Gripper structure of robot

Abstract

The utility model discloses a robot gripper structure which comprises a mounting seat, a reinforcing plate is arranged on the inner side wall of the mounting seat, fixing rods are arranged on the periphery of the upper end of the mounting seat, the upper ends of the fixing rods are fixedly connected with a fixing seat, the upper end of the mounting seat is detachably connected with an adjusting mechanism, and the adjusting mechanism is fixedly connected with the fixing seat. Hydraulic rods are fixedly connected to the periphery of the lower end of the mounting base, extrusion pads are fixedly connected to the telescopic ends of the hydraulic rods, a buffering mechanism is fixedly connected to the lower end of the adjusting mechanism, and sliding grooves are formed in the periphery of the lower end of the mounting base. By arranging the adjusting mechanism, the equipment can accurately adjust the position of the gripper body according to the size of the gripped goods; by means of the arranged buffering mechanism, when the equipment grabs goods, buffering protection can be conducted on the goods, the situation that the goods are damaged due to direct grabbing of the grabbing hand body is prevented, when the grabbing hand body grabs the goods, a second motor is started through an external controller, and an output shaft of the second motor drives a lead screw in transmission connection to rotate.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of gripper structure, concretely is a kind of gripper structure of robot. BACKGROUND

[0002] Robot is the machine device of automatic execution work, it can accept human command, can also run prearranged program, also can act according to the principle of artificial intelligence technology formulated program, its task is to assist or replace human work, for example, production, construction, or dangerous work, currently in order to robot can imitate human behavior, want to install gripper on robot to simulate the action of human taking things;

[0003] Patent CN210650708U discloses a kind of gripper structure of robot, including mounting seat and gripper unit, the mounting seat is cross type, the middle part of four sides of mounting seat is equipped with mounting groove, the gripper unit includes motor, lead screw, rotating rod, moving platform, connecting plate and clamping plate, the rotating rod is equipped with four, the side of the upper end of four rotating rods is rotatably connected with the side wall of four mounting grooves, the upper end of lead screw is rotatably connected with the middle part of the lower surface of mounting seat, the lower end of lead screw passes through the screw hole in the middle part of the upper surface of moving platform, and moving platform is cross type, the motor is arranged in the middle part of the upper surface of mounting seat, and the output shaft of motor is fixedly connected with the upper end of lead screw, passing through the upper surface of mounting seat, the connecting plate is equipped with four, the side of one end of four connecting plates is rotatably connected with the side of the lower end of four rotating rods, the side of the other end of four connecting plates is rotatably connected with the four sides of moving platform, the clamping plate is equipped with four, the side of four clamping plates is fixedly connected with the side of the lower end of four rotating rods.

[0004] Currently, the gripper structure of traditional robot is mostly inconvenient to use, the length of gripper is inconvenient to adjust, cannot be applied to use for various different sizes of goods, the gripper structure is inconvenient to disassemble and replace, the gripper structure is easy to slip when grabbing and moving goods, and is inconvenient to grab tightly. SUMMARY

[0005] The utility model aims at providing a kind of gripper structure of robot, to solve the problem that the gripper structure of robot is mostly inconvenient to use in the above background art, the length of gripper is inconvenient to adjust, cannot be applied to use for various different sizes of goods, the gripper structure is inconvenient to disassemble and replace, the gripper structure is easy to slip when grabbing and moving goods, and is inconvenient to grab tightly.

[0006] To achieve the above object, the utility model provides following technical scheme: A kind of gripper structure of robot, including mounting seat, the inner side wall of mounting seat is provided with reinforcing plate, the upper end of mounting seat is provided with fixed rod around, the upper end of fixed rod is fixedly connected with fixed seat, the upper end of mounting seat is detachably connected with adjusting mechanism, the lower end of mounting seat is fixedly connected with hydraulic ram around, the telescopic end of hydraulic ram is fixedly connected with extrusion pad, the lower end of adjusting mechanism is fixedly connected with buffer mechanism, the lower end of mounting seat is provided with sliding slot around;

[0007] The adjusting mechanism includes motor one, the lower end of motor one is detachably connected with the upper end of mounting seat, the output shaft of motor one is provided with driving bevel gear, the lower end around of driving bevel gear is provided with driven bevel gear, the side of driven bevel gear is inserted with screw rod, the outer wall of screw rod is threadedly connected with movable block, the upper end of movable block is slidably connected with guide rod.

