Self-adaptive robot clamp suitable for clamping workpieces of various sizes

Abstract

The utility model discloses a self-adaptive robot clamp suitable for clamping workpieces of various sizes, which comprises a mounting box, a driving structure is arranged below the mounting box, and tensioning structures are symmetrically arranged at the front end of the driving structure. According to the self-adaptive robot clamp suitable for clamping the workpieces of various sizes, a steel plate is firstly driven by a sliding block to move in a sliding groove formed in a connecting block through the clamping force, and a telescopic rod is extruded to slide in a sleeve, so that a spring is extruded, and the steel plate can be rebounded through the elastic force of the spring; and therefore, the steel plate can adaptively clamp different workpieces in a self-adaptive tensioning manner, and the problem that the workpieces have clamping marks due to clamping force can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically to an adaptive robot clamping fixture that can accommodate workpieces of various sizes. Background Technology

[0002] Traditional industrial robot grippers are typically designed for specific workpieces and achieve clamping through fixed jaws or suction cups, making it difficult to adapt to workpieces of different sizes and shapes.

[0003] A search of patent number CN221736183U reveals a self-positioning robotic gripper adapted for clamping multi-specification steel bar samples, capable of self-positioning during steel bar clamping. This solves the problem of low experimental efficiency for steel bar samples, enabling the clamping of steel bar samples with a wider range of sizes; and allowing for the simultaneous clamping of steel bars of different specifications.

[0004] However, the grippers in the aforementioned patents are all driven by mechanical, hydraulic, or pneumatic mechanisms to open and clamp. However, for workpieces of various sizes, the clamping force cannot be precisely controlled, which can easily cause clamping marks during the workpiece clamping process. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides an adaptive robot gripper that can handle workpieces of various sizes. This solves the problem that, due to the inability to precisely control the clamping force, clamping marks are easily caused during the workpiece clamping process for workpieces of various sizes.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: an adaptive robot gripper that can accommodate workpieces of various sizes, including a mounting box, a driving structure is provided below the mounting box, and a tensioning structure is symmetrically provided at the front end of the driving structure.

[0007] The tensioning structure includes a connecting block and a steel plate. The connecting block has symmetrical grooves on opposite surfaces, and the inner cavity of the groove is provided with an adaptive component. The steel plate has a sliding block extending symmetrically and integrally on its surface. The sliding block is slidably sleeved in the inner cavity of the groove. The middle surface of the steel plate is fixedly connected with a telescopic component, and the surface of the steel plate is provided with a rubber pad.

[0008] The adaptive component includes a sleeve, and a telescopic rod is slidably sleeved on the inner cavity of one end of the sleeve. A pressure sensing module is fixedly installed in the inner cavity of the other end of the sleeve, and a spring is provided between the pressure sensing module and the telescopic rod.

[0009] Preferably, the drive structure includes a motor and two mounting plates, with two first gears and a second gear meshing and rotatably connected between the two mounting plates, and a rotating rod fixedly connected to the output end of the motor, with the rotating rod inserted into the inner cavity of the second gear.

[0010] Preferably, a second connecting rod is rotatably connected between the two mounting plates, and a first connecting rod is fixedly sleeved on the surface of the two first gears. A clamping rod is rotatably sleeved on one end of both the first and second connecting rods.

[0011] Preferably, one end of the telescopic rod is fixedly connected to the surface of the sliding block, and the connecting block and the telescopic assembly are fixedly connected to the surface of the clamping rod.

[0012] Preferably, the motor is fixedly installed in the inner cavity of the mounting box.

[0013] Preferably, the inner cavity of the rotating rod and the second gear is square and they are assembled together.

[0014] This invention provides an adaptive robot gripper that can hold workpieces of various sizes. Compared with the prior art, it has the following advantages:

[0015] 1. This adaptive robot gripper, which can clamp workpieces of various sizes, first moves the steel plate through the sliding block in the groove of the connecting block by the clamping force, and squeezes the telescopic rod to slide in the sleeve, thereby squeezing the spring. Therefore, the steel plate can be rebounded by the elastic force of the spring, so that the steel plate can adaptively clamp different workpieces with adaptive tension, which can avoid the problem of clamping marks on the workpiece caused by clamping force.

