Robot hand grabber

Abstract

The utility model discloses a robot hand grabber, and relates to the technical field of robots. The device comprises a placement frame, a clamping assembly is arranged on one side wall of the placement frame, the clamping assembly comprises sliding rails arranged on the inner side walls of main clamping plates symmetrically arranged on one side wall of the placement frame, and lug blocks are connected to the side walls of auxiliary clamping plates slidably connected to the interiors of the sliding rails; a bolt in threaded connection with the outer side wall of the main clamping plate is in threaded connection with the auxiliary clamping plate, a hydraulic rod is hinged to the side wall of the lug block through a hinge, a hydraulic cylinder is connected to the end of the hydraulic rod, and the end of the hydraulic cylinder is hinged to one side wall of the placement frame through a hinge; and telescopic assemblies are arranged on the inner side walls of the main clamping plate and the auxiliary clamping plate. The clamping assembly is arranged, objects with different lengths can be grabbed conveniently, the application range is widened, the telescopic assembly is arranged, the clamping force on irregular objects can be increased, and then the stability of grabbing the irregular objects is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, especially, relate to a robot hand grab ware. BACKGROUND

[0002] ‌Robot has the effect of improving production efficiency, guaranteeing product quality, reducing production cost, enhancing production safety, adapting complex production environment and promoting industrial upgrading in industrial manufacturing, and robot hand grab ware is a kind of end effector for automation and robot system, mainly used for grabbing, carrying and placing object.

[0003] Through the retrieval, in patent announcement No. CN221089050U patent literature discloses a kind of industrial robot arm grabbing mechanism. Including base, the top of base is equipped with controller, another section of controller is connected with support arm, the side of support arm away from controller is connected with mounting plate, the surface of mounting plate is fixedly connected with adjusting assembly, adjusting assembly is movably connected with grabbing assembly for grabbing material in its inside. Its by being arranged in the mounting plate of support arm other side, adjusting assembly can be installed on the surface of mounting plate, so as to conveniently drive the internal grabbing range adjustment of grabbing assembly located in the inside of adjusting assembly, effectively improves the overall working efficiency of industrial robot.

[0004] The surface of the mounting plate is fixedly connected with an adjusting assembly, and the inside of the adjusting assembly is movably connected with a grabbing assembly for grabbing materials. First, the specific structure of the adjusting assembly is disclosed. The adjusting assembly comprises an adjusting piece fixedly connected to the surface of the mounting plate, an adjusting groove is formed in the inside of the adjusting piece, a bidirectional screw rod is rotatably arranged in the adjusting groove, one side of the bidirectional screw rod is fixedly connected with the output shaft of a motor, the motor is fixedly connected to the surface of the adjusting piece, and two supporting pieces are symmetrically sleeved on the surface of the bidirectional screw rod, the upper and lower ends of the two supporting pieces are fixedly connected with extension rods, and auxiliary grooves are formed in the inner walls of the upper and lower sides of the adjusting groove and are attached to the surfaces of the extension rods. When the grabbing assembly needs to operate, the motor located on the surface of the adjusting piece is started to drive the bidirectional screw rod fixedly connected with the output shaft of the motor to rotate in the adjusting groove. The two supporting pieces are symmetrically sleeved on the surface of the bidirectional screw rod, and the other ends of the supporting pieces are respectively connected with the two ends of the grabbing assembly. When the bidirectional screw rod rotates, the two supporting pieces can slide reversely in the adjusting groove, so as to drive the grabbing assembly to move. The extension rods fixedly connected to the surfaces of the supporting pieces and the auxiliary grooves formed in the inner walls of the adjusting groove further improve the stability of the sliding of the supporting pieces, thereby improving the stability of the operation of the grabbing assembly. Second, the specific structure of the grabbing assembly is disclosed. The grabbing assembly comprises a gripper body arranged on the side of the adjusting piece away from the mounting plate, the gripper body is composed of a left gripper and a right gripper, the ends of the left gripper and the right gripper are respectively connected with the ends of the two supporting pieces, and a grabbing chamber is formed between the left gripper and the right gripper. By arranging the gripper body on the side of the adjusting piece away from the mounting plate, and by arranging the gripper body to be composed of the left gripper and the right gripper, the size of the grabbing chamber can be adjusted when the left gripper and the right gripper slide reversely under the driving of the adjusting assembly, thereby facilitating the improvement of the applicability of the gripper body. However, the length of the left gripper and the right gripper is fixed, and it is inconvenient to adjust the length of the left gripper and the right gripper according to the actual length of the grabbed object, thereby reducing the application range. In addition, the shape of the grabbing chamber is fixed, thereby making it inconvenient to adjust the grabbing chamber according to irregular objects, reducing the contact area between the grabbing chamber and the irregular objects, thereby reducing the friction between the irregular objects and the grabbing chamber, and thereby reducing the stability of the irregular objects in the grabbing chamber, and even causing the irregular objects to fall from the grabbing chamber.