[0008] Preferably, the two sides of the reinforcing plate are fixedly connected with the inner side wall of the mounting seat, and the lower end of the fixed rod is fixedly connected with the upper end of the mounting seat around.

[0009] Preferably, the output shaft of the motor one is drivingly connected with the upper end of the driving bevel gear, and the lower end around of the driving bevel gear is meshingly connected with the upper end of the driven bevel gear.

[0010] Preferably, the movable block and the sliding slot are in T-shaped structure.

[0011] Preferably, the buffer mechanism includes a fixed frame, the upper end of the fixed frame is fixedly connected with the lower end of the movable block, the inner bottom wall of the fixed frame is provided with a motor two, the lower end of the fixed frame is provided with a connecting plate, the output shaft of the motor two is drivingly connected with a lead screw, the outer wall of the lead screw is threadedly connected with an adjusting block, one side of the adjusting block is fixedly connected with a gripper body, the other side of the gripper body is provided with a mounting slot, the inner wall of the mounting slot is fixedly connected with a mounting block, one side of the inner wall of the mounting block is fixedly connected with a spring, the other end of the spring is fixedly connected with a support plate, the side away from the spring of the support plate is fixedly connected with a connecting rod around, one side of the connecting rod is fixedly connected with a clamping plate, one side of the clamping plate is bonded with an anti-skid pad.

[0012] Preferably, the inner bottom wall of the fixed frame is detachably connected with the lower end of the motor two, and the lower end of the fixed frame is fixedly connected with the upper end of the connecting plate.

[0013] Preferably, the output shaft of the motor two penetrates through the top wall of the fixed frame via the connecting plate and is drivingly connected with the lead screw.

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

[0015] 1、Through the setting adjustment mechanism can make the device can according to the size of the goods to be grabbed the position of the gripper body precise adjustment, thereby improving the practicality of the gripper structure, when the need to adjust the position of the gripper body, through the external controller start motor one, the output shaft of motor one drives the driving bevel gear to rotate, the driving bevel gear drives the meshing connection driven bevel gear to rotate, driven bevel gear drives the plug screw to rotate, the screw drives the threaded connection of the movable block to move, the movable block drives the fixed connection buffer mechanism to move, at the same time the movable block on the guide rod sliding, improve the stability of the buffer mechanism when moving, the movable block drives the gripper body to move, thereby adjusting the distance between the gripper body, convenient for different size of goods to be grabbed, through the setting of hydraulic rod and extrusion pad, can be fixed to the goods, prevent its in work when the phenomenon of shaking, through the setting of reinforcing plate, can improve the strength of the mounting seat, prevent the mounting seat in work when the phenomenon of deformation, through the setting of fixed rod and fixed seat, can be installed and fixed adjustment mechanism, improve the stability of the adjustment mechanism when working;

[0016] 2、Through the setting buffer mechanism can make the device can be in the goods to be grabbed, the goods are protected, prevent the goods due to the gripper body directly grabbed and lead to damage, when the gripper body to the goods to be grabbed, through the external controller start motor two, the output shaft of motor two drives the transmission connection of the screw to rotate, the screw drives the threaded connection of the adjusting block to move, the adjusting block drives the fixed connection gripper body to move, the gripper body drives the connecting rod and the clamping plate to move, the connecting rod drives the fixed connection of the clamping plate to the goods to be clamped, at the same time the clamping plate to the adhesion of the non-slip pad extrusion, the non-slip pad to the goods to be protected, increase the friction between the gripper body and the goods, prevent the goods slip, at the same time the connecting rod drives the fixed connection of the support plate to the spring extrusion, the spring force shrinkage produces the elasticity, the spring elasticity can be protected, prevent the goods due to the clamping force is too large and lead to damage, thereby improving the practicality of the gripper structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the three-dimensional structure of the utility model schematic diagram;

[0018] Figure 2 is the adjustment mechanism of the utility model schematic diagram;

[0019] Figure 3 is the buffer mechanism of the utility model schematic diagram;

[0020] Figure 4 is the three-dimensional structure of the utility model side view schematic diagram.

