Robot clamp

Abstract

The utility model relates to the technical field of clamps, and discloses a robot clamp which comprises a lifting plate, a first clamping rod and a second clamping rod, the second clamping rod and an arc-shaped rotating seat are arranged on one side of the lifting plate in a rotating mode, half gears are arranged at one end of the second clamping rod and one end of the arc-shaped rotating seat, and a fixing shaft is arranged at the other end of the rotating rod. In the folding and grabbing process, the electromagnet is powered on, magnetic attraction is carried out on the magnetic-conductive arc-shaped guide groove, meanwhile, magnetic attraction is carried out on the clamping plates, the clamping plates are clamped through the clamping plates, the clamping plates are clamped through the clamping plates, the clamping plates are clamped, the clamping plates are clamped, the clamping plates are clamped, and the clamping plates are clamped through the clamping plates. The clamping plates are attached to the outer walls of the arc-shaped guide grooves, and the electromagnets are magnetically attracted and fixed, so that the angle of the rotating rod is fixed, the stress of the servo motor is reduced, the motor is prevented from being overheated due to long-time stress, and the service life of the motor is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically a robot clamp. Background Technology

[0002] A robot gripper is a device mounted on the end effector of a robot, used to grasp, hold, transport, or manipulate objects. It is a key component for the robot's interaction with the external environment and directly affects the robot's operational efficiency and accuracy.

[0003] A Chinese patent (CN212445287U) discloses a robot gripper, including a gripper base. A groove is formed on the lower surface of the gripper base, and a matching slider is engaged inside the groove. The slider is welded to the outer surface of a gripper arm bracket. A first gripper arm is fixedly mounted on the lower surface of the gripper arm bracket, and a rotating shaft is inserted into the center of the first gripper arm. This robot gripper, through the threaded engagement at both ends of the rotating shaft, allows the gripper arm to be fixed during use by a fixing nut, thus facilitating installation and disassembly and improving work efficiency. Furthermore, through the coordination of a motor switch, when an object comes into contact with the motor switch, the power to the motor can be cut off, thereby reducing damage to the object and protecting it.

[0004] In the above technical solution, the clamp uses a motor to drive the clamping arms to close and release. However, during the clamping process, it relies solely on the motor's self-locking mechanism to maintain the clamping state of the clamping arms, which causes the motor to continuously bear a large load torque. Long-term operation may lead to overheating, wear, or even failure risks. Utility Model Content

[0005] The purpose of this invention is to provide a robot gripper to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robot gripper, comprising: a lifting plate, a first clamping rod, and a second clamping rod. The lifting plate has a second clamping rod and an arc-shaped rotating seat rotatably mounted on one side. A half-gear is provided at one end of both the second clamping rod and the arc-shaped rotating seat. A rotating shaft is provided at one end of the arc-shaped rotating seat, and a rotating arm is provided at one end of the rotating shaft. A servo motor is provided in the middle of one side of the lifting plate. A rotating rod is provided at one end of the output shaft of the servo motor. One end of the rotating arm is connected to one end of the rotating rod. A fixed shaft is provided at the other end of the rotating rod. An electromagnet is provided at one end of the fixed shaft. An arc-shaped guide groove is provided on one side of the lifting plate outside the electromagnet, and the arc-shaped guide groove is made of a magnetically conductive material.

[0007] Furthermore, the electromagnet is provided with a bidirectional elastic telescopic rod at the top, and clamps are provided at both ends of the bidirectional elastic telescopic rod. The clamps are located outside the arc-shaped guide groove, and the contour of one side of the clamp matches the contour of the outer wall of the arc-shaped guide groove.

[0008] Furthermore, a lifting cylinder is provided on the top of the lifting plate, and an upper connecting frame is provided on the outside of the lifting cylinder.

[0009] Furthermore, one end of the arc-shaped rotating seat is fixed to the first clamping rod.

[0010] Furthermore, the arc-shaped guide groove is concentric with the drive shaft of the servo motor, and the clamping plate is made of a magnetic material.

[0011] Furthermore, the two half-gears mesh with each other.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This utility model, through the setting of a lifting plate, servo motor and electromagnet, realizes that when the robot gripper is used, the entire gripper is fixed to the robot's end effector through the upper connecting frame, the lifting cylinder drives the lifting plate and its components to lift and lower, the servo motor drives the rotating rod to rotate, the rotating rod drives the rotating arm to swing, and the connection of the rotating shaft drives the arc rotating seat to rotate. Through the meshing of two half gears, the closing gripping and releasing action between the first gripper and the second gripper is realized.

