Flexible clamping jaw of industrial robot
By designing flexible grippers and inflatable airbag structures, the problem of limited applicability of existing grippers has been solved, enabling flexible clamping of materials of different shapes and sizes and enhancing the applicability of the grippers.
Patent Information
- Application Number
- CN202520071154.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-01-10
AI Technical Summary
Existing industrial robot grippers are mostly made of hard materials, which limits the size of the parts they can hold and makes it difficult to adapt to materials of different shapes and sizes.
Design a flexible gripper for industrial robots, which adopts a flexible gripper and an inflatable airbag structure. The moving block is driven by a gripping drive mechanism, and the inflatable airbag is adjusted by an external inflation device to make the shape of the flexible gripper adapt to different materials.
It enables flexible clamping of materials of different shapes and sizes, increasing the applicability and flexibility of the gripper.
Smart Images
Figure CN223917987U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to industrial robot technical field, especially relate to a flexible gripper of industrial robot. BACKGROUND
[0002] Industrial robot is often used for automatic feeding and discharging operation in the field of industrial automation, and is mainly used for clamping materials through a gripper.
[0003] In the prior art, the gripper is mostly made of metal or other relatively hard materials, and the size of the part clamped by the gripper is greatly limited in actual use, so as to increase the clamping range of a single gripper, and a flexible gripper of industrial robot is provided. CONTENT OF THE UTILITY MODEL
[0004] The utility model aims at providing a flexible gripper of industrial robot to solve the above problems.
[0005] To achieve the above object, the utility model provides the following scheme:
[0006] A flexible gripper of industrial robot, comprising: a mounting bracket, one side of the mounting bracket is fixedly connected with a clamping driving mechanism, two moving blocks are arranged in the mounting bracket, the two moving blocks are drivingly connected with the clamping driving mechanism and move in opposite directions, a flexible gripper is fixedly connected to the moving block, two flexible grippers are correspondingly arranged, the two flexible grippers are both extended out of the mounting bracket, a plurality of inflatable air bags are embedded on the side of the two flexible grippers away from each other, the plurality of inflatable air bags are arranged along the length direction of the flexible gripper, and the plurality of inflatable air bags are in communication with an external inflation equipment.
[0007] In the flexible gripper of industrial robot, two screw rods are rotatably connected in the mounting bracket, the two screw rods are coaxially arranged and oppositely arranged in the screw direction, a through hole is formed in the moving block, a threaded sleeve is fixedly installed in the through hole, the screw rods are coaxially arranged in the through hole and are in threaded connection with the threaded sleeve, and one end of one of the screw rods is extended out of the mounting bracket and is drivingly connected with the clamping driving mechanism.
[0008] In the flexible gripper of industrial robot, a sliding groove is formed in the mounting bracket, a sliding block is slidingly connected in the sliding groove, a first mounting groove is formed on the side of the sliding block extended out of the sliding groove, and the first mounting groove is arranged along the length direction of the sliding block.
[0009] A second mounting groove is formed in the bottom end of the moving block, two connecting rods are hingedly connected in the second mounting groove, the two connecting rods are arranged in parallel, and the bottom ends of the two connecting rods are hingedly connected in the first mounting groove.
[0010] In the industrial robot flexible gripper, the clamping driving mechanism comprises a driving motor fixed on one side of the mounting bracket, an input end of a speed reducer assembly is in transmission connection with the driving motor, and an output end of the speed reducer assembly is in transmission connection with the screw rod.
[0011] In the industrial robot flexible gripper, the speed reducer assembly comprises a fixed shaft fixed on one side of the mounting bracket, a fourth gear, a third gear, a second gear and a toothed disc are sequentially and coaxially rotationally connected to the fixed shaft in a direction away from the mounting bracket, the toothed disc is in meshing connection with a first gear, the first gear is coaxially fixed on an output shaft of the driving motor, the toothed disc is coaxially fixed with the second gear, and the third gear is coaxially fixed with the fourth gear.