[0021] In the figure: 1, mounting seat; 2, reinforcing plate; 3, fixed rod; 4, fixed seat; 5, adjusting mechanism; 6, hydraulic rod; 7, extrusion pad; 8, buffer mechanism; 9, sliding groove; 51, motor one; 52, driving bevel gear; 53, driven bevel gear; 54, screw rod; 55, movable block; 56, guide rod; 81, fixed frame; 82, motor two; 83, connecting plate; 84, screw rod; 85, adjusting block; 86, gripper body; 87, mounting groove; 88, mounting block; 89, spring; 810, support plate; 811, connecting rod; 812, clamping plate; 813, non-slip pad. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described 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 protection of the utility model.

[0023] Please refer to Figure 1 and Figure 4 The utility model provides a kind of technical scheme: the gripper structure of robot, including mounting seat 1, the inner side wall of mounting seat 1 is provided with reinforcing plate 2, the upper end of mounting seat 1 is provided with fixed rod 3 around, the upper end of fixed rod 3 is fixedly connected with fixed seat 4, the upper end of mounting seat 1 is detachably connected with adjusting mechanism 5, the lower end of mounting seat 1 is fixedly connected with hydraulic rod 6 around, the telescopic end of hydraulic rod 6 is fixedly connected with extrusion pad 7, the lower end of adjusting mechanism 5 is fixedly connected with buffer mechanism 8, the lower end of mounting seat 1 is provided with sliding groove 9 around, adjusting mechanism 5 includes motor one 51, the lower end of motor one 51 is detachably connected with the upper end of mounting seat 1, the output shaft of motor one 51 is provided with driving bevel gear 52, the lower end of driving bevel gear 52 is provided with driven bevel gear 53 around, one side of driven bevel gear 53 is inserted with screw rod 54, the outer wall of screw rod 54 is threadedly connected with movable block 55, the upper end of movable block 55 is slidably connected with guide rod 56, the two sides of reinforcing plate 2 are fixedly connected with the inner side wall of mounting seat 1, the lower end of fixed rod 3 is fixedly connected with the upper end of mounting seat 1 around;

[0024] The inner side wall of the mounting base 1 is provided with a reinforcing plate 2 to increase its strength and stability, and the upper end of the mounting base 1 is provided with fixed rods 3, the upper ends of which are fixedly connected with fixing bases 4 for further fixing and supporting the entire structure, in addition, the upper end of the mounting base 1 is provided with a detachable adjusting mechanism 5 for adjustment according to different working requirements, and the lower end of the mounting base 1 is fixedly connected with hydraulic rods 6, the telescopic ends of which are fixedly connected with extrusion pads 7 for providing the necessary pressure when grabbing objects, the lower end of the adjusting mechanism 5 is also fixedly connected with a buffer mechanism 8 to reduce the impact and vibration that may occur during operation, in order to further enhance the flexibility and adaptability of the structure, the lower end of the mounting base 1 is also provided with sliding grooves 9 which can be precisely positioned and moved in cooperation with the adjusting mechanism 5, the lower end of the motor 51 is detachably connected with the upper end of the mounting base 1, ensuring the convenient replacement and maintenance of the motor, the output shaft of the motor 51 is provided with a driving bevel gear 52, the lower end of which is uniformly provided with driven bevel gears 53 on the periphery, one side of the driven bevel gear 53 is inserted with a screw rod 54, the outer wall of which is threadedly connected with a movable block 55, the upper end of which is slidably connected with a guide rod 56, ensuring the stable movement and precise control of the movable block 55, the two sides of the reinforcing plate 2 are firmly fixed with the inner side wall of the mounting base 1 to provide additional support, finally, the lower end of the fixed rod 3 is fixedly connected with the upper end of the mounting base 1 to ensure the stability and durability of the entire structure, the output shaft of the motor 51 drives the driving bevel gear 52 to rotate, the driving bevel gear 52 is in meshing transmission with the driven bevel gears 53, thereby driving the driven bevel gears 53 to rotate, the driven bevel gears 53 drive the screw rod 54 to rotate, since the movable block 55 is threadedly connected with the screw rod 54, the movable block 55 is limited by the guide rod 56, when the screw rod 54 rotates, the movable block 55 can slide on the guide rod 56, thereby achieving the purpose of adjusting the position of the movable block 55, the lower end of the movable block 55 is fixedly connected with the buffer mechanism 8.