[0005] Therefore, we provide a robot hand grabber to solve the above problems. The utility model discloses

[0006] The utility model discloses a robot hand gripper, through setting up clamping subassembly, the object of different length is convenient to snatch, has increased practicality, and setting up telescopic subassembly, it is convenient to increase the clamping force of irregular object, and then increase the stability when snatch irregular object, and then solve the technical problem that one kind of industrial robot arm gripper mechanism in background art has proposed.

[0007] To solve the above technical problems, the utility model is realized through the following technical schemes:

[0008] The utility model discloses a robot hand gripper, including the installation frame, the one side wall of installation frame is provided with clamping subassembly, the clamping subassembly includes the inside wall of the main clamping plate of symmetry setting on the one side wall of installation frame and is equipped with slide rail, the inside wall of the subsidiary clamping plate of the inside slide connection of slide rail is connected with the ear block on the side wall, the outside wall of main clamping plate is connected with subsidiary clamping plate through the threaded connection of bolt, the side wall of ear block is hinged with hydraulic rod through the hinge, the end of hydraulic rod is connected with hydraulic cylinder, and the end of hydraulic cylinder is hinged on the one side wall of installation frame, the inside wall of main clamping plate and subsidiary clamping plate is equipped with telescopic subassembly, and the telescopic subassembly includes the guide block of movable connection in the inside of connecting barrel, the end of reset spring connected on the inside wall of guide block is connected on the inside wall of connecting barrel, and the outer end of movable rod connected on the outside wall of guide block is provided with clamping block.

[0009] The utility model further sets up, another side wall of installation frame is connected with the convex rod, and the convex rod's circumferential side wall has the steady rod of symmetry connection, and the steady rod is connected on the other side wall of installation frame.

[0010] The utility model further sets up, the end of the convex rod away from installation frame is provided with mechanical arm, and the end of mechanical arm is provided with controller, and the lower surface of controller is connected with installation seat.

[0011] The utility model further sets up, the one side wall of installation frame is equipped with installation groove, and the both ends of screw rod arranged in the inside of installation groove have the support of symmetry rotation connection, and two supports are connected on the two outer side walls of installation frame, and the end surface of motor connected on the end of screw rod is connected with machine base, and machine base is connected on the outside wall of support, and the circumferential side wall of screw rod has the ball nut of symmetry setting, and the circumferential side wall of ball nut is provided with sleeve seat, and sleeve seat is slidably connected in the inside of installation groove.

[0012] The utility model further sets up, the inside wall of installation groove is equipped with the sliding slot, and the inside wall of sleeve seat is fixedly connected with sliding block, and sliding block is slidably connected in the inside of sliding slot.

[0013] The utility model further sets up, the outside wall of the sleeve seat is fixedly connected with the connecting base, the outside wall of connecting base is connected with the connecting block through screw locking, the connecting block is connected on the side wall of main clamping plate.