[0012] One end of the screw rod protrudes from the mounting bracket and is coaxially fixed with a main shaft, the main shaft is coaxially rotationally connected with a fifth gear and a sixth gear, the fifth gear is coaxially fixed with the sixth gear, the fifth gear is in meshing connection with the second gear and the number of teeth of the fifth gear is more than that of the second gear, the sixth gear is in meshing connection with the third gear and the number of teeth of the sixth gear is less than that of the third gear, the fourth gear is in meshing connection with a seventh gear, the seventh gear is coaxially fixed on the main shaft, and the number of teeth of the seventh gear is more than that of the fourth gear.
[0013] In the industrial robot flexible gripper, the two screw rods are connected through a shaft coupling.
[0014] Compared with the prior art, the industrial robot flexible gripper has the following advantages and technical effects:
[0015] In use, the flexible gripper is driven by the clamping driving mechanism to drive the two moving blocks to move in opposite directions, thereby driving the two flexible grippers to move in opposite directions, so as to clamp or loosen the material, cooperate with the industrial robot to realize feeding and discharging, and when taking and placing different shapes and sizes of materials, the inflation device is used to inflate the inflatable air bag, and the inflatable air bag is inflated to change the shape of the flexible gripper, so as to adapt to different shapes and sizes of materials.
[0016] The industrial robot flexible gripper is provided with the inflatable air bag, so that the shape of the flexible gripper can be adjusted, thereby increasing the applicability of the flexible gripper. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0018] Fig. 1 is the front view of the utility model;
[0019] Fig. 2 is the internal structure schematic view of the utility model;
[0020] Fig. 3 is the structure schematic view of the clamping driving mechanism in the utility model;
[0021] Wherein, 1, the chute;2, clamping driving mechanism;3, the mounting bracket;4, the sliding block;5, the connecting rod;6, the screw;7, the threaded sleeve;8, the flexible claw;9, the inflatable air bag;10, the moving block;11, the first installation groove;12, the main shaft;13, the second installation groove;201, the driving motor;202, the first gear;203, the toothed disc;204, the fixed shaft;205, the second gear;206, the third gear;207, the fourth gear;208, the fifth gear;209, the sixth gear;210, the seventh gear. DETAILED DESCRIPTION
[0022] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.
[0023] In order to make the above-mentioned purposes, features and advantages of the utility model more apparent, obvious and easy to understand, the utility model will be further described in detail below with reference to the drawings and specific embodiments.
[0024] With reference to Figs. 1 to 3 The utility model discloses a kind of industrial robot flexible clamping claw, comprising: mounting bracket 3, clamping driving mechanism 2 is fixedly connected on the side of mounting bracket 3, two moving blocks 10 are provided in mounting bracket 3, two moving blocks 10 are all transmission connection with clamping driving mechanism 2 and movement reverse opposite, flexible claw 8 is fixedly connected on moving block 10, two flexible claws 8 are correspondingly provided, two flexible claws 8 are all extended mounting bracket 3, multiple inflatable air bags 9 are embedded on the side of two flexible claws 8 away from each other, multiple inflatable air bags 9 are arranged along the length direction of flexible claw 8, multiple inflatable air bags 9 are communicated with external inflation equipment.
[0025] When in use, the flexible gripper of this utility model drives two moving blocks 10 to move in opposite directions through the gripping drive mechanism 2, which in turn drives two flexible grippers 8 to move in opposite directions, thereby achieving the gripping or releasing of materials. It works with industrial robots to load and unload materials. When picking up and placing materials of different shapes and sizes, air is inflated into the expansion airbag 9 through an external inflation device. The expansion airbag 9 expands and changes the shape of the flexible gripper 8, thereby adapting to materials of different shapes and sizes.
[0026] The flexible gripper of this invention is used to pick up and place lightweight materials, where the weight of the material is less than the gripping force of the flexible gripper.
[0027] This invention increases the applicability of the flexible gripper by setting an inflatable airbag 9 to make the shape of the flexible claw 8 adjustable.
[0028] In one feasible solution, two screws 6 are rotatably connected inside the mounting bracket 3. The two screws 6 are coaxially arranged and have opposite thread directions. A through hole is opened on the moving block 10. A threaded sleeve 7 is fixedly installed in the through hole. The screws 6 are coaxially inserted in the through hole and threadedly connected to the threaded sleeve 7. One end of one of the screws 6 extends out of the mounting bracket 3 and is connected to the clamping drive mechanism 2 for transmission.