[0025] Please refer to Figure 2 , in order to quickly move the gripper body 86 on the movable block 55, the output shaft of the motor 51 is in transmission connection with the upper end of the driving bevel gear 52, the lower end of the driving bevel gear 52 is in meshing connection with the upper end of the driven bevel gears 53, the movable block 55 and the sliding groove 9 are in T-shaped structure;

[0026] The buffer mechanism 8 comprises a fixed frame 81, the inner bottom wall of the fixed frame 81 is provided with a motor two 82, the output shaft of the motor two 82 is drivingly connected with a lead screw 84, the outer wall of the lead screw 84 is threadedly connected with an adjusting block 85, one side of the adjusting block 85 is fixedly connected with a gripper body 86, when the motor two 82 works, the output shaft of the motor two 82 drives the lead screw 84 to rotate, since the adjusting block 85 is threadedly connected with the lead screw 84, the adjusting block 85 can move on the lead screw 84, so that the position of the gripper body 86 is adjusted, so that goods of different sizes can be gripped, the other side of the gripper body 86 is provided with a mounting groove 87, the inner wall of the mounting groove 87 is fixedly connected with a mounting block 88, the inner wall of the mounting block 88 is fixedly connected with a spring 89 on one side, the other end of the spring 89 is fixedly connected with a supporting plate 810, the side, away from the spring 89, of the supporting plate 810 is fixedly connected with a connecting rod 811 around, one side of the connecting rod 811 is fixedly connected with a clamping plate 812, one side of the clamping plate 812 is bonded with an antiskid pad 813, when the gripper body 86 grips goods, the clamping plate 812 is pressed by the goods, drives the supporting plate 810 to move, the supporting plate 810 compresses the spring 89, the reaction force of the spring 89 can increase the clamping force of the clamping plate 812 on the goods, the setting of the antiskid pad 813 can increase the friction between the clamping plate 812 and the goods, prevents the goods from slipping, improves the gripping effect of the gripper body 86 on the goods.

[0027] Please refer to Figure 3 , in order to quickly clamp the material on the gripper body 86, the buffer mechanism 8 comprises a fixed frame 81, the upper end of the fixed frame 81 is fixedly connected with the lower end of the movable block 55, the inner bottom wall of the fixed frame 81 is provided with a motor two 82, the lower end of the fixed frame 81 is provided with a connecting plate 83, the output shaft of the motor two 82 is drivingly connected with a lead screw 84, the outer wall of the lead screw 84 is threadedly connected with an adjusting block 85, one side of the adjusting block 85 is fixedly connected with a gripper body 86, the other side of the gripper body 86 is provided with a mounting groove 87, the inner wall of the mounting groove 87 is fixedly connected with a mounting block 88, the inner wall of the mounting block 88 is fixedly connected with a spring 89 on one side, the other end of the spring 89 is fixedly connected with a supporting plate 810, the side, away from the spring 89, of the supporting plate 810 is fixedly connected with a connecting rod 811 around, one side of the connecting rod 811 is fixedly connected with a clamping plate 812, one side of the clamping plate 812 is bonded with an antiskid pad 813, the inner bottom wall of the fixed frame 81 is detachably connected with the lower end of the motor two 82, the lower end of the fixed frame 81 is fixedly connected with the upper end of the connecting plate 83, the output shaft of the motor two 82 penetrates through the fixed frame 81 and is drivingly connected with the lead screw 84 through the top wall of the connecting plate 83;

