Hollow three-jaw centering gripper for robot

Abstract

The utility model discloses a hollow three-jaw centering gripper for a robot. The hollow three-jaw centering gripper comprises a gripper body, a through hole penetrating through the gripper body is formed in the middle of the gripper body; a plurality of finger mechanisms capable of being close to or away from the through hole are evenly distributed on the paw body in the circumferential direction of the through hole. According to the gripper, the through hole is formed in the middle of the gripper body, the finger mechanisms capable of flexibly moving are evenly distributed in the circumferential direction of the through hole, and therefore an air pipeline, a transmission cable, a camera lens and other accessories can penetrate into the gripper, the gripper better meets the requirements of consumers, and the applicability of the gripper is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a hollow three-claw centering gripper for robots. Background Technology

[0002] The gripper is a core component for robots to achieve human-like functions. Existing grippers use inclined planes to transmit clamping force, but the surface contact has high dynamic and static friction, resulting in friction loss of some output force and low output efficiency. The inclined plane angle also decomposes some of the thrust into useless pressure. When it is necessary to insert accessories such as air lines, transmission cables, and camera lenses from the center during robot handling, traditional grippers cannot meet the functional requirements.

[0003] Therefore, it is necessary to design a hollow three-claw centering gripper for robots to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a hollow three-claw centering gripper for robots.

[0005] The technical solution of this utility model is: a hollow three-claw centering gripper for robots, including a gripper body; the gripper body has a through hole in the middle; and multiple finger mechanisms that can approach or move away from the through hole are evenly distributed around the through hole on the gripper body.

[0006] The finger mechanism includes a cylinder located inside the gripper body and a slider slidably connected to the end face of the gripper body; the slider is fixedly connected to the piston of the cylinder.

[0007] The cylinder cavity is formed by a cavity located inside the gripper body; the cavity has an end cap; the end cap is fixedly connected to the gripper body; a piston is provided inside the cavity; and a connecting block connected to a slider is provided on the piston.

[0008] The gripper body is provided with an air inlet and an air outlet; the air inlet end of all cylinders is connected to the air inlet, and the air outlet end of all cylinders is connected to the air outlet.

[0009] The finger mechanism is provided in three parts at 120-degree angles to each other.

[0010] A synchronizing ring is rotatably connected to the opening of the through hole; the slider of each finger mechanism is connected to the synchronizing ring via a connecting rod; one end of the connecting rod is hinged to the slider, and the other end is hinged to the synchronizing ring.

[0011] The present invention has the following beneficial effects by adopting the above technical solution: (1) The present invention provides a through hole in the middle of the claw body and distributes multiple flexible finger mechanisms evenly along the circumference of the through hole, so that accessories such as air pipes, transmission cables and camera lenses can be inserted into the claw, making the claw more in line with the needs of consumers and improving the applicability of the claw.

[0012] (2) The finger mechanism of this utility model is driven by a cylinder. The cylinder cavity is directly formed by the cavity inside the hand claw body, which reduces the use of additional parts and makes the overall structure more compact and highly integrated. This not only reduces the manufacturing cost, but also improves the reliability and durability of the hand claw.

[0013] (3) By setting a uniform air inlet and air outlet on the hand gripper body, and connecting the air inlet and air outlet of all cylinders to it, the present invention realizes centralized and flexible control of the finger mechanism movement; this design simplifies the pneumatic circuit and improves control efficiency and response speed.

[0014] (4) The present invention has three finger mechanisms arranged at 120 degrees to each other. This layout not only ensures the uniform distribution of gripping force, but also enables the hand to maintain good adaptability and stability when gripping workpieces of different shapes and sizes.

[0015] (5) This utility model realizes the synchronous movement between the finger mechanisms through the connection of the synchronous ring and the connecting rod, ensuring the coordination and consistency of the grasping action; this design further improves the grasping accuracy and stability of the gripper, and is suitable for application scenarios with high grasping accuracy requirements. Attached Figure Description

[0016] To make the contents of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 for Figure 1 A sectional view.

[0019] Figure 3 This is a schematic diagram of the structure of this utility model from another perspective.

[0020] Figure 4 for Figure 3 A sectional view.

