Robot gripper

Abstract

The utility model belongs to the technical field of clamps, and particularly discloses a robot gripper which comprises a pair of installation plates connected with each other, a first clamping assembly and a driving assembly are arranged between the two installation plates, and the driving assembly is used for driving the first clamping assembly to conduct clamping. The driving assembly comprises a motor fixedly mounted on one of the mounting plates, a rotating shaft is fixedly connected to the output end of the motor, a first gear is rotationally connected between the two mounting plates, the rotating shaft is fixed and inserted into the first gear, the second gear is driven to rotate through the smaller first gear, and due to the tooth difference, the second gear is driven to rotate by the rotating shaft. The rotating speed output by the motor can be effectively reduced, and the torque can be amplified, so that the rotating speed of the first transmission shaft can be accurately controlled to finish accurate clamping of an object, meanwhile, the amplified torque enables the first transmission shaft to drive a heavier object, and through the design, the object can be accurately fixed and clamped, and the heavier and larger object can be fixed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of clamp, concretely relates to a robot gripper. BACKGROUND

[0002] In the application of industrial robot, the robot gripper is indispensable, is one of the most common forms of industrial robot in today's industrial field, and is suitable for mechanical automation operation in many industrial fields.

[0003] Chinese patent CN219788379U proposes a robot gripper, including base plate, the base plate bottom end is equipped with the clamping assembly for clamping workpiece, the base plate top end is equipped with the drive assembly for driving the movement of clamping assembly, the drive assembly top is equipped with the adjusting assembly for adjusting the height of clamping assembly, the drive assembly includes two fixed frames, two fixed frames are fixedly arranged on the top of base plate, and the screw rod is arranged in the two fixed frames.

[0004] But the above prior art is found in actual use, adopt and make the structure of turning over of turning plate, then the object is clamped, and the side surface when the turning plate rotates is used as the clamping surface, since the turning plate is in the inclined state, cannot be fitted with regular object, and the fixing effect is poor. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving the shortcomings in the prior art and provides a robot gripper.

[0006] To achieve the above object, the utility model provides a robot gripper, which comprises a pair of connected mounting plates, a first clamping assembly and a drive assembly are arranged between the two mounting plates, and the drive assembly is used to drive the first clamping assembly to clamp.

[0007] The drive assembly comprises a motor fixedly installed on one of the mounting plates, a rotating shaft is fixedly connected to the output end of the motor, a first gear is rotatably connected between the two mounting plates, the rotating shaft is fixedly inserted into the first gear, a first transmission shaft is symmetrically rotatably arranged between the two mounting plates, a second gear is fixedly connected to the first transmission shaft, the two second gears are engaged with each other, and one of the second gears is engaged with the first gear.

[0008] The first clamping assembly comprises a connecting rod fixedly connected to the second gear, a pair of second transmission shafts rotatably connected between the two mounting plates, an auxiliary rod fixedly connected to the second transmission shaft, and a push shell rotatably connected to the end of the connecting rod and the auxiliary rod through a shaft.

[0009] In the above technical solution, further, the clamping plate is fixedly connected with an elastic block on one side.

[0010] In the above technical solution, further, the elastic block is fixedly connected with a protruding block on both sides.

[0011] In the above technical solution, further, the secondary clamping assembly comprises a second motor fixedly installed on the clamping plate, an insertion rod fixedly connected to the output end of the second motor, and symmetrically arranged abutting pieces fixedly connected to the insertion rod, and the outer wall of the clamping plate is provided with a movable hole corresponding to the abutting pieces.

[0012] In the above technical solution, further, the elastic block is provided in an arc surface structure.

[0013] In the above technical solution, further, the size of the first gear is smaller than that of the second gear.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] Through the connection of the first gear and the first transmission shaft, the motor can drive the second gear to rotate, the second gear can drive the connecting rod to synchronously overturn, and then can drive the push shell, at this moment, the push shell is limited by the auxiliary rod to make parallel movement, through the connection of the connecting block, the clamping plate is driven to move to approach the object, finally, the elastic block contacts the object, and the object is fixed through the continuous force of the clamping plate, in the process, the smaller first gear is used to drive the second gear to rotate, the rotation speed of the motor output is effectively reduced due to the tooth gap, and the torque is amplified, so that the rotation speed of the first transmission shaft can be accurately controlled to complete the accurate clamping of the object, and the amplified torque can drive heavier objects, through the design, the accurate clamping of the object can be completed, and heavier objects can be fixed.

