Industrial robot gripper structure

Abstract

The utility model relates to the technical field of robots, in particular to an industrial robot gripper structure which comprises a connecting seat, a rotating seat and clamping jaws, a transversely-arranged sliding groove is formed in the rotating seat, two sliding seats are arranged in the sliding groove, and the clamping jaws are symmetrically arranged on the two sliding seats respectively. A clamping driving mechanism for driving the two sliding seats to move reversely is arranged on the rotating seat, each clamping jaw comprises an upper jaw arm fixed to the corresponding sliding seat and a lower jaw arm connected to the lower end of the upper jaw arm, the lower jaw arms of the two clamping jaws are oppositely and obliquely arranged, a supporting block is arranged at the lower end of each lower jaw arm, and the supporting blocks are arranged on the rotating seat. The supporting block is installed on the lower claw arm in a sliding mode. The two sliding seats are driven by the clamping driving mechanism to move reversely, the clamping action of the clamping jaws is achieved, the gravity of goods is borne by the sliding seats and the clamping jaws, damage to the clamping driving mechanism is avoided, the service life is prolonged, and the large-weight goods grabbing device is suitable for grabbing large-weight goods.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a gripper structure for an industrial robot. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom robotic devices designed for industrial applications. Currently, industrial robots are mainly arm-type industrial robots, which rely on four-axis, six-axis, and eight-axis manipulators to drive corresponding devices for operation. The manipulator drives the gripper to complete the grasping task of products. The gripper is a clamping tool used to grasp objects, which can conveniently and quickly fix and move objects. In industrial production, it is often used in conjunction with the arm of the gripper robot and the gripping cylinder. Currently, the grippers on robot devices do not have a firm grip and cannot effectively grasp heavy objects.

[0003] Chinese utility model patent with publication number CN220994505U discloses a gripper mechanism for an industrial robot. Two hydraulic cylinders drive a sliding block to move simultaneously towards or away from each other along a slide rail between two guide plates, adjusting the distance between the two grippers to facilitate gripping products of different sizes. The two grippers can also be rotated simultaneously towards or away from each other by a cylinder along two first rotating shafts, thus facilitating the gripping of the product to be held. However, during gripping, the weight of the goods acts directly on the cylinders, which can easily damage them, and it cannot effectively grip heavy objects. Utility Model Content

[0004] The purpose of this invention is to provide an industrial robot gripper structure to solve the problems mentioned in the background art.

[0005] The above-mentioned objective of this utility model is achieved through the following technical solution: an industrial robot gripper structure, including a connecting seat, a rotating seat rotatably mounted on the connecting seat, and grippers disposed on the rotating seat. The rotating seat is provided with a horizontally arranged sliding groove, and two sliding seats are disposed in the sliding groove. The grippers are symmetrically disposed on the two sliding seats. The rotating seat is provided with a gripping drive mechanism for driving the two sliding seats to move in opposite directions. The grippers include an upper gripper arm fixed on the sliding seat and a lower gripper arm connected to the lower end of the upper gripper arm. The lower gripper arms of the two grippers are inclined towards each other. A support block is provided at the lower end of the lower gripper arm, and the support block is slidably mounted on the lower gripper arm.

[0006] Preferably, the clamping drive mechanism includes a lead screw rotatably mounted in the sliding groove, two sliding seats screwed onto the lead screw, and a drive motor for driving the lead screw to rotate is provided at one end of the lead screw.

[0007] Preferably, there are two lead screws connected by a coupling, and the threads of the two lead screws have opposite directions. The two sliding seats are respectively screwed onto the corresponding lead screws.

[0008] Preferably, the end of the lead screw is provided with a transmission wheel, the output shaft of the drive motor is provided with a drive wheel, and a transmission belt connects the drive wheel and the transmission wheel.

[0009] Preferably, slide rails are provided on the end faces of the two lower claw arms on opposite sides, and the support block slides on the slide rails.

[0010] Preferably, a limit block is provided at the lower end of the lower claw arm, and a spring is provided between the support block and the limit block.

