Self-locking gripper structure for robot

Abstract

The utility model discloses a self-locking gripper structure for a robot, which belongs to the technical field of robot grippers and comprises a fixing frame, a driving component and two supporting blocks, a pushing block is arranged at the driving end of the driving component, a first transmission rod is fixedly connected onto the supporting blocks, and two groups of second transmission rods are symmetrically arranged on the pushing block. The second transmission rod located at the top is rotationally connected with the first transmission rod, a clamping arm rod is rotationally connected between the single set of second transmission rods, a gripper mounting block is arranged at the bottom of one end of the clamping arm rod, two mounting insertion holes are symmetrically formed in the gripper mounting block, positioning blocks are arranged on the mounting insertion holes, and a gripper plate is connected between one ends of the positioning blocks through a synchronous plate. A locking column is arranged at the other end, opposite to the synchronous plate, of the positioning block, and a locking hole is formed in the locking column. Through cooperative use of components such as the locking holes and the locking insertion columns, the gripper plate can be conveniently and rapidly assembled and disassembled, and objects in different shapes can be conveniently gripped.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot gripper technical field, concretely is a robot is with self -locking gripper structure. BACKGROUND

[0002] Mechanical arm is a kind of some action functions that can imitate human hand and arm, to grasp, carry object or operate tool by fixed program, automatic operation device, it can complete various expected work by programming, and it has the advantages of human and mechanical hand machine respectively in structure and performance.Gripper is generally used with mechanical arm, and is used to clamp and move object, different grippers are used for different objects.

[0003] However, the existing robot self-locking gripper structure has the following problems in the process of using: since the gripper plate in contact with the article is generally integrated or bolted between the transmission rod, when facing the grasping of articles of different structures, it is easy to have the phenomenon of unstable grasping, leading to the technical problem of inconvenient grasping use. Therefore, it is necessary to design the corresponding technical scheme to solve the existing technical problems. UTILITY MODEL CONTENT

[0004] The utility model discloses a robot self-locking gripper structure, solve the technical problem that the phenomenon of unstable grasping leads to inconvenient grasping use when facing the grasping of articles of different structures because the gripper plate in contact with the article is generally integrated or bolted between the transmission rod, satisfy actual use demand.

[0005] To achieve the above object, the utility model provides the following technical scheme: including fixed frame, drive component and two support blocks, the drive end of drive component is provided with push block, the support block is fixedly connected with transmission rod no. 1, two groups of transmission rod no. 2 are symmetrically arranged on the push block, the transmission rod no. 2 at the top is rotatably connected with transmission rod no. 1, and a single group of transmission rod no. 2 is rotatably connected with clamping arm rod, the bottom of one end of clamping arm rod is provided with gripper mounting block, two mounting insertion holes are symmetrically arranged on the gripper mounting block, positioning block is arranged on the mounting insertion hole, the one end of positioning block is connected with gripper plate through synchronous plate, locking post is arranged on the other end opposite to synchronous plate of positioning block, locking hole no. 1 is arranged on the locking post, two fixed rods are symmetrically arranged on the clamping arm rod close to the gripper mounting block, movable lock block is arranged between the fixed rods, two connecting holes are symmetrically arranged on the movable lock block, spring no. 1 is installed on the fixed rod, two locking holes no. 2 are arranged in the middle of movable lock block, locking insertion column is arranged in the middle of the bottom of locking hole no. 2;

[0006] The fixed frame is symmetrically provided with two rotating plates near the top, the bottom of one end of the rotating plate and the outer edge of the supporting block are provided with teeth, the fixed frame is provided with a fixed block near the top of the rotating plate, a telescopic column is arranged between the fixed block and the rotating plate, and a limiting column is arranged on the bottom of the rotating plate.

[0007] As a preferred embodiment of the utility model, the top of the fixed frame is a closed structure, the bottom and both ends are open structures, the driving assembly is fixed at the middle position of the fixed frame, the supporting block is a cylindrical structure as a whole, and the pushing block is located on the inner side of the fixed frame.

[0008] As a preferred embodiment of the utility model, the number of the single set of the second transmission rod is two, the clamping arm rod is in an "L" shape structure as a whole, the end of the first transmission rod, the second transmission rod and the clamping arm rod is in a circular arc structure, and the second transmission rod is rotationally connected to the pushing block.

