High-adaptability robot clamping jaw
By designing a highly adaptable robotic gripper, and utilizing gripping drive components and angle adjustment components, the gripping arms and plates can be flexibly adjusted, solving the problem of low adaptability of existing grippers and improving the ability to grasp goods of different shapes and sizes.
Patent Information
- Application Number
- CN202520484401.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-03-19
AI Technical Summary
Existing robot gripper structures are relatively simple and cannot adjust the curvature of the grippers, resulting in low adaptability and an inability to effectively grasp goods of different shapes and sizes.
A highly adaptable robotic gripper was designed. Through a gripping drive component, an angle adjustment component, and a motor drive, the gripping arm and gripper plate can be flexibly adjusted to adapt to goods of different shapes and sizes.
The adaptability of the robot gripper has been improved, enabling it to effectively grasp square, round, and inclined goods, thus enhancing gripping stability and adaptability.
Smart Images
Figure CN223863807U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot gripper technology, and more specifically, to a highly adaptable robot gripper. Background Technology
[0002] Robot grippers are a type of robot end effector, usually installed at the end of a robot arm, used to grasp, transport, assemble, or manipulate objects. In the field of logistics and warehousing, robot grippers can enable rapid sorting, palletizing, and handling of goods, improving the utilization of warehouse space and the efficiency of logistics operations.
[0003] In the existing technology, for square goods, the gripper needs to be a flat plate, and for cylindrical goods, the gripper needs to be an arc-shaped plate. Moreover, the curvature of the arc-shaped gripper needs to be different for different sizes of cylindrical goods. However, the existing robot gripper structure is relatively simple and cannot adjust the curvature of the gripper, resulting in low adaptability of the robot gripper. Utility Model Content
[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a highly adaptable robot gripper to solve the problem that the existing robot gripper has a relatively simple structure and cannot adjust the curvature of the gripper, resulting in low adaptability of the robot gripper.
[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a highly adaptable robot gripper, including a machine gripper frame, the bottom surface of which is provided with symmetrical slide rails, and gripping arms are slidably connected in both slide rails. A gripping drive assembly is provided on the machine gripper frame, which enables the two gripping arms to move towards or away from each other. A first gripping plate is provided below each gripping arm, and a second gripping plate is rotatably connected to both sides of the first gripping plate along its length. A first angle adjustment assembly is provided on the first gripping plate to adjust the angle between the first and second gripping plates, and a second angle adjustment assembly is provided between the gripping arm and the first gripping plate to adjust the angle between the gripping arm and the first gripping plate.
[0006] Preferably, the clamping drive assembly includes a counter-rotating threaded rod, which is rotatably connected to the machine clamp. Two clamping arms are respectively threaded to the left and right sides of the counter-rotating threaded rod. A bevel gear one is fixedly installed in the middle of the counter-rotating threaded rod. A first motor is fixedly installed on the machine clamp. A bevel gear two is fixedly connected to the output end of the first motor. The bevel gear one and the bevel gear two mesh with each other.
[0007] Preferably, the first angle adjustment assembly includes two semi-toothed rings, which are respectively fixedly mounted on the rotating shaft of the second clamping plate. A straight toothed rod is engaged on each semi-toothed ring, and a slide rod is fixedly mounted on the side of the straight toothed rod away from the semi-toothed ring. A slide rail frame is fixedly mounted on the back of the first clamping plate, and the slide rod can slide linearly along the slide rail frame. A cylinder is also fixedly mounted on the first clamping plate, and a double-headed connecting rod is fixedly mounted on the telescopic end of the cylinder. Both ends of the double-headed connecting rod are rotatably connected to a transmission connecting rod, and the end of the transmission connecting rod away from the double-headed connecting rod is rotatably connected to the straight toothed rod.
[0008] Preferably, the center of the semi-toothed ring is located on the rotation axis of the second clamping plate, and the slide frame has an I-shaped structure.
