Robot electric gripper

Abstract

The utility model relates to the technical field of robot clamps, and discloses a robot electric gripper which comprises a main body plate, connecting shafts are rotationally arranged on the two sides of the main body plate, connecting rods are fixed to the connecting shafts, a plurality of gripping rods are fixed to the connecting rods in the axial direction, and a driving mechanism for driving the connecting shafts to rotate is installed on the main body plate. The bag type material grabbing device has the following advantages and effects that bag type materials can be grabbed more stably, and the grabbing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot clamp technical field, especially a kind of robot electric gripper. BACKGROUND

[0002] Robot gripper is a kind of device that can imitate human hand and arm action to realize the grasping, carrying objects or operating tools, which can effectively reduce the labor load and improve work efficiency, and has been widely used in mechanical manufacturing, metallurgy, electronics and other fields.

[0003] The Chinese patent with the authorization announcement number CN219359493U discloses a kind of robot gripper, including mounting seat, the side of the mounting seat is fixedly connected with connection flange, the top of the mounting seat is fixedly connected with a fixed column, the side of the mounting seat is equipped with two sliding grooves, the side of the mounting seat is equipped with a through hole, the side of the mounting seat is slidably connected with two racks, the side of two described rack is engaged with a gear, the inside of the gear is rotatably connected to the outer surface of fixed column.The above-mentioned device has the following shortcomings: two grippers are used to grab parts, this gripper design is not conducive to the grabbing and carrying of objects with flatly arranged working surface such as bag material, and the use range is limited. SUMMARY

[0004] The utility model aims at providing a kind of robot electric gripper, with the effect of facilitating the grabbing of bag material, and further improving the efficiency of loading and unloading.

[0005] The above technical purpose of the utility model is realized by the following technical scheme: a kind of robot electric gripper, including body mainboard, the two sides of the body mainboard are rotatably connected with connecting shaft, the connecting shaft is fixed with connecting rod, the connecting rod is fixed with a plurality of grabbers along the axial direction, the body mainboard is installed with the drive mechanism for driving the rotation of the connecting shaft.

[0006] By adopting the above technical scheme, when grabbing material package, the drive mechanism drives the rotation of the connecting shaft, and the rotation of the connecting shaft on both sides drives the rotation of the grabber to grab material package, and the grabbing and carrying of objects such as bag material are facilitated by the common grabbing of a plurality of grabbers, which has higher adaptability, more stable grabbing, and increases the contact area of grabbing, improves the grabbing capacity.

[0007] The utility model further provides that: the grabber is provided with a chamfer at the end away from the connecting rod.

[0008] By adopting the above technical scheme, the damage to the surface of the object when the gripper grabs the object is reduced, and scratches or indentations are avoided, and the grabbing and releasing process is smoother.

[0009] A further feature of this invention is that: a transmission shaft located above the connecting shaft is rotatably connected to both sides of the main body; a first sprocket is fixed to the transmission shaft; a second sprocket is fixed to the connecting shaft; a transmission chain is sleeved between the first sprocket and the second sprocket; and the driving mechanism drives the transmission shaft to rotate, thereby driving the connecting shaft to rotate.

[0010] By adopting the above technical solution, the drive mechanism drives the connecting shaft to rotate through the drive transmission shaft, leaving material space above the gripper bar, which is conducive to gripping materials of different sizes.

[0011] A further feature of this invention is that the driving mechanism includes a first connecting rod rotating on the main body and a driving device mounted on the main body for driving the first connecting rod to rotate. The first connecting rod is hinged to two ends with a second connecting rod, and the second connecting rod is hinged to a third connecting rod at the end away from the first connecting rod. The end of the third connecting rod away from the second connecting rod is fixed to the transmission shaft.

[0012] By adopting the above technical solution, the drive device drives the first link to rotate, and then the first link drives the two transmission shafts to rotate synchronously in opposite directions through the second link and the third link. The transmission shafts drive the two connecting shafts to rotate synchronously in opposite directions through the first sprocket and the second sprocket respectively, so as to realize the handling or unloading of the two grippers.

[0013] A further feature of this invention is that the driving device is a drive motor.

[0014] By adopting the above technical solution, the first connecting rod is driven to rotate by a drive motor.

[0015] A further feature of this invention is that the plurality of gripping rods are arranged at equal intervals.

[0016] By adopting the above technical solution, it is ensured that the gripping bar applies force evenly when gripping an object, which helps to improve gripping stability.

[0017] A further feature of this invention is that a clamping plate slides vertically on the main body.

[0018] By adopting the above technical solution, after the grab bar grabs the material package, the clamping plate descends to restrict the material package between the clamping plate and the grab bar, further improving the handling stability and grabbing efficiency.

[0019] A further feature of this invention is that a clamping cylinder is mounted on the main body, and the clamping plate is fixed to the output end of the clamping cylinder.

[0020] By adopting the above technical solution, the output end of the clamping cylinder extends to drive the clamping plate to descend and press the material bag.

[0021] The beneficial effects of this utility model are:

[0022] 1. When gripping the material bag, the drive mechanism drives the connecting shaft to rotate. The rotation of the connecting shafts on both sides drives the gripping rod to rotate and grip the material bag. Multiple gripping rods grip together, which is beneficial for gripping and handling bagged materials and other items. It has higher adaptability, more stable gripping, and increases the gripping contact area, thereby improving gripping ability.