[0009] As a preferred embodiment of the utility model, the top of the gripper mounting block and the clamping arm rod are fixedly connected by bolts, the positioning block and the mounting hole are both in a non-cylindrical structure, the locking column is located on the locking hole two, and the locking hole one and the locking plug column are on the same vertical line.

[0010] As a preferred embodiment of the utility model, the cross section of the fixed rod is in a "T" shape structure, the part of the fixed rod and the spring one are located in the connecting hole, the bottom of the locking hole two is in a circular arc structure, the middle part is in a flat structure, and the locking plug column is inserted into the locking hole.

[0011] As a preferred embodiment of the utility model, the rotating plate is rotationally connected to the fixed frame near the middle position, the teeth at different positions are engaged and connected, the spring two is installed in the telescopic column, the movable end of the telescopic column and the rotating plate are in contact connection, and the end of the rotating plate away from the supporting block is in contact with the top of the pushing block.

[0012] Compared with the prior art, the utility model has the beneficial effects as follows:

[0013] Through cooperation of the locking column and the movable locking block and other components, the gripper plate can be conveniently disassembled and assembled, the corresponding structure of the gripper plate can be replaced according to the shape of the gripped article, the bolt does not need to be disassembled by using a tool, the disassembly work is conveniently and quickly carried out, and the convenience of use is improved, meanwhile, through the rotating plate and the gear and other components, the rotating plate can be driven to rotate when the pushing block moves upward, then one end of the rotating plate moves, the gears are in meshing contact, the locking of the supporting block is realized, then when the pushing block is not active, the loosening phenomenon occurs, the locking of the gripping is ensured, and the problem of inconvenient gripping is solved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a whole schematic view of the utility model;

[0015] Figure 2 It is a structure view of the clamping arm rod of the utility model;

[0016] Figure 3 It is a structure view of the movable locking block of the utility model;

[0017] Figure 4 It is a structure view of the rotating plate of the utility model.

[0018] In the drawing: movable locking block-1, pushing block-2, spring-3, gripper plate-4, clamping arm rod-5, transmission rod-6, transmission rod-7, supporting block-8, fixed frame-9, driving assembly-10, mounting jack-11, fixed rod-12, gripper mounting block-13, locking hole-14, positioning block-15, synchronous plate-16, locking column-17, connecting hole-18, locking plug column-19, locking hole-20, rotating plate-21, gear-22, telescopic column-23, fixed block-24, limiting column-25. DETAILED DESCRIPTION

[0019] 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 protection scope of the utility model.

[0020] Please refer to Figures 1-4The utility model provides a technical scheme: A self -locking gripper structure for robot, it includes: fixed frame 9, drive assembly 10 and two support blocks 8, be provided with the driving end of drive assembly 10 on push block 2, support block 8 is fixedly connected with transmission rod one 7, push block 2 is provided with two groups of transmission rod two 6 on symmetry, transmission rod two 6 in top is rotatably connected with transmission rod one 7, rotatably connected with clamping arm rod 5 between single group transmission rod two 6, one end bottom of clamping arm rod 5 is provided with gripper mounting block 13, two mounting jack 11 are provided on gripper mounting block 13 on symmetry, be provided with locating block 15 on mounting jack 11, one end between locating block 15 is connected with gripper plate 4 through synchronous board 16, locating block 15 is provided with lock post 17 on the other end opposite with synchronous board 16, be provided with lock hole one 14 on lock post 17, two fixed rods 12 are provided on clamping arm rod 5 on symmetry near gripper mounting block 13, be provided with movable lock block 1 between fixed rod 12, two connecting holes 18 are provided on movable lock block 1 on symmetry, spring one 3 is installed on fixed rod 12, two lock holes two 20 are provided in the middle of movable lock block 1, lock insert post 19 is provided in the middle of the bottom of lock hole two 20;

[0021] Two rotating plates 21 are provided on fixed frame 9 on symmetry near top, tooth 22 is provided on the bottom of one end of rotating plate 21 and the outer edge part position of support block 8, fixed block 24 is provided on fixed frame 9 near the top of rotating plate 21, telescopic column 23 is provided between fixed block 24 and rotating plate 21, limiting column 25 is provided on fixed frame 9 near the bottom of rotating plate 21, specifically, limiting column 25 is used to limit the movement of rotating plate 21, avoid the angle of rotation to be too large, make rotating plate 21 unable to contact push block 2.