[0011] Preferably, the limiting block is provided with a mounting hole, one end of the spring extends into the mounting hole, and the other end is connected to the support block.

[0012] Preferably, an adjusting block is provided in the mounting hole, one end of the spring is connected to the adjusting block, and an adjusting bolt is screwed to the lower end of the limiting block. The end of the adjusting bolt is located in the mounting hole and connected to the adjusting block.

[0013] The beneficial effects of this utility model are:

[0014] 1. This utility model uses a clamping drive mechanism to drive the two sliding seats to move in opposite directions, thereby realizing the clamping action of the gripper. The weight of the goods is borne by the sliding seats and the gripper, avoiding damage to the clamping drive mechanism, improving service life, and is suitable for gripping heavy goods.

[0015] 2. The gripper is designed as a combination of upper and lower gripper arms, with the lower gripper arms tilted towards each other. This not only helps to better wrap and fix the workpiece, but also, through the sliding installation of the support block on the lower gripper arm, further ensures the stability and reliability of the gripping process. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model;

[0017] Figure 2 This is a cross-sectional view of an embodiment of the present utility model;

[0018] Figure 3 This is a schematic diagram of the installation of the support block in an embodiment of this utility model;

[0019] In the diagram: 1-connecting seat, 2-rotating seat, 201-sliding groove, 3-gripper, 301-upper claw arm, 302-lower claw arm, 303-limiting block, 304-mounting hole, 4-sliding seat, 5-clamping drive mechanism, 501-lead screw, 502-transmission wheel, 503-drive wheel, 504-drive motor, 505-transmission belt, 506-coupling, 6-support block, 7-slide rail, 8-spring, 9-adjusting block, 10-adjusting bolt. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings.

[0021] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of the present utility model.

[0022] Example: Figure 1 and Figure 2 As shown, an industrial robot gripper structure includes a connecting seat 1, a rotating seat 2 rotatably mounted on the connecting seat 1, and a gripper 3 disposed on the rotating seat 2. The rotating seat 2 is connected to the connecting seat 1 via a rotating shaft and is driven to rotate by a rotary motor to adjust the state of the rotating seat 2.

[0023] The rotating seat 2 is provided with a horizontally arranged sliding groove 201, and two sliding seats 4 are arranged in the sliding groove 201. The grippers 3 are symmetrically arranged on the two sliding seats 4. The rotating seat 2 is provided with a clamping drive mechanism 5 that drives the two sliding seats 4 to move in opposite directions.

[0024] The clamping drive mechanism 5 includes a lead screw 501 rotatably installed in the sliding groove 201, two sliding seats 4 screwed onto the lead screw 501, and a drive motor 504 for driving the lead screw 501 to rotate is provided at one end of the lead screw 501.

[0025] There are two lead screws 501, which are connected by a coupling 506. The threads of the two lead screws 501 are in opposite directions, and two sliding seats 4 are screwed onto the corresponding lead screws 501.

[0026] A transmission wheel 502 is provided at the end of the lead screw 501, and a drive wheel 503 is provided on the output shaft of the drive motor 504. A transmission belt 505 connects the drive wheel 503 and the transmission wheel 502.

[0027] The drive motor 504 drives the two lead screws 501 to rotate through the drive wheel 503, the transmission wheel 502 and the transmission belt 505. The two sliding seats 4 drive their respective grippers 3 to move to grip or release the goods.

[0028] The gripper 3 includes an upper gripper arm 301 fixed to a sliding seat 4 and a lower gripper arm 302 connected to the lower end of the upper gripper arm 301. The upper gripper arm 301 and the lower gripper arm 302 can be integrated or separate. The lower gripper arms 302 of the two grippers 3 are inclined towards each other to facilitate gripping goods. The inclination angle of the lower gripper arm 302 relative to the upper gripper arm 301 is 120-150°.

[0029] like Figure 3 As shown, a support block 6 is provided at the lower end of the lower claw arm 302, and the support block 6 is slidably mounted on the lower claw arm 302. A slide rail 7 is provided on the end face of the two lower claw arms 302 on opposite sides, and the support block 6 is slidably connected to the slide rail 7.