[0014] The utility model further sets up, the upper and lower two inside walls of slide rail all are connected with guide rail, the upper and lower two side walls of accessory clamping plate all are equipped with guide groove, the guide groove is connected on the outside wall of guide rail.

[0015] The utility model further sets up, the inside wall of connecting cylinder has the lack groove that presents annular array and sets up, the outside circumferential wall of guide block has the lug that presents annular array and is fixedly connected, the lug is connected in the inside of lack groove, the opening end of connecting cylinder is connected with screw cover, the outer end of movable rod is connected with the inside wall of screw cover, the outer end of movable rod is fixedly connected with screw rod, the inside wall of clamping block is equipped with internal thread hole groove, the screw rod is connected in the inside of internal thread hole groove, the outside wall of clamping block is provided with antiskid pad.

[0016] The utility model has the following beneficial effects:

[0017] 1, the utility model discloses a clamping assembly is set up, and the bolt is loosened clockwise, and the hydraulic cylinder is started, and the hydraulic rod stretches or shrinks, and the accessory clamping plate slides in the inside of main clamping plate, and the total length between accessory clamping plate and main clamping plate is adjusted, and then the object of different lengths is grabbed, and the scope of application is increased, and then the practicality is improved.

[0018] 2, the utility model discloses a telescopic component is set up, and when the irregular object is grabbed, the elasticity of reset spring makes the relative position between connecting cylinder and movable rod adjust according to actual needs, and then it is favorable to increase the contact area between clamping assembly and irregular object, and then the friction between clamping assembly and irregular object is increased, and the clamping force is increased, and then the stability when grabbing irregular object is improved. ACCURACY OF DRAWINGS

[0019] In order to make the technical scheme of the embodiments of the utility model more clearly, the following will briefly introduce the drawings needed to be used in the embodiment description.

[0020] Figure 1 It is a kind of robot hand grabber's three-dimensional schematic view;

[0021] Figure 2 It is the exploded schematic view of mounting bracket, motor, screw rod and sleeve seat;

[0022] Figure 3 It is the connecting schematic view of sleeve seat and main clamping plate;

[0023] Figure 4 It is the exploded schematic view of main clamping plate and accessory clamping plate.

[0024] Figure 5 Structure exploded view of telescopic assembly Figure 1 ;

[0025] Figure 6 Structure exploded view of telescopic assembly Figure 2 .

[0026] In the drawings, the components represented by each reference numeral are listed as follows:

[0027] 1- mounting frame, 101- protruding rod, 101a- stabilizing rod, 102- mechanical arm, 102a- controller, 102b- mounting seat, 103- mounting groove, 103a- sliding groove, 2- clamping assembly, 201- motor, 201a- support, 201b- lead screw, 201c- ball nut, 201d- machine base, 202- hinge, 203- hydraulic cylinder, 203a- hydraulic rod, 204- main clamping plate, 204a- connecting block, 204b- sliding rail, 204c- guide rail, 204d- bolt, 205- auxiliary clamping plate, 205a- lug block, 205b- guide groove, 206- sleeve seat, 206a- sliding block, 206b- connecting seat, 3- telescopic assembly, 301- connecting barrel, 301a- screw cover, 301b- missing groove, 302- movable rod, 302a- screw rod, 302b- guide block, 302c- return spring, 302d- protruding block, 303- clamping block, 303a- internally threaded hole groove, 303b- non-slip pad. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] Embodiment 1

[0030] Please refer to Figure 1 and Figure 2 The utility model discloses a robot hand gripper, including mounting frame 1, protruding rod 101, stabilizing rod 101a, mechanical arm 102, controller 102a and mounting seat 102b, the controller 102a for operating mechanical arm 102 work is set, and then adjusts the position of mounting frame 1, realizes the grasping of the object on different positions.

