Automatic gripper for robot
By designing a robotic gripper with adjustable clamping distance, and utilizing gear and toothed rail meshing connection and a second pressure plate for limiting, the problem of unstable gripping of goods of different sizes by existing grippers is solved, achieving stable gripping and grasping.
Patent Information
- Application Number
- CN202422657499.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2034-10-31
AI Technical Summary
The grippers of existing palletizing robots cannot be adjusted, resulting in unstable or inability to grip large or small goods, thus limiting their applicability.
An automatic gripper for robots with adjustable clamping distance was designed. The gripper moves by meshing gears and a toothed rail, and the second gripper limits the movement of the goods, thus achieving stable clamping.
The applicability of the gripper has been improved, ensuring stable clamping of goods during material transfer and preventing slippage, thus expanding the gripper's applicability.
Smart Images
Figure CN223671248U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot gripper field, especially a kind of automatic gripper for robot. BACKGROUND
[0002] At present, user enterprise usually selects four kinds of stacking modes to carry out stacking: one is to adopt artificial stacking mode;Second is to adopt traditional stacking machine;Third is to adopt stacking robot to carry out stacking;Fourth is to adopt full-automatic stacking equipment to complete stacking.Stacking robot occupies very important position in the process of stacking in enterprise, and the quality of stacking robot work is directly influenced by the quality of its gripper.
[0003] But the movement pressing plate of the stacking robot gripper used now cannot be adjusted, when grabbing larger or smaller box bag goods, goods clamping is unstable or cannot be clamped, and the application range is small, to solve the above problems, the present application provides a kind of automatic gripper for robot with adjustable clamping plate distance. UTILITY MODEL CONTENT
[0004] In order to solve the problems mentioned in the above background art, the utility model provides an automatic gripper for robot.
[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:
[0006] An automatic gripper for robot, comprising a connecting plate, a rotating shaft movably connected below the connecting plate, a fixed side plate provided on the rotating shaft, an installation side plate provided at the side end of the fixed side plate, a pressing plate movably connected on the installation side plate, and a gripping tooth detachably connected on the installation side plate.
[0007] Preferably, a fixed frame is provided below the connecting plate, and the rotating shaft is movably connected on the fixed frame.
[0008] Preferably, a gas cylinder is provided on the fixed frame, and the output end of the gas cylinder is rotatably connected with a connecting rod.
[0009] Preferably, a connecting plate is provided on the outer side wall of the installation side plate, and the connecting plate is detachably connected with the gripping tooth through locking bolts.
[0010] Preferably, a tooth rail is provided on the pressing plate, a connecting shaft is movably connected on the fixed side plate, gears are provided at both ends of the connecting shaft, and the gears are meshingly connected with the tooth rail.
[0011] Preferably, a guide rod parallel to the tooth rail is provided on the side wall of the pressing plate, and the guide rod is slidingly connected with the installation side plate.
[0012] Preferably, a worm gear is provided on the connecting shaft, a worm is movably connected on the installation side plate, and the worm gear is meshingly connected with the worm.
[0013] Preferably, the fixed frame is provided with a second cylinder, and the output end of the second cylinder is provided with a second pressing plate.
[0014] Compared with the prior art, the utility model has the beneficial effects that:
[0015] 1、The connecting shaft rotates, the gear and the toothed rail are connected through meshing, the pressing plate can be driven to move to the inner side, the position of the pressing plate can be adjusted according to the box bag, the pressing plate is tightly attached to the goods to be clamped and fixed, the application range of the gripper can be improved, and the purpose of stably clamping and grabbing goods is achieved.
[0016] 2、After the box bag goods are grabbed by the gripping teeth, the goods are limited in the horizontal direction by the pressing plate, the goods can be limited in the vertical direction by the second pressing plate, and the goods can be clamped and fixed by the cooperation of the pressing plate and the second pressing plate, so that the goods are stable when moving, and sliding is avoided.
[0017] In conclusion, the utility model overcomes the defects of the prior art, has reasonable design, can adjust the distance of the pressing plate to improve the use range of the gripper, avoids the loss of the battery when not in use, and has high social use value and application prospect. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.
[0019] Figure 1 It is a whole structure schematic view of the utility model;
[0020] Figure 2 It is a fixed frame structure schematic view of the utility model;
[0021] Figure 3 It is an installation side plate structure schematic view of the utility model;
[0022] Figure 4 It is a pressing plate structure schematic view of the utility model.
[0023] In the drawing: connecting plate 1, fixed frame 2, rotating shaft 21, cylinder 22, connecting rod 23, fixed side plate 3, installation side plate 31, connecting plate 311, gripping tooth 312, locking bolt 313, pressing plate 32, toothed rail 321, guide rod 322, connecting shaft 33, gear 331, worm wheel 332, worm 333, rotating handle 334, second cylinder 4, second pressing plate 441. DETAILED DESCRIPTION
[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.