[0009] Preferably, the second angle adjustment assembly includes a sleeve, which is fixedly installed at the bottom of the clamping arm. A C-shaped rod is rotatably inserted into the sleeve, and both ends of the C-shaped rod are fixedly connected to the first clamping plate. A worm gear is fixedly connected to the middle of the C-shaped rod. A drive frame is fixedly installed on the clamping arm, and a second motor is fixedly installed on the drive frame. A worm is fixedly connected to the output end of the second motor, and the worm gear meshes with the worm.
[0010] Preferably, a first rubber pad is fixedly installed on the front side of the first clamping plate, and a second rubber pad is fixedly installed on the front side of the second clamping plate.
[0011] Compared with the prior art, the beneficial effects of this utility model are:
[0012] This invention utilizes the contraction of a cylinder to cause the double-headed connecting rod to drive two spur gears to move apart via transmission connecting rods on both sides. The spur gears then engage with a semi-toothed ring, causing the two second clamping plates to bend towards the center of the first clamping plate. This allows the robot gripper to accommodate cylindrical goods of different sizes. Similarly, the first and second clamping plates can be adjusted to be flush, making it suitable for gripping square goods. This gives the robot gripper a high degree of adaptability.
[0013] This invention uses a second motor to drive a worm gear to rotate, which in turn drives a C-shaped bar to rotate via a worm wheel. This allows for adjustment of the angle between the first clamping plate at the bottom of the C-shaped bar and the clamping arm, making it suitable for goods with tilted sides and further improving the adaptability of the robot gripper. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the main structure of this utility model;
[0015] Figure 2 This is a cross-sectional view of the main structure of this utility model;
[0016] Figure 3 This is a schematic diagram of the relevant structure of the first included angle adjustment component of this utility model;
[0017] Figure 4 This utility model Figure 1 Enlarged view of the structure of region A in the middle.
[0018] [Figure Labels]
[0019] 1. Machine clamp; 2. Slide rail; 3. Clamping arm; 4. Clamping drive assembly; 41. Opposite threaded rod; 42. Bevel gear one; 43. First motor; 44. Bevel gear two; 5. First clamping plate; 6. Second clamping plate; 7. First angle adjustment assembly; 71. Half toothed ring; 72. Straight toothed rod; 73. Slide rod; 74. Slide rail frame; 75. Cylinder; 76. Double-headed connecting rod; 77. Transmission connecting rod; 8. Second angle adjustment assembly; 81. Sleeve; 82. C-shaped rod; 83. Worm gear; 84. Drive frame; 85. Second motor; 86. Worm; 9. First rubber pad; 10. Second rubber pad. Detailed Implementation
[0020] To make the technical problems, technical solutions and advantages of this utility model clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.
[0021] As attached Figure 1 To be continued Figure 4 An embodiment of this utility model provides a highly adaptable robot gripper, including a machine gripper 1. The bottom surface of the machine gripper 1 is provided with symmetrical slide rails 2. Grippers 3 are slidably connected in both slide rails 2. A gripping drive assembly 4 is provided on the machine gripper 1. The gripping drive assembly 4 can make the two grippers 3 move towards each other or away from each other. A first clamping plate 5 is provided below each gripper 3. A second clamping plate 6 is rotatably connected to both sides of the first clamping plate 5 in the length direction. A first angle adjustment assembly 7 is provided on the first clamping plate 5 to adjust the angle between the first clamping plate 5 and the second clamping plate 6. A second angle adjustment assembly 8 is provided between the gripper 3 and the first clamping plate 5 to adjust the angle between the gripper 3 and the first clamping plate 5.
[0022] Preferably, the clamping drive assembly 4 includes a counter-threaded rod 41, which is rotatably connected to the machine clamp 1. Two clamping arms 3 are respectively threaded to the left and right sides of the counter-threaded rod 41. A bevel gear 42 is fixedly installed in the middle of the counter-threaded rod 41. A first motor 43 is fixedly installed on the machine clamp 1. A bevel gear 44 is fixedly connected to the output end of the first motor 43. The bevel gear 42 and the bevel gear 44 mesh with each other.