[0023] 2. After the grab bar picks up the material bag, the clamping plate descends to confine the material bag between the clamping plate and the grab bar, further improving the handling stability and grabbing efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Fig. 1 This is a schematic diagram of the structure of this utility model.

[0026] Fig. 2 This is a schematic diagram of the drive mechanism structure in this utility model.

[0027] In the diagram, 1. Main body; 2. Connecting shaft; 3. Grab rod; 4. Drive mechanism; 41. First connecting rod; 42. Drive motor; 43. Second connecting rod; 44. Third connecting rod; 5. Chamfer; 6. Transmission shaft; 7. First sprocket; 8. Second sprocket; 9. Transmission chain; 10. Clamping plate; 11. Clamping cylinder; 12. Connecting rod. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0029] Example 1: A robotic electric gripper, such as Figs. 1-2 As shown, it includes a main body 1, with connecting shafts 2 rotating on both sides of the main body 1, connecting rods 12 fixed on the connecting shafts 2, and multiple gripping rods 3 fixed on the connecting rods 12 along the axial direction. The main body 1 is equipped with a drive mechanism 4 that drives the connecting shafts 2 to rotate.

[0030] Furthermore, the end of the grab bar 3 away from the connecting rod 12 has a chamfer 5.

[0031] Furthermore, the main body 1 is rotatably connected to the two sides of the transmission shaft 6 located above the connecting shaft 2. The transmission shaft 6 is fixed with a first sprocket 7, and the connecting shaft 2 is fixed with a second sprocket 8. A transmission chain 9 is sleeved between the first sprocket 7 and the second sprocket 8. The drive mechanism 4 drives the transmission shaft 6 to rotate, thereby driving the connecting shaft 2 to rotate.

[0032] Furthermore, the drive mechanism 4 includes a first connecting rod 41 that rotates on the main body 1 and a drive device mounted on the main body 1 to drive the first connecting rod 41 to rotate. The two ends of the first connecting rod 41 are hinged to a second connecting rod 43. The end of the second connecting rod 43 away from the first connecting rod 41 is hinged to a third connecting rod 44. The end of the third connecting rod 44 away from the second connecting rod 43 is fixed to the transmission shaft 6. The drive device is a drive motor 42.

[0033] Furthermore, multiple grab bars 3 are equidistantly arranged.

[0034] Furthermore, a clamping plate 10 slides vertically on the main body 1, and a clamping cylinder 11 is installed on the main body 1, with the clamping plate 10 fixed to the output end of the clamping cylinder 11.

[0035] Working principle: When grabbing the material bag, the drive motor 42 drives the first connecting rod 41 to rotate. Then, the first connecting rod 41 drives the two transmission shafts 6 to rotate synchronously in opposite directions through the second connecting rod 43 and the third connecting rod 44. The two transmission shafts 6 drive the first sprocket 7 to rotate. Then, the first sprocket 7 drives the second sprocket 8 to rotate through the transmission chain 9, thereby driving the two connecting shafts 2 to rotate synchronously in opposite directions, realizing the handling or unloading of the two gripping rods 3. After the gripping rod 3 grabs the material bag, the clamping cylinder 11 drives the clamping plate 10 to descend and restrict the material bag between the clamping plate 10 and the gripping rod 3, further improving the handling stability.

[0036] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic electric gripper, comprising a main body (1), characterized in that: The main body (1) has connecting shafts (2) rotating on both sides. The connecting shafts (2) are fixed with connecting rods (12). The connecting rods (12) are fixed with multiple gripping rods (3) along the axial direction. The main body (1) is equipped with a drive mechanism (4) that drives the connecting shafts (2) to rotate.

2. The robotic electric gripper according to claim 1, characterized in that: The end of the gripper (3) away from the connecting rod (12) has a chamfer (5).

3. The robotic electric gripper according to claim 1, characterized in that: The main body (1) is rotatably connected to a transmission shaft (6) located above the connecting shaft (2) on both sides. The transmission shaft (6) is fixed with a first sprocket (7), and the connecting shaft (2) is fixed with a second sprocket (8). A transmission chain (9) is sleeved between the first sprocket (7) and the second sprocket (8). The driving mechanism (4) drives the transmission shaft (6) to rotate, thereby driving the connecting shaft (2) to rotate.

4. The robotic electric gripper according to claim 3, characterized in that: The drive mechanism (4) includes a first connecting rod (41) rotating on the main body (1) and a drive device mounted on the main body (1) for driving the first connecting rod (41) to rotate. The first connecting rod (41) is hinged to two ends with a second connecting rod (43). The second connecting rod (43) is hinged to a third connecting rod (44) at one end away from the first connecting rod (41). The third connecting rod (44) is fixed to the transmission shaft (6) at one end away from the second connecting rod (43).

5. A robotic electric gripper according to claim 4, characterized in that: The driving device is a drive motor (42).

6. The robotic electric gripper according to claim 1, characterized in that: The multiple grippers (3) are arranged at equal intervals.

7. The robotic electric gripper according to claim 1, characterized in that: A clamp (10) slides vertically on the main body (1).

8. A robotic electric gripper according to claim 7, characterized in that: A clamping cylinder (11) is installed on the main body (1), and the clamping plate (10) is fixed to the output end of the clamping cylinder (11).

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