[0021] The labels in the attached diagram are:

[0022] 1. Hand gripper body; 2. Through hole; 3. Finger mechanism; 3-1. Slider; 3-2. Piston; 3-3. Cavity; 3-4. End cap; 3-5. Sealing ring; 3-6. Connecting block; 3-7. Air inlet; 3-8. Air outlet; 4. Synchronizing ring; 5. Connecting rod. Detailed Implementation

[0023] (Example 1)

[0024] See Figures 1 to 4 This embodiment of a hollow three-claw centering gripper for robots includes a gripper body 1; the gripper body 1 has a through hole 2 in the middle; and a plurality of finger mechanisms 3 are evenly distributed around the through hole 2 on the gripper body 1, which can approach or move away from the through hole 2.

[0025] Furthermore, the finger mechanism 3 includes a cylinder disposed inside the claw body 1 and a slider 3-1 slidably connected to the end face of the claw body 1; the slider 3-1 is fixedly connected to the piston 3-2 of the cylinder.

[0026] Furthermore, the cylinder cavity is composed of a cavity 3-3 located within the gripper body 1; the cavity 3-3 has an end cap 3-4; the end cap 3-4 is fixedly connected to the gripper body 1; a piston 3-2 is provided inside the cavity 3-3, and to ensure the sealing between the cavity 3-3 and the piston 3-2, sealing rings 3-5 are fitted at both ends of the piston 3-2 to seal with the cavity 3-3; a connecting block 3-6 connected to the slider 3-1 is provided on the piston 3-2.

[0027] Furthermore, the gripper body 1 is provided with an air inlet 3-7 and an air outlet 3-8; the air inlet end of all cylinders is connected to the air inlet 3-7, and the air outlet end of all cylinders is connected to the air outlet 3-8.

[0028] Furthermore, the finger mechanism 3 is provided in three parts at 120 degrees to each other.

[0029] Furthermore, a synchronization ring 4 is rotatably connected to the opening of the through hole 2; the slider 3-1 of each finger mechanism 3 is connected to the synchronization ring 4 via a connecting rod 5; one end of the connecting rod 5 is hinged to the slider 3-1, and the other end is hinged to the synchronization ring 4.

[0030] The hollow three-jaw centering gripper for robots provided in this embodiment has the advantages of compact structure, high integration, flexible control, and precise and stable gripping. It can significantly improve the efficiency and reliability of robot operation and is suitable for various automated production lines that require precise gripping and centering of workpieces.

[0031] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A hollow three-claw centering gripper for robots, characterized in that: It includes a claw body (1); the claw body (1) has a through hole (2) in the middle; and a plurality of finger mechanisms (3) that can approach or move away from the through hole (2) are evenly distributed on the claw body (1) along the circumference of the through hole (2).

2. The hollow three-claw centering gripper for robots according to claim 1, characterized in that: The finger mechanism (3) includes a cylinder located inside the claw body (1) and a slider (3-1) slidably connected to the end face of the claw body (1); the slider (3-1) is fixedly connected to the piston (3-2) of the cylinder.

3. A hollow three-claw centering gripper for robots according to claim 2, characterized in that: The cylinder cavity is formed by a cavity (3-3) located inside the gripper body (1); the cavity (3-3) has an end cap (3-4); the end cap (3-4) is fixedly connected to the gripper body (1); a piston (3-2) is provided inside the cavity (3-3); a connecting block (3-6) connected to the slider (3-1) is provided on the piston (3-2).

4. A hollow three-claw centering gripper for robots according to claim 2, characterized in that: The gripper body (1) is provided with an air inlet (3-7) and an air outlet (3-8); the air inlet end of all cylinders is connected to the air inlet (3-7), and the air outlet end of all cylinders is connected to the air outlet (3-8).

5. A hollow three-claw centering gripper for robots according to claim 1, characterized in that: The finger mechanism (3) is provided in three positions at 120 degrees to each other.

6. A hollow three-claw centering gripper for robots according to claim 2, characterized in that: The opening of the through hole (2) is rotatably connected to a synchronization ring (4); the slider (3-1) of each finger mechanism (3) is connected to the synchronization ring (4) via a connecting rod (5); one end of the connecting rod (5) is hinged to the slider (3-1), and the other end is hinged to the synchronization ring (4).

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