[0031] Specifically, the side wall of the mounting rack 1 is provided with a mounting groove 103, the inner side wall of the mounting groove 103 is provided with a sliding groove 103a, and the other side wall of the mounting rack 1 is connected with a convex rod 101, the circumferential side wall of the convex rod 101 is connected with a stabilizing rod 101a, the end of the stabilizing rod 101a connected with the convex rod 101 on the other side wall of the mounting rack 1 is provided with a mechanical arm 102, the end of the mechanical arm 102 is provided with a controller 102a, and the lower surface of the controller 102a is connected with a mounting seat 102b.

[0032] Further, the two stabilizing rods 101a are symmetrically arranged.

[0033] The operation process of the embodiment is: controlling the controller 102a to control the mechanical arm 102 to adjust the position of the mounting rack 1.

[0034] Embodiment 2

[0035] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , on the basis of the specific embodiment one, the clamping assembly 2 is provided, the clamping assembly 2 contains motor 201, support 201a, screw rod 201b, ball nut 201c, machine base 201d, hinge 202, hydraulic cylinder 203, hydraulic rod 203a, main clamping plate 204, connecting block 204a, bolt 204d, auxiliary clamping plate 205, ear block 205a, sleeve seat 206, sliding block 206a and connecting seat 206b, controlling the motor 201, adjusting the distance between the two main clamping plates 204, at the same time, adjusting the distance between the two auxiliary clamping plates 205, and then realizing the grabbing or loosening of the object, controlling the hydraulic cylinder 203, adjusting the position of the auxiliary clamping plate 205, and then adjusting the total length between the main clamping plate 204 and the auxiliary clamping plate 205, and then grabbing the object of different length sizes, increasing the practicability.

[0036] Specifically, the screw rod 201b is arranged on the inner wall of the accommodation groove 103, the circumferential wall of the screw rod 201b is rotationally connected with the support 201a, the support 201a is connected to the outer wall of the accommodation frame 1, the circumferential wall of the screw rod 201b is provided with the ball nut 201c, the circumferential wall of the ball nut 201c is provided with the sleeve 206, the inner wall of the sleeve 206 is connected with the sliding block 206a, the sliding block 206a is slidingly connected in the inner part of the sliding groove 103a, the outer wall of the sleeve 206 is connected with the connecting seat 206b, the outer wall of the connecting seat 206b is screw-locked with the connecting block 204a, the outer wall of the connecting block 204a is connected with the main clamping plate 204, the inner wall of the main clamping plate 204 is provided with the sliding rail 204b, the inner wall of the sliding rail 204b is connected with the guide rail 204c, the outer wall of the main clamping plate 204 is screw-connected with the bolt 204d, the auxiliary clamping plate 205 is slidingly connected in the inner part of the sliding rail 204b, the side wall of the auxiliary clamping plate 205 is provided with the guide groove 205b, the guide groove 205b is slidingly connected on the outer wall of the guide rail 204c, the side wall of the auxiliary clamping plate 205 is connected with the lug 205a, one end of the hydraulic cylinder 203 is hingedly connected to one side wall of the accommodation frame 1 through the hinge 202, the other end of the hydraulic cylinder 203 is connected with the hydraulic rod 203a, the end of the hydraulic rod 203a is hingedly connected to the side wall of the lug 205a through the hinge, the motor 201 is connected to the end of the screw rod 201b, and the end surface of the motor 201 is connected with the machine base 201d, and the machine base 201d is connected to the outer wall of the support 201a.

[0037] Further, the two supports 201a are symmetrically arranged, the two ball nuts 201c are symmetrically arranged, the two hydraulic cylinders 203 are symmetrically arranged, the two main clamping plates 204 are symmetrically arranged, the two guide rails 204c are symmetrically arranged, and the two guide grooves 205b are symmetrically provided.