[0028] In order to realize the fast clamping of material, the upper end of the fixed frame 81 and the lower end of the movable block 55 are connected together by fixed connection, the inside bottom wall part of the fixed frame 81 is provided with the motor two 82, the lower end of the fixed frame 81 is fixedly connected with the connecting plate 83, the output shaft of the motor two 82 is connected with the lead screw 84 through transmission, the outer wall threaded part of the lead screw 84 is connected with the adjusting block 85, one side of the adjusting block 85 is fixedly connected with the gripper body 86, and the other side of the gripper body 86 is provided with the mounting groove 87, the mounting groove 87 is fixedly connected with the mounting block 88, the inner wall of the mounting block 88 is fixedly connected with a plurality of springs 89, and the other end of the spring 89 is fixedly connected with the supporting plate 810. The side away from the spring 89 of the supporting plate 810 is fixedly connected with four symmetrical connecting rods 811, one side of the connecting rod 811 is fixedly connected with the clamping plate 812, and the other side of the clamping plate 812 is bonded with the antiskid pad 813, so as to ensure the stability of the material in the clamping process. In addition, the inside bottom wall of the fixed frame 81 and the lower end of the motor two 82 are detachably connected, so that the maintenance and replacement are facilitated. The lower end of the fixed frame 81 and the upper end of the connecting plate 83 are connected together by fixed connection, so as to ensure the stability of the structure. The output shaft of the motor two 82 penetrates through the fixed frame 81 and is in transmission connection with the lead screw 84 through the top wall of the connecting plate 83. Such arrangement makes the whole mechanism more flexible and efficient during operation. The adjusting mechanism 5 is arranged. The output shaft of the motor one 51 drives the driving bevel gear 52 to rotate. The driving bevel gear 52 drives the peripherally meshed driven bevel gear 53 to rotate. The driven bevel gear 53 drives the side inserted screw rod 54 to rotate. The screw rod 54 drives the outer wall threaded movable block 55 to move. The movable block 55 drives the upper end slidingly connected guide rod 56 to slide, so as to achieve the effect of relatively moving the gripper body 86. The adjusting range of the gripper body 86 is increased. Different sizes of goods can be gripped. The problem that the gripper length is not convenient to adjust and cannot be applied to various sizes of goods is solved. The buffer mechanism 8 is arranged. The output shaft of the motor two 82 drives the lead screw 84 to rotate. The lead screw 84 drives the outer wall threaded adjusting block 85 to move. The adjusting block 85 drives the side fixed gripper body 86 to move. When the gripper body 86 grips the material, the material drives the clamping plate 812 to move. The clamping plate 812 drives the connecting rod 811 to move. The connecting rod 811 drives the supporting plate 810 to move. The supporting plate 810 extrudes the spring 89. The spring 89 elastically deforms to generate elastic force, so as to achieve the effect of buffering and clamping the material. The gripper structure is prevented from slipping when gripping and moving goods. The problem that the gripper structure is easy to slip when gripping and moving goods is solved.