[0022] Further improvement, the top of fixed frame 9 is closed structure, the bottom and both ends are open structure, drive assembly 10 is fixed in the middle position of fixed frame 9, support block 8 is overall cylindrical structure, push block 2 is in the inner side of fixed frame 9.

[0023] Further improvement, the number of single group transmission rod two 6 is two, clamping arm rod 5 is overall "L" structure, the end of transmission rod one 7, transmission rod two 6 and clamping arm rod 5 is arc structure, transmission rod two 6 is rotatably connected on push block 2.

[0024] Further improvement, the top of gripper mounting block 13 and clamping arm rod 5 are bolted connection, locating block 15 and mounting jack 11 are all non-cylindrical structure, lock post 17 is located on lock hole two 20, lock hole one 14 and lock insert post 19 are on the same vertical line.

[0025] Further improved, the cross section of the fixed rod 12 is in a T-shaped structure, the fixed rod 12 is located in the connecting hole 18 and the spring 3, the bottom of the locking hole two 20 is in an arc-shaped structure and the middle part is in a flat structure, and the locking plug 19 is inserted into the locking hole one 14.

[0026] Further improved, the rotating plate 21 is rotatably connected with the fixed frame 9 near the middle part, the different position teeth 22 are engaged, the spring two is installed in the telescopic column 23, the movable end of the telescopic column 23 is in contact with the rotating plate 21, the rotating plate 21 is in contact with the top of the pushing block 2 away from the supporting block 8, and specifically, the spring two in the telescopic column 23 can automatically push the rotating plate 21 to move downwards, so that the other end moves upwards, and then the teeth 22 are separated, the supporting block 8 is unlocked, and the movement of the whole gripper is ensured.

[0027] In use, the utility model firstly selects the corresponding gripper plate 4 according to the structure of the gripped article, then places the gripper plate 4 on the mounting plug 11 through the positioning block 15, simultaneously moves the movable block 1 downwards, moves the locking column 17 to the locking hole two 20, aligns the locking hole with the locking plug 19, releases the movable locking block 1, automatically moves the movable locking block 1 to the original position (i.e. the position of the clamping arm rod 5) through the elastic force of the spring one 3, inserts the locking plug 19 into the locking hole two 20, and fixes the whole gripper plate 4, which is convenient for the installation and dismounting of the gripper plate 4, then drives the pushing block 2 through the driving assembly 10, and drives the transmission rod one 7 and the transmission rod two 6, moves the gripper plate 4, when the article is clamped, the pushing block 2 moves to the top position, pushes one end of the rotating plate 21 to move, moves the other end of the rotating plate 21 downwards, engages the teeth 22, fixes the supporting block 8, avoids the movement of the transmission rod one 7, realizes the locking of the gripper plate 4, avoids the loosening of the gripper plate 4 and the falling of the article.

[0028] The utility model discloses a movable lock block -1, push block -2, spring one -3, grab hand plate -4, clamping arm rod -5, transmission rod two -6, transmission rod one -7, support block -8, fixed frame -9, drive assembly -10, installation jack -11, fixed rod -12, grab hand installation block -13, lock fixed hole -14, locating block -15, synchronous board -16, lock fixed column -17, connecting hole -18, lock fixed plug -19, lock fixed hole -20, rotary plate -21, tooth -22, telescopic column -23, fixed block -24, limit column -25, the component is all general standard parts or the component that the person skilled in the art knows, and its structure and principle are all known to the person skilled in the art through technical manual or through conventional experimental method, the problem solved by the utility model is that the grab hand plate generally is integrated or bolted connection between transmission rod because of contacting with the article, when facing the grabbing of the article of different structure, it is easy to exist the phenomenon of unstable grabbing, resulting in the technical problem of inconvenient use of grabbing, the utility model discloses the movable block of the utility model, lock fixed hole one, lock fixed plug and locating block etc. component, can conveniently dismouting of grab hand plate, convenient according to the shape of the article that is grabbed, the replacement of corresponding structure's grab hand plate, through when installing, lock fixed column is moved to lock fixed hole two, and lock fixed plug is inserted into lock fixed hole one, can fixed grab hand plate, convenient and fast dismounting work, improve the convenience of use, simultaneously, through rotary plate and tooth etc. component, can drive the movement of rotary plate when push block moves, realize the intermeshing of tooth of different positions, lock support block, and then realize the self-locking effect, change in the phenomenon of loosening when the article is grabbed.