[0016] 2. This adaptive robot fixture, which can clamp workpieces of various sizes, starts by starting a motor to drive a rotating rod to rotate. The rotating rod then drives a second gear to rotate between two mounting plates and meshes with a first gear, causing the two first gears to rotate in opposite directions. This, in turn, drives a first connecting rod to rotate. The rotation of the second connecting rod causes the clamping rod to open or close, thus enabling the tensioning structure to clamp workpieces of different sizes. Attached Figure Description

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

[0018] Figure 2 This is a partial disassembly diagram of the structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the tensioning structure of this utility model;

[0020] Figure 4 This is a partial schematic diagram of the tensioning structure of this utility model;

[0021] Figure 5 This is a partial planar schematic diagram of the tensioning structure of this utility model;

[0022] Figure 6 This is a schematic diagram of the adaptive structural component of this utility model;

[0023] Figure 7 This is a cross-sectional schematic diagram of the adaptive structural component of this utility model.

[0024] In the diagram: 1. Mounting box; 2. Drive structure; 21. Mounting plate; 22. First gear; 23. Second gear; 24. First connecting rod; 25. Second connecting rod; 26. Clamping rod; 27. Motor; 28. Rotating rod; 3. Tensioning structure; 31. Connecting block; 32. Steel plate; 33. Sliding block; 34. Slide groove; 35. Adaptive component; 351. Sleeve; 352. Pressure sensing module; 353. Telescopic rod; 354. Spring; 36. Telescopic component; 37. Rubber pad. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1 This utility model provides a technical solution: an adaptive robot gripper that can clamp workpieces of various sizes, including a mounting box 1, a driving structure 2 is provided below the mounting box 1, and a tensioning structure 3 is symmetrically provided at the front end of the driving structure 2.

[0027] Please see Figure 2 The drive structure 2 includes a motor 27 and two mounting plates 21. The motor 27 is fixedly installed in the inner cavity of the mounting box 1. Two first gears 22 and a second gear 23 are respectively meshed and rotatably connected between the two mounting plates 21. A rotating rod 28 is fixedly connected to the output end of the motor 27, and the rotating rod 28 is inserted into the inner cavity of the second gear 23. The inner cavities of the rotating rod 28 and the second gear 23 are square and are assembled with each other. The surface of the rotating rod 28 and the hole that needs to be inserted into the inner cavity of the second gear 23 are square, so the rotating rod 28 can drive the second gear 23 to rotate. A second connecting rod 25 is also rotatably connected between the two mounting plates 21. A first connecting rod 24 is fixedly sleeved on the surface of the two first gears 22. A clamping rod 26 is rotatably sleeved on one end of the first connecting rod 24 and the second connecting rod 25. The two mounting plates 21 are fixed together by screws, and the first gear 22, the second gear 23, the first connecting rod 24 and the second connecting rod 25 are also installed by screws.

[0028] Please see Figure 3-5The tensioning structure 3 includes a connecting block 31 and a steel plate 32. The connecting block 31 has symmetrical grooves 34 on opposite surfaces, and the inner cavity of the groove 34 is provided with an adaptive component 35. The surface of the steel plate 32 has symmetrically integrally extended sliding blocks 33, which are slidably sleeved in the inner cavity of the groove 34. The middle surface of the steel plate 32 is fixedly connected with a telescopic component 36, which is a telescopic connecting column connected to the steel plate 32 to improve strength and support. The surface of the steel plate 32 is provided with a rubber pad 37. The connecting block 31 and the telescopic component 36 are fixedly connected to the surface of the clamping rod 26.

[0029] Please see Figure 6-7 The adaptive component 35 includes a sleeve 351, and a telescopic rod 353 is slidably sleeved in the inner cavity of one end of the sleeve 351. A pressure sensing module 352 is fixedly installed in the inner cavity of the other end of the sleeve 351, and a spring 354 is provided between the pressure sensing module 352 and the telescopic rod 353. One end of the telescopic rod 353 is fixedly connected to the surface of the sliding block 33. The pressure sensing module 352 can be connected through a guide and passes through the surface of the clamping rod 26 to be connected to an external control system. It is used to detect the clamping pressure value after the workpiece is clamped.