[0038] The operation process of the embodiment is as follows: start the motor 201, rotate the screw rod 201b, when the two ball nuts 201c move towards each other along the screw rod 201b, the two sleeves 206 move towards each other along the accommodation groove 103, the two main clamping plates 204 move towards each other, the two auxiliary clamping plates 205 move towards each other, until the object is clamped, then loosen the bolt 204d in a clockwise direction, start the hydraulic cylinder 203, the hydraulic rod 203a is extended, the guide groove 205b slides along the guide rail 204c, the auxiliary clamping plate 205 slides along the sliding rail 204b, the auxiliary clamping plate 205 moves out of the inner part of the main clamping plate 204, and the object with a longer length is grabbed; conversely, when the hydraulic rod 203a is retracted, the auxiliary clamping plate 205 enters the inner part of the main clamping plate 204, and the object with a smaller length is grabbed, when the two ball nuts 201c move away from each other along the screw rod 201b, the clamped object is loosened.

[0039] Embodiment 3

[0040] Please refer to Figure 1 、 Figure 5 and Figure 6 On the basis of embodiment one and embodiment two, the telescopic assembly 3 is provided, which comprises a connecting cylinder 301, a screw cap 301a, a movable rod 302, a screw rod 302a, a guide block 302b, a reset spring 302c, a protruding block 302d, a clamping block 303 and an anti-skid pad 303b. The reset spring 302c is arranged to adjust the relative position between the movable rod 302 and the connecting cylinder 301, thereby adjusting the total length between the movable rod 302 and the connecting cylinder 301, and facilitating the increase of the clamping force on irregular objects, thereby improving the stability when grabbing irregular objects.

[0041] Specifically, the inner side wall of the main clamping plate 204 and the auxiliary clamping plate 205 is connected with the connecting cylinder 301, the opening end of the connecting cylinder 301 is threadedly connected with the screw cap 301a, and the inner side wall of the connecting cylinder 301 is provided with a slot 301b. One end of the movable rod 302 penetrates through the screw cap 301a, and the other end of the movable rod 302 extends into the interior of the connecting cylinder 301. The other end of the movable rod 302 is connected with the screw rod 302a. One end of the movable rod 302 is connected with the guide block 302b, and the circumferential wall of the guide block 302b is connected with the protruding block 302d. The protruding block 302d is slidingly connected in the interior of the slot 301b. One end of the reset spring 302c is connected to the inner side wall of the guide block 302b, and the other end of the reset spring 302c is connected to the inner side wall of the connecting cylinder 301. The inner side wall of the clamping block 303 is provided with an internal thread hole 303a, and the screw rod 302a is threadedly connected in the interior of the internal thread hole 303a. The outer side wall of the clamping block 303 is provided with the anti-skid pad 303b.

[0042] Further, the slot 301b is annularly arranged, and the protruding block 302d is annularly arranged.

[0043] The operation process of the embodiment is as follows: when the two main clamping plates 204 move towards each other, the anti-skid pad 303b contacts the object. When the object is irregularly shaped, the anti-skid pad 303b first contacts the irregular object, the reset spring 302c is contracted, the clamping block 303 moves towards the connecting cylinder 301, the protruding block 302d slides along the slot 301b, the guide block 302b moves towards the inner side wall of the connecting cylinder 301, and the movable rod 302 moves towards the interior of the connecting cylinder 301, until the irregular object is clamped. When the two main clamping plates 204 move away from each other, the contracted reset spring 302c is stretched, and the clamping block 303 moves to the initial position.