[0014] During the closing and gripping process, the electromagnet is energized to magnetically attract the magnetically conductive arc-shaped guide groove and simultaneously magnetically attract the clamping plate, causing the clamping plate to fit against the outer wall of the arc-shaped guide groove. This allows the electromagnet to magnetically fix the rod, thereby fixing the angle of the rotating rod, reducing the stress on the servo motor, preventing the motor from overheating due to prolonged stress, and improving the motor's service life.

[0015] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description

[0016] Figure 1 This is a perspective view of a robot gripper according to the present invention;

[0017] Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle;

[0018] Figure 3 This is a cross-sectional view of a robot gripper according to the present invention;

[0019] Figure 4 for Figure 3 Enlarged structural diagram at point B;

[0020] Figure 5 This is a rear view of a robot gripper according to the present invention;

[0021] Figure 6 This is a perspective view of a robot gripper according to the present invention.

[0022] In the diagram: 1. Upper connecting frame; 2. Lifting cylinder; 3. Lifting plate; 4. Servo motor; 5. Rotating rod; 6. Rotating arm; 7. Rotating shaft; 8. Arc-shaped rotating seat; 9. First clamping rod; 10. Fixed shaft; 11. Electromagnet; 12. Arc-shaped guide groove; 13. Bidirectional elastic telescopic rod; 14. Clamping plate; 15. Half gear; 16. Second clamping rod. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Please see Figures 1-6 This utility model provides a technical solution: a robot gripper, including: a lifting plate 3, a first gripper 9, and a second gripper 16. The second gripper 16 and an arc-shaped rotating seat 8 are rotatably provided on one side of the lifting plate 3. A half gear 15 is provided at one end of both the second gripper 16 and the arc-shaped rotating seat 8. A rotating shaft 7 is provided at one end of the arc-shaped rotating seat 8, and a rotating arm 6 is provided at one end of the rotating shaft 7. The second gripper 16 and the arc-shaped rotating seat 8 can rotate on one side of the lifting plate 3. The first gripper 9 and the second gripper 16 are linked by the cooperation of the half gear 15. The connection between the rotating shaft 7 and the rotating arm 6 provides a structural basis for subsequent power transmission and facilitates the opening and closing of the gripper.

[0025] A servo motor 4 is located in the middle of one side of the lifting plate 3. A rotating rod 5 is located at one end of the output shaft of the servo motor 4. One end of a rotating arm 6 is connected to one end of the rotating rod 5. The servo motor 4, as a power source, is installed in the middle of the lifting plate 3 and transmits power to the rotating arm 6 through the rotating rod 5, thereby driving the arc-shaped rotating seat 8 and the second clamping rod 16 to rotate. This achieves effective power transmission from the motor to the clamping rod, providing power support for the gripping action of the clamp. A fixed shaft 10 is located at the other end of the rotating rod 5. An electromagnet 11 is located at one end of the fixed shaft 10. An arc-shaped guide groove 12, made of magnetically conductive material, is located on one side of the lifting plate 3 outside the electromagnet 11. The fixed shaft 10 is used to mount the electromagnet 11, which can generate magnetic force. The arc-shaped guide groove 12 and the characteristics of its magnetic material provide a target for the magnetic attraction of the electromagnet 11. During the gripping process, the electromagnet 11 can magnetically attract the arc-shaped guide groove 12 to achieve auxiliary fixation of the rotating rod 5 angle, reduce the force on the servo motor 4, and extend the service life of the motor.

[0026] The electromagnet 11 has a bidirectional elastic telescopic rod 13 at its top, with clamping plates 14 at both ends. The clamping plates 14 are located outside the arc-shaped guide groove 12, and one side of the clamping plate 14 matches the outer wall contour of the arc-shaped guide groove 12. When the electromagnet 11 is energized, the clamping plates 14 can fit against the outer wall of the arc-shaped guide groove 12, further enhancing the electromagnet 11's fixing effect on the angle of the rotating rod 5. At the same time, the bidirectional elastic telescopic rod 13 has a certain degree of elasticity, allowing the clamping plates 14 to separate from the arc-shaped guide groove 12 after the electromagnet 11 is de-energized, reducing friction.

[0027] A lifting cylinder 2 is installed on the top of the lifting plate 3, and an upper connecting frame 1 is installed on the outside of the lifting cylinder 2. The lifting cylinder 2 is used to drive the lifting plate 3 and its components to lift and lower, thereby adjusting the height of the gripper to meet the gripping needs of objects of different heights. The upper connecting frame 1 is used to fix the entire gripper to the end effector of the robot, realizing the connection between the gripper and the robot, so that the gripper can move with the movement of the robot.