[0025] Embodiment 1
[0026] With reference to Figures 1-4 An automatic gripper for a robot, comprising a connecting plate 1, a fixed frame 2 is fixedly connected to the bottom end of the connecting plate 1 near both sides, a rotating shaft 21 is rotatably connected in the fixed frame 2, a connecting rod 23 is arranged on the circumferential side wall of the rotating shaft 21, a cylinder 22 is arranged on the fixed frame 2, the output end of the cylinder 22 is rotatably connected with the connecting rod 23, a fixed side plate 3 is arranged on the circumferential side wall of the rotating shaft 21 outside the fixed frame 2, a mounting side plate 31 is arranged on the side end of the fixed side plate 3, a connecting plate 311 is arranged on the outer side wall of the mounting side plate 31, a plurality of gripping teeth 312 are detachably connected to the connecting plate 311 through locking bolts 313, the gripping teeth 312 are detachably connected, so that the gripping teeth 312 can be replaced, a pressing plate 32 is arranged on the inner side of the mounting side plate 31, when the output end of the cylinder 22 is extended, the connecting rod 23 and the rotating shaft 21 are axially rotated, so as to drive the fixed side plate 3 to rotate, thereby driving the gripping teeth 312 to grab the goods.
[0027] A tooth rail 321 is arranged on the side wall of the pressing plate 32, a guide rod 322 parallel to the tooth rail 321 is arranged on the side wall of the pressing plate 32, the guide rod 322 is slidably connected with the mounting side plate 31, a connecting shaft 33 is rotatably connected with the fixed side plate 3, gears 331 are arranged on both ends of the connecting shaft 33, the gears 331 are meshingly connected with the tooth rail 321, when the connecting shaft 33 rotates, the pressing plate 32 can be moved inwardly through the meshing connection between the gears 331 and the tooth rail 321, the position of the pressing plate 32 can be adjusted according to the box or bag, and the use range of the device can be improved.
[0028] A worm gear 332 is arranged on the connecting shaft 33, a worm shaft 333 is rotatably connected with the mounting side plate 31, the worm gear 332 is meshingly connected with the worm shaft 333, a rotating handle 334 is arranged on the outer side end of the worm shaft 333, when the rotating handle 334 is rotated, the connecting shaft 33 can be rotated through the meshing connection between the worm gear 332 and the worm shaft 333.
[0029] The second cylinder 4 is arranged on the fixing frame 2, and the output end of the second cylinder 4 is provided with a second pressing plate 441; after the box bag goods are grabbed by the grabbing teeth 312, the goods are horizontally limited by the pressing plate 32, the goods can be vertically limited by the second pressing plate 441, and the goods can be clamped and fixed by the cooperation of the pressing plate 32 and the second pressing plate 441, so that the goods are stable during material moving and sliding is avoided.
[0030] Working principle: rotate the rotating handle 334, the connecting shaft 33 can be driven to rotate through the meshing connection of the worm wheel 332 and the worm 333, the pressing plate 32 can be driven to move inwards through the meshing connection of the gear 331 and the toothed rail 321, the position of the pressing plate 32 can be adjusted according to the box bag, the pressing plate 32 is tightly clamped and fixed to the goods, the application range of the grabber is improved, and the purpose of stably clamping and grabbing the goods is achieved.
[0031] After the box bag goods are grabbed by the grabbing teeth 312, the goods are horizontally limited by the pressing plate 32, the goods can be vertically limited by the second pressing plate 441, and the goods can be clamped and fixed by the cooperation of the pressing plate 32 and the second pressing plate 441, so that the goods are stable during material moving and sliding is avoided.
[0032] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model.
[0033] In the utility model, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or can be integrated; can be mechanically connected, can be directly connected, or can be indirectly connected through an intermediate medium, can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.
[0034] The control mode of the utility model is automatically controlled through the controller, the control circuit of the controller can be realized through simple programming of the person skilled in the art, the provision of the power supply also belongs to the common knowledge in the art, and the utility model is mainly used for protecting the mechanical device, so the control mode and the circuit connection of the utility model are not explained in detail.
[0035] The above is only the preferred specific implementation mode of the utility model, but the protection scope of the utility model is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the utility model concept of the utility model within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model.
Claims
1. An automatic gripper for a robot, characterized in that, Include: The connecting plate is movably connected with a rotating shaft (21) below, the rotating shaft (21) is provided with a fixed side plate (3), the fixed side plate (3) is provided with a mounting side plate (31) at the side end, the mounting side plate (31) is movably connected with a pressing plate (32), the mounting side plate (31) is detachably connected with a grab tooth (312); The outer side wall of the mounting side plate (31) is provided with a connecting plate (311), the connecting plate (311) is detachably connected with the grab tooth (312) through the locking bolt (313); The pressing plate (32) is provided with a toothed rail (321), the fixed side plate (3) is movably connected with a connecting shaft (33), the connecting shaft (33) is provided with a gear (331) at both ends, the gear (331) is meshed with the toothed rail (321); The side wall of the pressing plate (32) is provided with a guide rod (322) parallel to the toothed rail (321), the guide rod (322) is slidably connected with the mounting side plate (31); The connecting shaft (33) is provided with a worm wheel (332), the mounting side plate (31) is movably connected with a worm gear (333), the worm wheel (332) is meshed with the worm gear (333).
2. The automatic gripper for robots according to claim 1, characterized in that: The connecting plate is provided with a fixing frame (2) below, the rotating shaft (21) is movably connected on the fixing frame (2).
3. An automatic gripper for robots according to claim 2, characterized in that: The fixing frame (2) is provided with a cylinder (22), the rotating shaft (21) is provided with a connecting rod (23) on the circumferential side wall, and the output end of the cylinder (22) is rotatably connected with the connecting rod (23).
4. The automatic gripper for robots according to claim 2, characterized in that: The fixing frame (2) is provided with a second cylinder (4), and the output end of the second cylinder (4) is provided with a second pressing plate (441).