[0029] Working principle: first through the inside wall of the mounting seat 1 set up the reinforcing plate 2 to increase its strength and stability, the upper end of mounting seat 1 is equipped with fixed rod 3, the upper end of these fixed rod 3 is fixed with fixed seat 4, for further fixed and support the whole structure, in addition, the upper end of mounting seat 1 is provided with detachable adjusting mechanism 5, in order to facilitate the adjustment according to different work requirements, in the lower end of mounting seat 1 around, fixed with hydraulic rod 6, the telescopic end of hydraulic rod 6 is fixed with extrusion pad 7, for providing the necessary pressure when grabbing objects, the lower end of adjusting mechanism 5 is also fixed with buffer mechanism 8, in order to reduce the impact and vibration may occur in the operation process, in order to further enhance the flexibility and adaptability of the structure, the lower end of mounting seat 1 is also provided with slide groove 9, slide groove 9 can cooperate with adjusting mechanism 5 for accurate positioning and movement, the lower end of motor 51 is detachably connected with the upper end of mounting seat 1, to ensure the convenient replacement and maintenance of motor, the output shaft of motor 51 is provided with driving bevel gear 52, the lower end of driving bevel gear 52 is uniformly provided with driven bevel gear 53, one side of driven bevel gear 53 is inserted with screw rod 54, the outer wall of screw rod 54 is threadedly connected with movable block 55, the upper end of movable block 55 is slidably connected with guide rod 56, to ensure the stable movement and accurate control of movable block 55, the two sides of reinforcing plate 2 are firmly connected with the inner side wall of mounting seat 1, to provide additional support force, finally, the lower end of fixed rod 3 is also connected with the upper end of mounting seat 1, to ensure the stability and durability of the whole structure, the output shaft of motor 51 drives driving bevel gear 52 to rotate, driving bevel gear 52 and driven bevel gear 53 meshing transmission, so as to drive driven bevel gear 53 to rotate, driven bevel gear 53 drives screw rod 54 to rotate, because movable block 55 is threadedly connected with screw rod 54, movable block 55 is limited by guide rod 56, when screw rod 54 rotates, movable block 55 can slide on guide rod 56, so as to achieve the purpose of adjusting the position of movable block 55, the lower end of movable block 55 is fixedly connected with buffer mechanism 8, buffer mechanism 8 comprises fixed frame 81, motor 82 is arranged on the inner bottom wall of fixed frame 81, the output shaft of motor 82 is drivingly connected with lead screw 84, the outer wall of lead screw 84 is threadedly connected with adjusting block 85, one side of adjusting block 85 is fixedly connected with gripper body 86, when motor 82 works, the output shaft of motor 82 drives lead screw 84 to rotate, because adjusting block 85 is threadedly connected with lead screw 84, adjusting block 85 can move on lead screw 84, so as to achieve the purpose of adjusting the position of gripper body 86, to adapt to different size of goods for grabbing, the other side of gripper body 86 is provided with mounting slot 87, mounting slot 87 is fixedly connected with mounting block 88, one side of the inner wall of mounting block 88 is fixedly connected with spring 89, the other end of spring 89 is fixedly connected with support plate 810, the other side of support plate 810 away from spring 89 is fixedly connected with connecting rod 811, one side of connecting rod 811 is fixedly connected with clamping plate 812,One side of the clamping plate 812 is bonded with the anti-skid pad 813. When the gripper body 86 grabs the goods, the clamping plate 812 is subjected to the extrusion force of the goods, and the supporting plate 810 is driven to move, the supporting plate 810 compresses the spring 89, and the reaction force of the spring 89 can increase the clamping force of the clamping plate 812 on the goods. The setting of the anti-skid pad 813 can increase the friction between the clamping plate 812 and the goods, prevent the goods from slipping, and improve the gripping effect of the gripper body 86 on the goods.

[0030] Then by in order to realize the material fast clamping, in the fixed frame 81 upper end and movable block 55 lower end through the fixed mode connection together, in the fixed frame 81 inside bottom wall portion, motor two 82 is installed, and the fixed frame 81 lower end is fixedly connected with connecting plate 83, the output shaft of motor two 82 is connected with screw rod 84 through transmission, the outer wall screw portion of screw rod 84 is connected with adjusting block 85, one side of adjusting block 85 is fixedly connected with gripper body 86, and the other side of gripper body 86 is provided with installation groove 87, and the inner wall of installation groove 87 is fixedly connected with mounting block 88, and the inner wall of mounting block 88 is fixedly connected with multiple springs 89 on one side, and the other end of spring 89 is fixedly connected with support plate 810, and the side away from spring 89 of support plate 810 is fixedly connected with four symmetrical connecting rods 811, and one side of connecting rod 811 is fixedly connected with clamping plate 812, and one side of clamping plate 812 is bonded with antiskid pad 813, to ensure the stability of material in the clamping process, in addition, the inside bottom wall of fixed frame 81 and the lower end of motor two 82 are detachably connected, so that maintenance and replacement are facilitated, and the lower end of fixed frame 81 and the upper end of connecting plate 83 are also connected together through the fixed mode, to ensure the stability of structure, the output shaft of motor two 82 penetrates fixed frame 81 and is connected with screw rod 84 through the top wall of connecting plate 83, so that the whole mechanism is more flexible and efficient when operating, the output shaft of motor one 51 drives driving bevel gear 52 to rotate, driving bevel gear 52 drives driven bevel gear 53 connected around to rotate, driven bevel gear 53 drives screw rod 54 inserted on one side to rotate, screw rod 54 drives movable block 55 connected with outer wall screw to move, movable block 55 drives guiding rod 56 connected with upper end sliding to slide, so that the relative movement of gripper body 86 is achieved, the adjusting range of gripper body 86 is increased, different size goods can be gripped, the problem that the gripper length cannot be adjusted and cannot be applied to various different size goods is solved, the buffer mechanism 8 is provided, the output shaft of motor two 82 drives screw rod 84 to rotate, screw rod 84 drives adjusting block 85 connected with outer wall screw to move, adjusting block 85 drives gripper body 86 fixedly connected on one side to move, when gripper body 86 grips material, the material drives clamping plate 812 to move, clamping plate 812 drives connecting rod 811 to move, connecting rod 811 drives support plate 810 to move, support plate 810 extrudes spring 89, spring 89 elastically deforms to generate elastic force, so that the material is clamped, the gripper structure is prevented from slipping when gripping goods, the problem that the gripper structure is prone to slipping when gripping goods is solved, the above is the working process of the whole device, and the contents not described in detail in the specification all belong to the existing technology known to the person skilled in the art.