[0023] The anti-thread rod 41 consists of two reverse threads and a round rod. It is driven by the first motor 43 to rotate the second bevel gear 44, and the second bevel gear 44 meshes with the first bevel gear 42 to drive the anti-thread rod 41 to rotate. This drives the two clamping arms 3 on both sides to move close to or away from each other, so as to realize the clamping and releasing of the goods by the first clamping plate 5 and the second clamping plate 6.
[0024] Preferably, the first angle adjustment assembly 7 includes two half-tooth rings 71, which are respectively fixedly installed on the rotating shaft of the second clamping plate 6. A straight toothed rod 72 is engaged on the half-tooth ring 71. A slide rod 73 is fixedly installed on the side of the straight toothed rod 72 away from the half-tooth ring 71. A slide rail frame 74 is fixedly installed on the back of the first clamping plate 5. The slide rod 73 can slide linearly along the slide rail frame 74. A cylinder 75 is also fixedly installed on the first clamping plate 5. A double-headed connecting rod 76 is fixedly installed at the telescopic end of the cylinder 75. Both ends of the double-headed connecting rod 76 are rotatably connected to a transmission connecting rod 77. The end of the transmission connecting rod 77 away from the double-headed connecting rod 76 is rotatably connected to the straight toothed rod 72.
[0025] The cylinder 75 retracts, causing the double-headed connecting rod 76 to drive the two straight toothed rods 72 to move apart via the transmission connecting rods 77 on both sides. The straight toothed rods 72 then engage the semi-toothed ring 71, causing the two second clamping plates 6 to bend toward the middle of the first clamping plate 5 to accommodate cylindrical goods of different sizes. Similarly, the first clamping plate 5 and the second clamping plate 6 can be adjusted to be flush, making them suitable for gripping square goods.
[0026] Preferably, the center of the semi-tooth ring 71 is located on the rotation axis of the second clamping plate 6, and the slide frame 74 has an I-shaped structure.
[0027] Preferably, the second angle adjustment assembly 8 includes a sleeve 81, which is fixedly installed at the bottom of the clamping arm 3. A C-shaped rod 82 is rotatably inserted into the sleeve 81. Both ends of the C-shaped rod 82 are fixedly connected to the first clamping plate 5. A worm gear 83 is fixedly connected to the middle of the C-shaped rod 82. A drive frame 84 is fixedly installed on the clamping arm 3. A second motor 85 is fixedly installed on the drive frame 84. A worm 86 is fixedly connected to the output end of the second motor 85. The worm gear 83 meshes with the worm 86.
[0028] Specifically, the second motor 85 drives the worm gear 86 to rotate, and the worm gear 86 meshes with the worm wheel 83 to drive the C-shaped rod 82 to rotate, thereby adjusting the angle between the first clamping plate 5 at the bottom of the C-shaped rod 82 and the clamping arm 3, so that it can be used for goods that are tilted on both sides.
[0029] Preferably, a first rubber pad 9 is fixedly installed on the front side of the first clamping plate 5, and a second rubber pad 10 is fixedly installed on the front side of the second clamping plate 6.
[0030] The first rubber pad 9 and the second rubber pad 10 increase the friction between the first clamping plate 5, the second clamping plate 6 and the goods, thereby improving the stability of the goods gripping. They are also suitable for goods with grooves on their surfaces, such as cargo frames and shelves.