[0029] The clamping drive mechanism 2 drives the two screws 6 to rotate. The threads of the two screws 6 are set in opposite directions, thereby driving the two moving blocks 10 to move in opposite directions through the threaded sleeve 7, so as to realize the clamping or releasing function.
[0030] In one feasible solution, a sliding groove 1 is provided in the mounting bracket 3, and a slider 4 is slidably connected in the sliding groove 1. A first mounting groove 11 is provided on one side of the slider 4 that extends out of the sliding groove 1. The first mounting groove 11 is set along the length direction of the slider 4.
[0031] The bottom end of the movable block 10 is provided with a second mounting groove 13, and two connecting rods 5 are hinged in the second mounting groove 13. The two connecting rods 5 are arranged in parallel, and the bottom ends of the two connecting rods 5 are both hinged in the first mounting groove 11.
[0032] The top end of the connecting rod 5 is hinged in the second mounting groove 13, and the bottom end of the connecting rod 5 is hinged in the first mounting groove 11. When the two moving blocks 10 move closer or further apart, the tilt angle of the connecting rod 5 changes, which in turn changes the distance between the moving block 10 and the slider 4. Since the slider 4 is located in the slide groove 1 and does not disengage from the slide groove 1, the moving block 10 is prevented from rotating with the rotation of the screw 6.
[0033] In one feasible solution, the clamping drive mechanism 2 includes a drive motor 201 fixed to one side of the mounting bracket 3. The drive motor 201 is driven by the input end of the reduction gear assembly, and the output end of the reduction gear assembly is driven by the screw 6.
[0034] The driving motor 201 is electrically connected with an external controller, which is preferably a programmable controller.
[0035] In one possible solution, the speed reduction assembly comprises a fixed shaft 204 fixed to one side of the mounting bracket 3, the fixed shaft 204 is sequentially coaxially connected with a fourth gear 207, a third gear 206, a second gear 205 and a toothed disc 203 in the direction away from the mounting bracket 3, the toothed disc 203 is engaged with a first gear 202 coaxially fixed to the output shaft of the driving motor 201, the toothed disc 203 is coaxially fixed with the second gear 205, and the third gear 206 is coaxially fixed with the fourth gear 207.
[0036] One end of the screw rod 6 extends out of the mounting bracket 3 and is coaxially fixed with a main shaft 12, the main shaft 12 is coaxially connected with a fifth gear 208 and a sixth gear 209, the fifth gear 208 is coaxially fixed with the sixth gear 209, the fifth gear 208 is engaged with the second gear 205 and the number of teeth of the fifth gear 208 is more than that of the second gear 205, the sixth gear 209 is engaged with the third gear 206 and the number of teeth of the sixth gear 209 is less than that of the third gear 206, and the fourth gear 207 is engaged with a seventh gear 210 coaxially fixed to the main shaft 12, and the number of teeth of the seventh gear 210 is more than that of the fourth gear 207.
[0037] The driving motor 201 drives the first gear 202 to rotate, the first gear 202 drives the toothed disc 203 to rotate, and then drives the second gear 205 to rotate, the second gear 205 is engaged with the fifth gear 208 and the number of teeth of the fifth gear 208 is more than that of the second gear 205, thereby achieving the first speed reduction; the fifth gear 208 is coaxially fixed with the sixth gear 209, the fifth gear 208 drives the sixth gear 209 to rotate, the sixth gear 209 is engaged with the third gear 206 and the number of teeth of the sixth gear 209 is less than that of the third gear 206, thereby achieving the second speed reduction; the third gear 206 and the fourth gear 207 are coaxially fixed, the third gear 206 drives the fourth gear 207 to rotate, the fourth gear 207 is engaged with the seventh gear 210 and the number of teeth of the seventh gear 210 is more than that of the fourth gear 207, thereby achieving the third speed reduction, and the seventh gear 210 is coaxially fixed to the main shaft 12, thereby driving the screw rod 6 to rotate through the main shaft 12.
[0038] In one possible solution, the two screw rods 6 are connected through a shaft coupling.
