the grooves on the workpiece to be gripped. The driving component includes a driving source and a gear and rack mechanism, which are connected in a transmission manner. The driving source is used to drive the gear and rack mechanism to move the first gripper component and the second gripper component closer to or further away from each other.

2. The robot servo gripper mechanism according to claim 1, characterized in that, The bottom of the fixture base plate (2) is fixedly connected to two linear guide rails (18). The two linear guide rails (18) are arranged in parallel and are arranged along the length direction of the fixture base plate (2). A slider (19) is fixedly connected to the side of the sliding section near the fixture base plate (2). The slider (19) is slidably connected to the linear guide rail (18).

3. The robot servo gripper mechanism according to claim 2, characterized in that, The sliding section has an L-shaped structure. The sliding sections on the two moving plates are staggered. One section of the sliding section is set along the linear guide rail (18), and the other section of the sliding section is set along the width direction of the clamp base plate (2).

4. The robot servo gripper mechanism according to claim 3, characterized in that, The gear and rack mechanism includes a gear (13) and two racks (14). The two racks (14) are respectively fixed on the two sliding sections. The racks (14) are fixedly connected to the edges of the sliding sections along the direction of the linear guide (18). The extension direction of the racks (14) is parallel to the extension direction of the linear guide (18). The two sides of the gear (13) are respectively meshed with the two racks (14). The middle part of the gear (13) is fixedly connected to the drive source.

5. The robot servo gripper mechanism according to claim 1, characterized in that, The drive source includes an electric motor (16) or a hydraulic motor.

6. The robot servo gripper mechanism according to claim 5, characterized in that, A flange plate (1) is fixedly connected to the side of the drive source away from the fixture base plate (2). The cross-section of the flange plate (1) is larger than the cross-section of the drive source. The four corners of the flange plate (1) are fixedly connected to the fixture base plate (2) by support rods (7).

7. The robot servo gripper mechanism according to claim 1, characterized in that, One end of the clamp base plate (2) along its length is fixedly connected to a limiting plate (15), which is used to prevent the moving plate from moving beyond the edge of the clamp base plate (2).

8. The robot servo gripper mechanism according to claim 1, characterized in that, A clamping block (11) is fixedly connected to the connecting section. The two clamping blocks (11) are arranged close to each other. The clamping blocks (11) do not extend beyond the protruding structure. The clamping blocks (11) are made of elastic material.

9. The robot servo gripper mechanism according to claim 1, characterized in that, The first workpiece support plate (10) is fixedly connected to the end of the connecting segment on the first gripper component away from the fixture base plate (2), and the second workpiece support plate (9) is fixedly connected to the end of the connecting segment on the second gripper component away from the fixture base plate (2).

10. The robot servo gripper mechanism according to claim 1, characterized in that, A third workpiece support plate (8) is fixedly connected to the upper middle part of the connecting section; a pressure block (12) is fixedly connected to the middle part of the workpiece clamping plate (3).

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