[0030] A limit block 303 is provided at the lower end of the lower claw arm 302, and a spring 8 is provided between the support block 6 and the limit block 303. A mounting hole 304 is provided in the limit block 303, one end of the spring 8 extends into the mounting hole 304, and the other end is connected to the support block 6.

[0031] An adjusting block 9 is provided in the mounting hole 304. One end of the spring 8 is connected to the adjusting block 9. An adjusting bolt 10 is screwed to the lower end of the limiting block 303. The end of the adjusting bolt 10 is located in the mounting hole 304 and is rotatably connected to the adjusting block 9.

[0032] When the adjusting bolt 10 is rotated, the adjusting bolt 10 causes the limiting block 303 to move up and down in the mounting hole 304, and through the spring 8, it causes the support block 6 to move up and down, adjusting the initial position of the support block 6 to accommodate different goods. When the gripper 3 grips the goods, the support block 6 presses against the goods at an angle from below. Once the goods tend to slide down, the support block 6 slides down along the slide rail 7, reducing the distance between the left and right support blocks 6, thereby preventing the goods from slipping.

Claims

1. An industrial robot gripper structure comprising a connection seat (1), a rotating seat (2) rotatably mounted on the connection seat (1), and a gripper jaw (3) arranged on the rotating seat (2), characterized in that, The rotating seat (2) is provided with a transversely arranged sliding groove (201), two sliding seats (4) are arranged in the sliding groove (201), the clamping jaws (3) are symmetrically arranged on the two sliding seats (4), the rotating seat (2) is provided with a clamping driving mechanism (5) for driving the two sliding seats (4) to move in opposite directions, the clamping jaw (3) comprises an upper jaw arm (301) fixed on the sliding seat (4) and a lower jaw arm (302) connected to the lower end of the upper jaw arm (301), the lower jaw arms (302) of the two clamping jaws (3) are oppositely inclined, and the lower end of the lower jaw arm (302) is provided with a supporting block (6) which is slidingly installed on the lower jaw arm (302).

2. An industrial robot gripper structure according to claim 1, characterized in that: The clamping driving mechanism (5) comprises a lead screw (501) rotatably arranged in the sliding groove (201), and the two sliding seats (4) are screwed on the lead screw (501), and one end of the lead screw (501) is provided with a driving motor (504) for driving the lead screw (501) to rotate.

3. An industrial robot gripper structure according to claim 2, characterized in that: The number of the lead screw (501) is two, the two lead screws (501) are connected through a shaft coupling (506), the screw threads of the two lead screws (501) are opposite in spiral direction, and the two sliding seats (4) are screwed on the corresponding lead screw (501) respectively.

4. An industrial robot gripper structure according to claim 3, characterized in that: The end of the lead screw (501) is provided with a transmission wheel (502), the output shaft of the driving motor (504) is provided with a driving wheel (503), and the driving wheel (503) and the transmission wheel (502) are connected by a transmission belt (505).

5. An industrial robot gripper structure according to claim 1, characterized in that: The end faces of the two lower jaw arms (302) are provided with sliding rails (7), and the supporting blocks (6) are slidingly connected to the sliding rails (7).

6. An industrial robot gripper structure according to claim 5, characterized in that: The lower end of the lower jaw arm (302) is provided with a limiting block (303), and the supporting block (6) and the limiting block (303) are provided with a spring (8).

7. An industrial robot gripper structure according to claim 6, characterized in that: The limiting block (303) is provided with a mounting hole (304), one end of the spring (8) extends into the mounting hole (304), and the other end is connected to the supporting block (6).

8. An industrial robot gripper structure according to claim 7, characterized in that: The mounting hole (304) is provided with an adjusting block (9), one end of the spring (8) is connected to the adjusting block (9), the lower end of the limiting block (303) is screwed with an adjusting bolt (10), and the end of the adjusting bolt (10) is located in the mounting hole (304) and connected with the adjusting block (9).

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