[0039] In the description of the utility model, need understanding is, the term "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and so on indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model, and not indicate or imply that the indicated device or element must have a particular orientation, construct and operate in a particular orientation, therefore can not be understood as limiting the utility model.
[0040] The above-described embodiments are only descriptions of the preferred modes of the utility model, and do not limit the scope of the utility model, and various modifications and improvements to the technical solutions of the utility model made by those skilled in the art without departing from the design spirit of the utility model should fall within the protection scope defined by the claims of the utility model.
Claims
1. An industrial robot flexible gripper, characterized in that, Include: The installation support (3) is fixed on one side of the clamping drive mechanism (2), two moving blocks (10) are arranged in the installation support (3), the two moving blocks (10) are drivingly connected with the clamping drive mechanism (2) and the motion is opposite, the flexible claw (8) is fixed on the moving block (10), two flexible claws (8) are correspondingly arranged, two flexible claws (8) are arranged on the side away from each other, and a plurality of inflatable air bags (9) are embedded on the side away from each other, a plurality of inflatable air bags (9) are arranged along the length direction of the flexible claw (8), and a plurality of inflatable air bags (9) are communicated with external inflation equipment.
2. An industrial robot flexible gripper jaw according to claim 1, characterized in that: Two screw rods (6) are rotatably connected in the installation support (3), the two screw rods (6) are coaxially arranged and oppositely arranged in the screw thread direction, a through hole is formed in the moving block (10), a threaded sleeve (7) is fixedly installed in the through hole, the screw rod (6) is coaxially arranged in the through hole and is screwedly connected with the threaded sleeve (7), and one end of one of the screw rods (6) extends out of the installation support (3) and is drivingly connected with the clamping drive mechanism (2).
3. An industrial robot flexible gripper jaw according to claim 1, characterized in that: The installation support (3) is provided with a sliding groove (1), the sliding groove (1) is slidably connected with a sliding block (4), a first mounting groove (11) is formed in the side of the sliding block (4) extending out of the sliding groove (1), and the first mounting groove (11) is arranged along the length direction of the sliding block (4); A second mounting groove (13) is formed in the bottom end of the moving block (10), two connecting rods (5) are hingedly connected in the second mounting groove (13), the two connecting rods (5) are arranged in parallel, and the bottom ends of the two connecting rods (5) are hingedly connected in the first mounting groove (11).
4. An industrial robot flexible gripper jaw according to claim 2, characterized in that: The clamping drive mechanism (2) comprises a driving motor (201) fixed on one side of the installation support (3), the input end of a speed reducing assembly is drivingly connected with the driving motor (201), and the output end of the speed reducing assembly is drivingly connected with the screw rod (6).
5. An industrial robot flexible gripper jaw according to claim 4, characterized in that: The speed reducing assembly comprises a fixed shaft (204) fixed on one side of the installation support (3), a fourth gear (207), a third gear (206), a second gear (205) and a toothed disc (203) are coaxially and sequentially connected in the direction away from the installation support (3) on the fixed shaft (204), the toothed disc (203) is meshed with a first gear (202), the first gear (202) is coaxially fixed on the output shaft of the driving motor (201), the toothed disc (203) is coaxially fixed with the second gear (205), and the third gear (206) is coaxially fixed with the fourth gear (207). One end of the screw rod (6) extends out of the mounting bracket (3) and is coaxially connected with a main shaft (12), the fifth gear (208) and the sixth gear (209) are coaxially connected on the main shaft (12), the fifth gear (208) is coaxially connected with the sixth gear (209), the fifth gear (208) is engaged with the second gear (205) and the number of teeth of the fifth gear (208) is more than that of the second gear (205), the sixth gear (209) is engaged with the third gear (206) and the number of teeth of the sixth gear (209) is less than that of the third gear (206), the fourth gear (207) is engaged with the seventh gear (210), the seventh gear (210) is coaxially connected on the main shaft (12), and the number of teeth of the seventh gear (210) is more than that of the fourth gear (207).
6. An industrial robot flexible gripper jaw according to claim 2, characterized in that: The two screw rods (6) are connected through a shaft coupling.