[0016] After the clamping plate completes the clamping and fixing of the object, the second motor drives the insertion rod to rotate, synchronously drives the abutting piece to rotate, and makes the abutting piece pass through the movable hole and tightly abut against the fixed object, and when the abutting piece rotates towards the direction of the motor, an upward lifting force is given to the object, so that the fixing effect of the object is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 A robot gripper structure schematic view is provided for the utility model;

[0018] Fig. 2 A robot gripper first gear and second gear cooperation structure schematic view is provided for the utility model;

[0019] Fig. 3 A robot gripper secondary clamping subassembly structure schematic view is provided for the utility model.

[0020] In the drawing: 1, mounting plate; 2, motor; 3, connecting rod; 4, auxiliary rod; 5, push shell; 6, connecting block; 7, secondary clamping subassembly; 8, rotating shaft; 9, first gear; 10, first transmission shaft; 11, second gear; 12, second transmission shaft; 13, clamping plate; 14, second motor; 15, elastic block; 16, lug; 17, plug rod; 18, close piece. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above purpose, features and advantages of the utility model, the utility model is further described in detail below in combination with the drawings and specific embodiments.

[0022] As Figs. 1-3The robot gripper shown, including a pair of connected mounting plates 1, between the two mounting plates 1 is provided with a first clamping assembly and drive assembly, drive assembly for driving the first clamping assembly for clamping, drive assembly includes a motor 2 fixedly installed on one of the mounting plates 1, the output end of the motor 2 is fixedly connected with a rotating shaft 8, between the two mounting plates 1 is rotatably connected with a first gear 9, and the rotating shaft 8 is fixedly inserted into the first gear 9, between the two mounting plates 1 is rotatably provided with a first transmission shaft 10, the first transmission shaft 10 is fixedly connected with a second gear 11, the two second gears 11 are engaged, and one of the second gears 11 is engaged with the first gear 9, the first clamping assembly includes a connecting rod 3 fixedly connected with the second gear 11, a pair of second transmission shafts 12 are inserted and rotatably connected between the two mounting plates 1, the second transmission shaft 12 is fixedly connected with an auxiliary rod 4, the end of the connecting rod 3 and the auxiliary rod 4 is rotatably connected with a push shell 5 through the shaft, one side of the push shell 5 is fixedly connected with a connecting block 6, one side of the connecting block 6 is fixedly connected with a clamping plate 13, the size of the first gear 9 is smaller than the size of the second gear 11, one side of the clamping plate 13 is fixedly connected with an elastic block 15, the elastic block 15 is provided as an arc surface structure, the elastic block 15 is fixedly connected with a convex block 16 on both sides, through the connection of the first gear 9 and the first transmission shaft 10, the motor 2 can drive the second gear 11 to rotate, the second gear 11 will drive the connecting rod 3 to rotate synchronously, and then can drive the push shell 5, at this time under the restriction of the auxiliary rod 4 makes the push shell 5 do parallel movement, through the connection of the connecting block 6, and then drive the clamping plate 13 to move to close to the object, finally make the elastic block 15 contact the object, and keep the fixation of the object through the continuous force of the clamping plate 13, in the process, the smaller first gear 9 is used to drive the second gear 11 to rotate, because of the difference between the teeth, the output speed of the motor 2 will be effectively reduced, and the torque will be amplified, so the speed of the first transmission shaft 10 can be accurately controlled to complete the accurate clamping of the object, and the amplified torque can drive heavier objects, through this design, the accurate fixation and clamping of the object can be completed, and heavier objects can be fixed.