[0029] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model, for the person skilled in the art, obviously the utility model is not limited to the details of the above exemplary embodiments, and can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model. Any figure reference in the claims should not be regarded as limiting the claims involved.

[0030] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, the person skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that the person skilled in the art can understand.

Claims

1. A self-locking gripper structure for robots, characterized in that: It includes a fixed frame (9), a drive assembly (10), and two support blocks (8). The drive assembly (10) has a push block (2) on its drive end. A transmission rod (7) is fixedly connected to the support block (8). Two sets of transmission rods (6) are symmetrically arranged on the push block (2). The transmission rod (6) at the top is rotatably connected to the transmission rod (7). A clamping arm (5) is rotatably connected between each set of transmission rods (6). A gripper mounting block (13) is provided at the bottom of one end of the clamping arm (5). Two mounting holes (11) are symmetrically arranged on the gripper mounting block (13). A positioning block (15) is provided on the mounting hole (11). One of the positioning blocks (15) is... A gripper plate (4) is connected between the ends via a synchronization plate (16). The positioning block (15) is provided with a locking post (17) on the other end opposite to the synchronization plate (16). The locking post (17) is provided with a locking hole (14). The clamping arm (5) is symmetrically provided with two fixing rods (12) near the gripper mounting block (13). A movable locking block (1) is provided between the fixing rods (12). The movable locking block (1) is symmetrically provided with two connecting holes (18). A spring (3) is installed on the fixing rod (12). The movable locking block (1) is provided with two locking holes (20) in the middle. A locking insert (19) is provided at the bottom center of the locking hole (20). The fixing frame (9) has two rotating plates (21) symmetrically arranged near the top. Teeth (22) are provided at the bottom of one end of the rotating plate (21) and at the outer part of the support block (8). The fixing frame (9) has a fixing block (24) near the top of the rotating plate (21). A telescopic column (23) is provided between the fixing block (24) and the rotating plate (21). The fixing frame (9) has a limit column (25) near the bottom of the rotating plate (21).

2. The self-locking gripper structure for robots according to claim 1, characterized in that: The top of the fixed frame (9) is a closed structure, and the bottom and both ends are open structures. The drive assembly (10) is fixed in the middle of the fixed frame (9). The support block (8) is a cylindrical structure. The push block (2) is located inside the fixed frame (9).

3. The self-locking gripper structure for robots according to claim 1, characterized in that: The number of transmission rods (6) in a single set is two. The clamping arm (5) has an overall "L" shape. The ends of the transmission rod (7), the transmission rod (6) and the clamping arm (5) are all arc-shaped. The transmission rod (6) is rotatably connected to the push block (2).

4. The self-locking gripper structure for robots according to claim 1, characterized in that: The top of the gripper mounting block (13) is fixedly connected to the clamping arm (5) by bolts. The positioning block (15) and the mounting hole (11) are both non-cylindrical structures. The locking post (17) is located on the second locking hole (20). The first locking hole (14) and the locking post (19) are on the same vertical line.

5. The self-locking gripper structure for robots according to claim 1, characterized in that: The cross-section of the fixing rod (12) is T-shaped. Part of the fixing rod (12) and the spring (3) are located in the connecting hole (18). The bottom end of the locking hole (20) is arc-shaped and the middle part is straight. The locking pin (19) is inserted into the locking hole (14).

6. The self-locking gripper structure for robots according to claim 1, characterized in that: The rotating plate (21) is rotatably connected to the fixed frame (9) near the center. The teeth (22) at different positions are engaged. A spring is installed inside the telescopic column (23). The movable end of the telescopic column (23) is in contact with the rotating plate (21). The rotating plate (21) is in contact with the top of the push block (2) at the end away from the support block (8).

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