[0044] In the description of the present specification, the description of the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A robot hand gripper comprising a mounting frame (1), characterised in that: One side wall of the installation rack (1) is provided with a clamping assembly (2), the clamping assembly (2) comprises a main clamping plate (204) symmetrically arranged on the inner side wall of the one side wall of the installation rack (1), a slide rail (204b) is arranged on the inner side wall of the main clamping plate (204), the side wall of the auxiliary clamping plate (205) slidably connected to the inside of the slide rail (204b) is connected with an ear block (205a), the outer side wall of the main clamping plate (204) is threadedly connected with a bolt (204d) and the auxiliary clamping plate (205), the side wall of the ear block (205a) is hingedly connected with a hydraulic rod (203a) through a hinge (202), the end of the hydraulic rod (203a) is connected with a hydraulic cylinder (203), and the end of the hydraulic cylinder (203) is hingedly connected to the one side wall of the installation rack (1); The inner side walls of the main clamping plate (204) and the auxiliary clamping plate (205) are provided with telescopic assemblies (3), the telescopic assemblies (3) comprise a guide block (302b) movably connected in the inside of a connecting barrel (301), the end of a return spring (302c) connected to the inner side wall of the guide block (302b) is connected to the inner side wall of the connecting barrel (301), and the outer end of a movable rod (302) connected to the outer side wall of the guide block (302b) is provided with a clamping block (303).

2. A robotic hand gripper according to claim 1, wherein: The other side wall of the installation rack (1) is connected with a convex rod (101), the convex rod (101) is symmetrically connected with a stabilizing rod (101a) on the circumferential side wall, and the stabilizing rod (101a) is connected to the other side wall of the installation rack (1).

3. A robotic hand gripper according to claim 2, wherein: The end of the convex rod (101) away from the installation rack (1) is provided with a mechanical arm (102), the end of the mechanical arm (102) is provided with a controller (102a), and the lower surface of the controller (102a) is connected with a mounting seat (102b).

4. The robotic hand gripper of claim 1, wherein: A mounting groove (103) is arranged on the one side wall of the installation rack (1), the both ends of a lead screw (201b) arranged in the inside of the mounting groove (103) are symmetrically and rotatably connected with supports (201a), the two supports (201a) are connected to the two outer side walls of the installation rack (1), the end face of a motor (201) connected to the end of the lead screw (201b) is connected with a machine base (201d), the machine base (201d) is connected to the outer side wall of the support (201a), the circumferential side wall of the lead screw (201b) is symmetrically provided with a ball nut (201c), the circumferential side wall of the ball nut (201c) is provided with a sleeve seat (206), and the sleeve seat (206) is slidably connected in the inside of the mounting groove (103).

5. A robotic hand gripper according to claim 4, wherein: A sliding groove (103a) is arranged on the inner side wall of the mounting groove (103), and a sliding block (206a) is fixedly connected to the inner side wall of the sleeve seat (206) and slidably connected in the inside of the sliding groove (103a).

6. A robotic hand gripper according to claim 5, wherein: The outer side wall of the sleeve (206) is fixedly connected with a connecting base (206b), the outer side wall of the connecting base (206b) is locked and connected with a connecting block (204a) through a screw, and the connecting block (204a) is connected to the side wall of the main clamping plate (204).

7. The robotic hand gripper of claim 1, wherein: The upper and lower inner side walls of the slide rail (204b) are connected with guide rails (204c), the upper and lower side walls of the auxiliary clamping plate (205) are provided with guide grooves (205b), and the guide grooves (205b) are slidingly connected to the outer side walls of the guide rails (204c).

8. The robotic hand gripper of claim 1, wherein: The inner side wall of the connecting cylinder (301) is provided with a plurality of annularly arranged missing grooves (301b), the outer peripheral side wall of the guide block (302b) is fixedly connected with a plurality of annularly arranged protrusions (302d), the protrusions (302d) are slidingly connected to the interiors of the missing grooves (301b), the opening end of the connecting cylinder (301) is threadedly connected with a screw cover (301a), the outer end of the movable rod (302) penetrates through the inner side wall of the screw cover (301a), the outer end of the movable rod (302) is fixedly connected with a screw rod (302a), the inner side wall of the clamping block (303) is provided with an internally threaded hole groove (303a), the screw rod (302a) is threadedly connected to the interior of the internally threaded hole groove (303a), and the outer side wall of the clamping block (303) is provided with an anti-skid pad (303b).

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