[0031] The working process of this utility model is as follows:
[0032] In use, the machine gripper 1 is installed on the robot's robotic arm. The robot's recognition system determines whether the goods are square or round, the size of the round shape, and whether the sides of the goods are tilted. The acquired information is fed back to the robot control system, which controls the retraction of the cylinder 75 to adjust the angle between the first gripper 5 and the second gripper 6. Furthermore, the second motor 85 drives the worm gear 86 to rotate, and the worm gear 86 meshes with the worm wheel 83 to drive the C-shaped bar 82 to rotate, thereby adjusting the angle between the first gripper 5 and the gripper arm 3 at the bottom of the C-shaped bar 82, so that the gripper adapts to the shape of the goods. Then, the first motor 43 drives the opposite threaded rod 41 to rotate, which drives the two gripper arms 3 to move closer together, so that the first gripper 5 and the second gripper 6 can clamp the goods.
[0033] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.
[0034] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.
[0035] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A highly adaptable robotic gripper, characterized in that, The machine includes a machine clamp (1), the bottom surface of which is provided with symmetrical slide rails (2), and clamping arms (3) are slidably connected in both slide rails (2). A clamping drive assembly (4) is provided on the machine clamp (1), which enables the two clamping arms (3) to move towards each other or away from each other. A first clamping plate (5) is provided below each clamping arm (3), and a second clamping plate (6) is rotatably connected to both sides of the first clamping plate (5) in the length direction. A first angle adjustment assembly (7) is provided on the first clamping plate (5) to adjust the angle between the first clamping plate (5) and the second clamping plate (6). A second angle adjustment assembly (8) is provided between the clamping arm (3) and the first clamping plate (5) to adjust the angle between the clamping arm (3) and the first clamping plate (5).
2. The highly adaptable robot gripper according to claim 1, characterized in that, The clamping drive assembly (4) includes a counter-threaded rod (41), which is rotatably connected to the machine clamp (1). Two clamping arms (3) are threaded to the left and right sides of the counter-threaded rod (41), respectively. A bevel gear (42) is fixedly installed in the middle of the counter-threaded rod (41). A first motor (43) is fixedly installed on the machine clamp (1). A bevel gear (44) is fixedly connected to the output end of the first motor (43). The bevel gear (42) and the bevel gear (44) mesh with each other.
3. The highly adaptable robot gripper according to claim 1, characterized in that, The first angle adjustment assembly (7) includes two half-tooth rings (71), which are respectively fixedly installed on the rotating shaft of the second clamping plate (6). A straight toothed rod (72) is engaged on the half-tooth ring (71). A slide rod (73) is fixedly installed on the side of the straight toothed rod (72) away from the half-tooth ring (71). A slide rail frame (74) is fixedly installed on the back of the first clamping plate (5). The slide rod (73) can slide linearly along the slide rail frame (74). A cylinder (75) is also fixedly installed on the first clamping plate (5). A double-headed connecting rod (76) is fixedly installed at the telescopic end of the cylinder (75). Both ends of the double-headed connecting rod (76) are rotatably connected to a transmission connecting rod (77). The end of the transmission connecting rod (77) away from the double-headed connecting rod (76) is rotatably connected to the straight toothed rod (72).
4. The highly adaptable robot gripper according to claim 3, characterized in that, The center of the semi-tooth ring (71) is located on the rotation axis of the second clamping plate (6), and the slide frame (74) is an I-shaped structure.
5. The highly adaptable robot gripper according to claim 1, characterized in that, The second angle adjustment assembly (8) includes a sleeve (81), which is fixedly installed at the bottom of the clamping arm (3). A C-shaped rod (82) is rotatably inserted into the sleeve (81). Both ends of the C-shaped rod (82) are fixedly connected to the first clamping plate (5). A worm gear (83) is fixedly connected to the middle of the C-shaped rod (82). A drive frame (84) is fixedly installed on the clamping arm (3). A second motor (85) is fixedly installed on the drive frame (84). A worm (86) is fixedly connected to the output end of the second motor (85). The worm gear (83) meshes with the worm (86).
6. The highly adaptable robotic gripper according to any one of claims 1-5, characterized in that, A first rubber pad (9) is fixedly installed on the front side of the first clamping plate (5), and a second rubber pad (10) is fixedly installed on the front side of the second clamping plate (6).