[0023] The clamping plate 13 is provided with a secondary clamping assembly 7, the secondary clamping assembly 7 includes a second motor 14 fixedly installed on the clamping plate 13, the output end of the second motor 14 is fixedly connected with a plug rod 17, the plug rod 17 is fixedly connected with a symmetrically arranged close-together piece 18, the outer wall of the clamping plate 13 is provided with a movable hole corresponding to the close-together piece 18, after the clamping plate 13 completes the clamping and fixation of the object, the second motor 14 drives the plug rod 17 to rotate, synchronously drives the close-together piece 18 to rotate, and makes the close-together piece 18 pass through the movable hole and tightly abuts against the fixed object, and when the close-together piece 18 rotates towards the direction of the motor 2, an upward lifting force is given to the object, thereby further improving the fixation effect of the object.

[0024] Working principle:

[0025] Through the connection of the first gear 9 and the first transmission shaft 10, the motor 2 can drive the second gear 11 to rotate, the second gear 11 drives the connecting rod 3 to rotate synchronously, and then the push shell 5 is driven, at this time, the push shell 5 is limited by the auxiliary rod 4 to move in parallel, through the connection of the connecting block 6, the clamping plate 13 is driven to move to close to the object, finally the elastic block 15 contacts the object, and the object is fixed through the continuous force of the clamping plate 13, in the process, the first gear 9 is used to drive the second gear 11 to rotate, because of the tooth gap, the rotation speed of the motor 2 is effectively reduced, and the torque is amplified, so that the rotation speed of the first transmission shaft 10 can be accurately controlled to complete the accurate clamping of the object, and the amplified torque can drive heavier objects, through the design, the object can be accurately fixed and clamped, and heavier objects can be fixed;

[0026] After the clamping plate 13 completes the clamping and fixing of the object, the second motor 14 drives the inserting rod 17 to rotate, synchronously drives the close-together piece 18 to rotate, and makes the close-together piece 18 pass through the movable hole and tightly abut against the fixed object, and when the close-together piece 18 rotates towards the direction of the motor 2, an upward lifting force is given to the object, so that the fixing effect of the object is further improved.

[0027] The basic principle, main characteristics and advantages of the utility model are shown and described. It should be understood by those skilled in the art that the utility model is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model can have various changes and improvements, and these changes and improvements fall within the scope of the utility model.

Claims

1. A robot gripper comprising a pair of connected mounting plates (1), characterised in that, First clamping assembly and driving assembly are arranged between two mounting plates (1), and the driving assembly is used for driving the first clamping assembly to clamp; The driving assembly comprises a motor (2) fixedly installed on one of the mounting plates (1), a rotating shaft (8) fixedly connected to an output end of the motor (2), a first gear (9) rotatably connected between the two mounting plates (1) and fixedly inserted into the first gear (9), a first transmission shaft (10) symmetrically rotatably arranged between the two mounting plates (1), a second gear (11) fixedly connected to the first transmission shaft (10), and two second gears (11) engaged with each other and one of which engaged with the first gear (9). The first clamping assembly comprises a connecting rod (3) fixedly connected to the second gear (11), a pair of second transmission shafts (12) rotatably inserted between the two mounting plates (1), an auxiliary rod (4) fixedly connected to the second transmission shaft (12), a push shell (5) rotatably connected to end portions of the connecting rod (3) and the auxiliary rod (4) through shafts, a connecting block (6) fixedly connected to one side of the push shell (5), a clamping plate (13) fixedly connected to one side of the connecting block (6), and a secondary clamping assembly (7) arranged on the clamping plate (13).

2. A robotic gripper according to claim 1, wherein, One side of the clamping plate (13) is fixedly connected with an elastic block (15).

3. A robotic gripper according to claim 2, wherein, The elastic block (15) is fixedly connected with a convex block (16) on both sides.

4. The robotic gripper of claim 1, wherein, The secondary clamping assembly (7) comprises a second motor (14) fixedly installed on the clamping plate (13), an insertion rod (17) fixedly connected to an output end of the second motor (14), symmetrically arranged and tightly fitted pieces (18) fixedly connected to the insertion rod (17), and a movable hole corresponding to the tightly fitted pieces (18) formed in an outer wall of the clamping plate (13).

5. The robotic gripper of claim 2, wherein, The elastic block (15) is arranged in an arc surface structure.

6. The robotic gripper of claim 1, wherein, The first gear (9) is smaller than the second gear (11).

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