[0028] One end of the arc-shaped rotating base 8 is fixed to the first clamping rod 9. The rotation of the arc-shaped rotating base 8 can drive the first clamping rod 9 to rotate, which, in conjunction with the rotation of the second clamping rod 16, realizes the closing gripping and releasing action between the first clamping rod 9 and the second clamping rod 16.

[0029] The arc-shaped guide groove 12 is concentric with the drive shaft of the servo motor 4, and the clamping plate 14 is made of a magnetically conductive material. The concentricity of the arc-shaped guide groove 12 with the drive shaft of the servo motor 4 ensures that the angle of the rotating rod 5 is more accurately and stably fixed when the electromagnet 11 adsorbs the arc-shaped guide groove 12. The magnetically conductive material of the clamping plate 14 allows the electromagnet 11 to better magnetically adsorb onto the clamping plate 14, further enhancing the stability of the clamp during the gripping process.

[0030] Two half-gears 15 mesh together. The meshing of the two half-gears 15 enables the arc-shaped rotating seat 8 and the second clamping rod 16 to move in tandem. When the arc-shaped rotating seat 8 rotates, the second clamping rod 16 will rotate in the opposite direction through the meshing of the half-gears 15, thereby realizing the closing and releasing action of the first clamping rod 9 and the second clamping rod 16, ensuring the accuracy and reliability of the clamping action.

[0031] When the robot gripper is in use, the entire gripper is fixed to the robot's end effector by the upper connecting frame 1. The lifting cylinder 2 drives the lifting plate 3 and its components to rise and fall. The servo motor 4 drives the rotating rod 5 to rotate. The rotating rod 5 drives the rotating arm 6 to swing. The connection of the rotating shaft 7 drives the arc-shaped rotating seat 8 to rotate. Through the meshing of the two half gears 15, the closing gripping and releasing actions between the first gripper 9 and the second gripper 16 are realized.

[0032] During the closing and gripping process, the electromagnet 11 is energized to magnetically attract the magnetically conductive arc-shaped guide groove 12 and simultaneously magnetically attract the clamping plate 14, causing the clamping plate 14 to fit against the outer wall of the arc-shaped guide groove 12. This allows the electromagnet 11 to magnetically fix the angle of the rotating rod 5, reducing the force on the servo motor 4, preventing the motor from overheating due to prolonged stress, and improving the motor's service life.

[0033] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

Claims

1. A robotic gripper comprising: Lifting plate (3), first clamping rod (9) and second clamping rod (16), characterized by: one side of the lifting plate (3) is rotatably provided with a second clamping rod (16) and an arc-shaped rotating seat (8), one end of the second clamping rod (16) and the arc-shaped rotating seat (8) is provided with a half gear (15), one end of the arc-shaped rotating seat (8) is provided with a rotating shaft (7), one end of the rotating shaft (7) is provided with a rotating arm (6), one side of the lifting plate (3) is provided with a servo motor (4) in the middle, one end of the output shaft of the servo motor (4) is provided with a rotating rod (5), one end of the rotating arm (6) is connected with one end of the rotating rod (5), the other end of the rotating rod (5) is provided with a fixed shaft (10), one end of the fixed shaft (10) is provided with an electromagnet (11), one side of the lifting plate (3) is provided with an arc-shaped guide groove (12) outside the electromagnet (11), the arc-shaped guide groove (12) is made of magnetic material.

2. The robotic gripper of claim 1, wherein: The top of the electromagnet (11) is provided with a bidirectional elastic telescopic rod (13), the two ends of the bidirectional elastic telescopic rod (13) are provided with clamping plates (14), the clamping plates (14) are located outside the arc-shaped guide groove (12), and one side of the clamping plates (14) is matched with the outer wall profile of the arc-shaped guide groove (12).

3. The robotic gripper of claim 1, wherein: The top of the lifting plate (3) is provided with a lifting oil cylinder (2), and the outer side of the lifting oil cylinder (2) is provided with an upper connecting frame (1).

4. The robot gripper of claim 1, wherein: One end of the arc-shaped rotating seat (8) is fixed with the first clamping rod (9).

5. The robotic gripper of claim 2, wherein: The arc-shaped guide groove (12) is concentric with the driving shaft of the servo motor (4), and the clamping plate (14) is made of magnetic material.

6. The robot gripper of claim 1, wherein: The two half gears (15) are engaged.

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