[0030] During operation or use, firstly, one end of the mounting plate 21 is connected to the external robotic arm. When workpiece clamping is required, the motor 27 inside the mounting box 1 is started, causing the output end of the motor 27 to drive the rotating rod 28 to rotate. Then, the rotating rod 28 drives the second gear 23 to rotate between the two mounting plates 21 and meshes with the first gear 22, causing the two first gears 22 to rotate in opposite directions, thereby driving the first connecting rod 24 to rotate as well. Under the rotation of the second connecting rod 25, the clamping rod 26 is opened or closed, so that the tensioning structure 3 can clamp workpieces of different sizes.

[0031] After the workpiece is clamped on the rubber pad 37, the clamping force will first drive the steel plate 32 to move in the slide groove 34 opened in the connecting block 31 through the sliding block 33, and squeeze the telescopic rod 353 to slide in the sleeve 351, thereby squeezing the spring 354. Therefore, the steel plate 32 can be rebounded by the elastic force of the spring 354, so that the steel plate 32 can adaptively achieve adaptive tension clamping for different workpieces. At the same time, the spring 354 will squeeze the pressure sensing module 352, and the pressure sensing module 352 will transmit the pressure value to the external control system for display. Finally, when the steel plate 32 moves, the telescopic component 36 will also automatically extend and retract.

[0032] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive robot gripper suitable for gripping workpieces of various sizes, comprising a mounting box (1), characterized in that: The lower part of the installation box (1) is provided with a driving structure (2), and the front end of the driving structure (2) is provided with a tensioning structure (3) symmetrically; The tensioning structure (3) comprises a connecting block (31) and a steel plate (32), and the opposite surfaces of the connecting block (31) are symmetrically provided with sliding grooves (34), and the inner cavities of the sliding grooves (34) are provided with self-adapting assemblies (35); the surface of the steel plate (32) is integrally provided with sliding blocks (33) symmetrically, the sliding blocks (33) are slidably sleeved in the inner cavities of the sliding grooves (34), and the surface of the steel plate (32) is fixedly connected with telescopic assemblies (36) in the middle; and the surface of the steel plate (32) is provided with rubber pads (37). The self-adapting assembly (35) comprises a sleeve (351), and the inner cavity of one end of the sleeve (351) is slidably sleeved with a telescopic rod (353); the inner cavity of the other end of the sleeve (351) is fixedly installed with a pressure sensing module (352), and a spring (354) is arranged between the pressure sensing module (352) and the telescopic rod (353).

2. The self-adapting robot gripper suitable for clamping workpieces of various sizes according to claim 1, characterized in that: The driving structure (2) comprises a motor (27) and two mounting plates (21), two first gears (22) and a second gear (23) are rotatably connected between the two mounting plates (21) respectively, and the output end of the motor (27) is fixedly connected with a rotating rod (28), and the rotating rod (28) is inserted into the inner cavity of the second gear (23).

3. The self-adapting robot gripper suitable for clamping workpieces of various sizes according to claim 2, characterized in that: A second connecting rod (25) is also rotatably connected between the two mounting plates (21), and a first connecting rod (24) is fixedly sleeved on the surface of the two first gears (22); one end of the first connecting rod (24) and the second connecting rod (25) is rotatably sleeved with a clamping rod (26).

4. The self-adapting robot gripper suitable for clamping workpieces of various sizes according to claim 1, characterized in that: One end of the telescopic rod (353) is fixedly connected to the surface of the sliding block (33), and the connecting block (31) and the telescopic assembly (36) are fixedly connected to the surface of the clamping rod (26).

5. The self-adapting robot gripper suitable for clamping workpieces of various sizes according to claim 2, characterized in that: The motor (27) is fixedly installed in the inner cavity of the installation box (1).

6. The self-adapting robot gripper suitable for clamping workpieces of various sizes according to claim 2, characterized in that: The rotating rod (28) and the inner cavity of the second gear (23) are square, and are assembled with each other.

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