[0031] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gripper structure for a robot, comprising a mounting base (1), characterized in that: The inner wall of the mounting base (1) is provided with a reinforcing plate (2), the upper end of the mounting base (1) is provided with a fixing rod (3) around the perimeter, the upper end of the fixing rod (3) is fixedly connected with a fixing seat (4), the upper end of the mounting base (1) is detachably connected with an adjustment mechanism (5), the lower end of the mounting base (1) is fixedly connected with a hydraulic rod (6), the telescopic end of the hydraulic rod (6) is fixedly connected with a compression pad (7), the lower end of the adjustment mechanism (5) is fixedly connected with a buffer mechanism (8), and the lower end of the mounting base (1) is provided with a sliding groove (9). The adjustment mechanism (5) includes a motor (51), the lower end of which is detachably connected to the upper end of the mounting base (1). The output shaft of the motor (51) is provided with a driving bevel gear (52). A driven bevel gear (53) is provided around the lower end of the driving bevel gear (52). A screw (54) is inserted into one side of the driven bevel gear (53). A movable block (55) is threadedly connected to the outer wall of the screw (54). A guide rod (56) is slidably connected to the upper end of the movable block (55).

2. The gripper structure for a robot according to claim 1, characterized in that: The two sides of the reinforcing plate (2) are fixed to the inner sidewall of the mounting base (1), and the lower end of the fixing rod (3) is fixed to the upper end of the mounting base (1) around the perimeter.

3. The gripper structure for a robot according to claim 1, characterized in that: The output shaft of the motor (51) is connected to the upper end of the driving bevel gear (52), and the lower end of the driving bevel gear (52) is meshed with the upper end of the driven bevel gear (53).

4. The gripper structure for a robot according to claim 3, characterized in that: The movable block (55) and the slide (9) are arranged in a T-shape.

5. The gripper structure for a robot according to claim 1, characterized in that: The buffer mechanism (8) includes a fixed frame (81), the upper end of which is fixedly connected to the lower end of the movable block (55). A motor (82) is provided on the inner bottom wall of the fixed frame (81), and a connecting plate (83) is provided on the lower end of the fixed frame (81). The output shaft of the motor (82) is driven by a lead screw (84), and an adjusting block (85) is threadedly connected to the outer wall of the lead screw (84). A gripper body (86) is fixedly connected to one side of the adjusting block (85). (86) has an installation groove (87) on the other side. An installation block (88) is fixed to the inner wall of the installation groove (87). A spring (89) is fixed to one side of the inner wall of the installation block (88). A support plate (810) is fixed to the other end of the spring (89). A connecting rod (811) is fixed around the side of the support plate (810) away from the spring (89). A clamping plate (812) is fixed to one side of the connecting rod (811). An anti-slip pad (813) is glued to one side of the clamping plate (812).

6. The gripper structure for a robot according to claim 5, characterized in that: The inner bottom wall of the fixed frame (81) is detachably connected to the lower end of the motor (82), and the lower end of the fixed frame (81) is fixedly connected to the upper end of the connecting plate (83).

7. The gripper structure for a robot according to claim 5, characterized in that: The output shaft of the second motor (82) passes through the fixed frame (81), through the top wall of the connecting plate (83), and is connected to the lead screw (84) for transmission.

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